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1. 9 z za oO EE 28 go Warning Related buffer code Axis Axis Axis Setting range 6 E decimal CH1 CH2 CH3 W 000 7 5 S 10 Normalize the start request ON timing 2 6 106 206 Pr4 Speed limit value 7 107 207 1 to 100000 pulse s Set the Ca 1 New speed value to be higher z 20 than the Pr5 Bias speed at start and lower x 2 8 108 208 Pr5 Bias speed at start than the Pr4 Speed limit value x z 9 109 209 1105000 pulse s ze Cd 3 Do not chang the speed during position control 22 55 155 255 Speed change request g p uring positi 1 Speed change requested and OPR control d Zb 23 60 160 260 Cd 3 Preset value setting Do not execute the preset command Y18 to Y1A 8 m 61 161 261 1073741824 to1073741823 during operation z o Oo z 5 u z Oo 60 160 260 Cd 3 Preset value setting Set the value within the setting range and turn 9 24 61 161 261 At linear count 1073741824 to 1073741823 OFF and then ON the preset command Y18 to At ring count 0 to 1073741823 Y1A 77 z a9 Eo 25 62 162 262 Cd 7 Coincidence detection point setting Set the value within the setting range and turn O e 63 163 263 1073741824 to 1073741823 OFF and then ON the count enable signal n E Refer to Secti
2. Device name Device Stored data Setting value DO Di Pr1 Software stroke limit upper limit 100000000pulse D2 Hs Pr2 Software stroke limit lower limit 100000000pulse D5 Pr3 Current feed value during speed control 0 No update D6 Pr4 Speed limit value 100000pulse s D7 Parameter 4 D8 T Pr5 Bias speed at start 100pulse s D10 Pr6 Positioning complete output time 100ms D11 Pr7 Deviation counter clear signal output time 2 10ms D13 Pr9 Current feed value count value simultaneous 1 update count value together change function selection D20 Pr 10 JOPR method 0 Near point dog method D21 Pr11 JOPR direction 0 Forward direction OP add Opul Pr 12 address pulse D23 OPR DA data 20000pulse Pr 13 ulse s D25 r 13 OPR speed p Ee 1000pulse Pr 14 ulse s D27 r 14 Creep speed p D28 Pr 15 JACC DEC time at OPR 1000ms Data D30 E r EIEE D31 Pr 16 Ring counter upper limit value D32 D33 Counter Pr 17 Positioning range upper limit value 0 data EET 1 coincidence detection D34 Pr 18 Coincidence detection setting requested D35 Pr 19 Count value selection at OPR 1 set D90 Da 1 JOperation pattern 0 Positioning start independent D91 Da 2 Control method 1 1 axis linear control ABS Positioning D92 Da 3 JACC DEC time 1000ms data D94 m for position Da 4 C
3. Device z rae Signal name Description No 1 When the programmable controller CPU READY signal YO is turned from OFF to ON the parameter setting range is checked If no error is found this signal turns ON When the error occurrence signal X1 to X3 is ON this signal does not turn ON even if the programmable controller CPU READY signal YO is turned from OFF to ON OFE Not 2 When the programmable controller CPU READY signal YO is turned y e eae j pipaa OFF this signal turns OFF a signa MM d 3 When a watch dog timer error occurs this signal turns OFF ON Prepared M 4 This signal is used for an interlock of sequence programs ON Programmable controller CPU READY signal Yo OFF T ON Module READY signal X0 opp E 1 Module error occurrence status is displayed for each axis each CH x1 Axis 1 CH1 Error 2 This signal turns OFF when the error reset signal Y1 to Y3 is turned OFF No error x2 Axis 2 CH2 occurrence ON ON Error occurrence X3 Axis 3 CH3 signal 3 Error code can be checked by M 5 JAxis CH error code for each axis each CH 1 Module warning occurrence status is displayed for each axis each CH x4 Axis 1 CH1 Warning OFF No warning 2 This signal turns OFF when the axis CH error reset signal Y1 to Y3 is X5 Axis 2 CH2 occurrence ON warning turned ON X6 Axis 3 CH3 signal occurrence 3 Warning co
4. 3 ACC DEC time X Pulse unit Pulse unit changes according to the value set to 4 Speed limit value Pr 4 Pr4 Speed limit value 1 to 8000 8001 to 32000 32001 to 64000 as the table below 64001 to 100000 Pulse unit 1 pulse unit 4 pulse unit 8 pulse unit 25 pulse unit 6 Actual acceleration is a value rounds 5 Acceleration to the nearest whole number Therefore 9 Actual ACC DEC time and 3 ACC DEC time may differ as shown below However if 5 Acceleration is less than 1 6 Actual acceleration is rounded up to 1 6 Actual acceleration When 5 is rounded off 5 acceleration 6 Actual acceleration When 5 is rounded up Target speed Speed at start 9 3 9y 3 9 Actual ACC DEC time When 5 is rounded up 3 ACC DEC time 9 Actual ACC DEC time When 5 is rounded off 11 14 11 6 ACC DEC Process Function 11 6 1 Calculating the actual ACC DEC time 1 1 AUXILIARY FUNCTION MELSEC Sl Calculation example 1 9 Actual ACC DEC time is longer than 3 ACC DEC time o V z z A 53 1 Target E 5 speed 77 P 1 e f E 2S l l 1 oo E oo E 2 Speed 1 i it at start 7p 777777 qq eens nn m ELEC ERE S i i E it t mE H oa j g 13 ACC DEC 13 ACC DEC i o time 1 1 time l o 959 4
5. Programmable controller CPU READY XO Module READY signal YO signal X1 Axis 1 CH1 error occurrence signal Y1 Axis 1 CH1 error reset signal X2 Axis 2 CH2 error occurrence signal Y2 Axis 2 CH2 error reset signal X3 Axis 3 CH3 error occurrence signal Y3 Axis 3 CH3 error reset signal X4 Axis 1 CH1 warning occurrence signal Y4 Axis 1 stop signal X5 Axis 2 CH2 warning occurrence signal Y5 Axis 2 stop signal X6 Axis 3 CH3 warning occurrence signal Y6 Axis 3 stop signal X7 Use prohibited Y7 Use prohibited X8 Axis 1 BUSY signal Y8 Axis 1 positioning start signal X9 Axis 2 BUSY signal Y9 Axis 2 positioning start signal XA Axis 3 BUSY signal YA Axis 3 positioning start signal XB Use prohibited YB Use prohibited XC Axis 1 Axis 1 start complete signal YC Axis 1 forward run JOG start signal XD Axis 2 start complete signal YD Axis 1 reverse run JOG start signal XE Axis 3 start complete signal YE Axis 2 forward run JOG start signal XF Use prohibited YF Axis 2 reverse run JOG start signal X10 Axis 1 positioning complete signal Y10 Axis 3 forward run JOG start signal X11 Axis 2 positioning complete signal Y11 Axis 3 reverse run JOG start signal X12 Axis 3 positioning complete signal Y12 Use prohibited X13 Use prohibited Y13 Use prohibited X14 CH1 count value large Y14 CH1 coincidence signal reset command X15 CH1 count value coincidence Y15 CH2 coincidence signal reset command X16 CH1 count value small Y16 CH3 coincidence
6. 1 Set LCd 5 Start method according to the control to be started Positioning control in the above example 2 Enter the positioning start signal Y8 3 Positioning control is started Figure 7 2 Procedures for starting control for axis 1 E Starting condition To start the control the following conditions must be satisfied In addition the necessary conditions must be incorporated in the sequence program so that the control does not start when the conditions are not satisfied Device Signal name Signal status Axis Axis Axis Programmable controller ON Programmable controller YO CPU READY signal CPU prepared Module READY signal ON QD72P3C3 prepared X0 2 Axis CH error Interface signal OFF No error X1 X2 X3 occurrence signal Axis stop signal OFF Axis stop being OFF Y4 Y5 Y6 Start complete signal OFF Start complete being OFF XC XD XE BUSY signal OFF QD72P3C3 not operating X8 X9 XA 7 25 7 5 Program Details 7 5 3 Start program SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M als 26 e mw Operation when starting 1 When the positioning start signal Y8 to YA is turned ON the start complete signal XC to XE and BUSY signal X8 to XA 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 PRODUCT OUTLINE 2 When the positioning star
7. 2 T P z setting the current feed value is repeatedly updated between 0 and LPr 17 Positioning o range upper limit value 1 2 ra Zz A o 1 Current feed value Pr 17 Positioning range upper o limit value S e Z a9 Subtraction Addition ul E 0 ES SE a BZ Figure 9 7 Current feed value when using the ring counter d z E m Restrictions 9 E Software stroke limit range during speed control is checked when L Pr4 Current feed i P a value during speed control is set to 1 Update and the counter format is set to linear S counter in intelligent function module switch setting E x Q z Lu Q n 9 2 Positioning Data Setting 9 11 9 2 3 Speed control O POSITIONING CONTROL Axis 1 positioning data 9 12 m Positioning data setting example The following table shows a setting example when speed control in forward run is set in positioning data of axis 1 Setting item Da 1 Operation pattern Setting example Positioning start independent or positioning start continuous MELSEC TE eries Setting contents Set 0 Positioning start independent or 5000 Positioning start continuous Da2 Control method Speed control forward run Set the speed control in forward run Set the acceleration deceleration time for speed Da 5 Positioning address movement amount Da 3 JACC DEC time 1000ms control
8. Completion of the DSTRT ON instruction execution instruction Completion device completion One scan Completion status display device Normal 4 Error At error completion of the DSTRTQ instruction the error completion signal D 1 turns ON and the error code is stored in the completion status S 1 Refer to the error code list in Section 15 2 1 check the error and take corrective action 5 Precautions a When the positioning control is started with the DSTRTQ instruction the positioning start signal Y8 to YA and the start complete signal X8 to XA do not turn ON Check the positioning control operation status with the DSTRTQO start command and the BUSY signal X8 to XA If the Command speed of S 4 S 5 exceeds the speed limit value an operation is performed with the speed limit value If the Command speed is lower than the bias speed an operation is performed with the bias speed b After the control has been started with the DSTRTQ instruction if the stop command is entered without completing positioning the completion device D turns ON for one scan and the DSTRTT instruction execution ends 14 10 14 4 DSTRT1 DSTRT2 DSTRT3 1 4 DEDICATED INSTRUCTIONS MELSEGC Sl c The DSTRTT instruction can be executed while the module READY signal X0 is ON Even though the DSTRTU instruction execution is requested while th
9. 3 Command button Make text file Creates a file containing the screen data in text file format End setup Saves the set data and ends the operation lo P LL az Cancel Cancels the setting and ends the operation 059 Ez oo POINT 898 The auto refresh settings are stored in an intelligent function module parameter file The auto refresh settings become effective by turning the power OFF and then ON or resetting the CPU module after writing the intelligent function module parameters to the CPU module The auto refresh settings cannot be changed from sequence programs However processing equivalent to auto refresh can be added using the FROM TO instruction in the sequence program PROCEDURES AND SETTINGS BEFORE OPERATION C E ki Sg ej S 2 z e x 9 Ww z a gt E zi E SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 6 5 Auto Refresh Setting 6 16 6 UTILITY PACKAGE GX Configurator PT M ELSEG Q series 6 6 Monitoring Test 6 6 1 Monitoring Test screen Purpose Start buffer memory monitoring testing and I O signal monitoring testing from this screen Refer to Section 4 5 List of monitor data for details of monitor data Operating procedure Select monitor test module screen Start I O No Module type Module model name Monitor Test Enter the start I O No in hexadecimal The screen can also be started f
10. x POINT The BUSY signal X8 to XA turns ON even when position control of movement amount 0 is performed However since the ON time is short the ON status may not be detected in the sequence program The ON status of the start complete signal XC to XE and the positioning complete signal X10 to X12 can be detected in the sequence program mstart timing chart The timing charts for starting each control are shown below 5 Machine OPR control start timing chart i 1 Near point dog i Zero signal Positioning start signal Y8 to YA Programmable controller CPU READY signal YO Module READY signal XO Start complete signal XC to XE BUSY signal X8 to XA Axis CH error occurrence signal X1 to X3 Cd 5 Start method OPR request flag IMd 7 Status b1 OPR complete flag Md 7 Status b2 Figure 7 4 Machine OPR control start timing chart 7 27 7 5 Program Details 7 5 3 Start program SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M als 26 e uw z 6 Fast OPR control start timing chart 5 o Q o a a Zz o E 5 20 T Positioning start signal gt 2 Y8 to YA Programmable controller CPU OFF READY signal YO Module READY signal XO OF Start complete signal SPECIFICATIONS AND FUNCTIONS XC to XE BUSY signal
11. Cd 6 Preset value setting Current value change execution 2 Positioning start signal Y8 to YA i Preset command Y18 to Y1A A A indefinite x 3 S 100 Md 1 Current feed value Md3 Count value Indefinite E 3000 D 1000 When the current value change is executed when the positioning start signal Y8 to YA is changed from OFF to ON the value set to _Da 5 Positioning address movement amount is stored to both LMd 1 Current feed value and LMd 3 Count value When the preset command Y18 to Y1A is changed from OFF to ON a value in LCd 6 Preset value setting is stored to both _Md 1 Current feed value and Md 3 Count value 2 Precautions Md 1 Current feed value is not changed by the preset command Y18 to Y1A during positioning control When LPr 9 Current feed value count value simultaneous change function selection is set to either 2 Current feed value changed together at preset or 3 Values changed both at current value change and at preset a warning Preset disabled warning code 23 occurs when the preset command Y18 to Y1A is changed to ON during positioning control 12 7 Current Feed Value Count Value Simultaneous Change Function 1 2 13 POSITIONING CONTROL JOG OPERATION MEW AUXILIARY INC FUNCTION z ti O m z5 52 o Ow COMMON FUNCTION DEDICATED INSTRUCTIONS TROUB
12. 7 5 2 Start method setting program This program is designed to set a control to be performed out of OPR control or Positioning control m Data requires setting Set LCd 5 Start method according to the control to be started Buffer memory address Setting item Setting value 0 Positioning control Cd 5 Start method 9000 Machine OPR control 56 156 256 9001 Fast OPR control For details of the setting contents refer to Section 4 6 Control Data List 7 5 Program Details 7 24 7 5 2 Start method setting program PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT j 9 zZ pa je E le a c O mm OPR CONTROL SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC e 7 5 3 Start program This program is designed to start OPR control or positioning control using the positioning start signal Y8 to YA For details of OPR control and positioning control refer to CHAPTER 8 and CHAPTER 9 Drive unit i Positioning data is started Programmable controller CPU I O signal When starting positioning with the scan after the completion of positioning insert XC as an interlock so that positioning is started after Y8 is turned OFF and XC is turned OFF
13. 11 5 Hardware Stroke Limit Function 1 1 9 1 1 AUXILIARY FUNCTION 11 10 MELSEC TE cries 2 Hardware stroke limit wiring To use the hardware stroke limit function wire the terminals of the QD72P3C3 upper limit lower limit signals as the figure below When upper limit lower limit signal input logic selection in intelligent function module switch setting are default values QD72P3C3 24VDC Note Wire the limit switch installed in the current feed value increase direction and the limit switch installed in address decrease direction as as upper limit and lower limit respectively If the limit switches are wired oppositely the hardware stroke limit function does not operate normally and the motor does not stop Figure 11 5 Wiring when using the hardware stroke limit function 3 Precautions during control a When the workpiece stops at out of controllable range for the QD72P3C3 outside of the upper limit lower limit switch or is stopped by the hardware stroke limit detection OPR control and positioning control cannot be started To resume control move the workpiece to in the controllable range of the QD72P3C3 with JOG operation b If upper limit lower limit logic selection in intelligent function module switch setting are default values the QD72P3C3 cannot perform positioning control when between FLS upper limit signal and COM or RLS lower limit signal and COM is open
14. Input pulse can be selected from 1 multiple of 2 phases 2 multiples of 2 phases 4 multiples of 2 phases and CW CCW Set it in pulse input mode of Intelligent function module switch setting refer to Section 5 6 Pulse input ae i For addition count For subtraction count mode pa A CW CCW i OB B A A 1 multiples of A A viv 2 phases de Lit B 2 multiples of A OA re 2 phases op AY AY e ITL 4 multiples of on ii oa fiy 2 phases w FR oA The minimum count pulse width is as follows 10us 54s SUS Duty ratio 5096 Minimum phase difference for 2 phase input 2 54s The rise fall time is as follows n 100k Rise fall time Both 1 and 2 phase input t 1 254 or less 100kPPS t 2 2 54 or less 100kPPS a t 254 or less 10kPPS t 5004 of 2 phases and CW CCW Set it in pulse input mode of Intelligent function module switch setting refer to Section 5 6 3 5 Specifications of I O Interfaces with External Device 3 13 3 5 1 Electrical specifications of I O signals Input pulse can be selected from 1 multiple of 2 phases 2 multiples of 2 phases 4 multiples PRODUCT OUTLINE CONFIGURATION SYSTEM C9 nw Ze lege EE X o2 ED Ga a4 ns DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PR
15. System Data stored by the programmable controller CPU at dedicated instruction completion 2 For details of error code at error completion refer to Section 15 3 3 Function V Z a9 uc HO 25 SE Bo az a Sets the positioning data to the specified axis of the QD72P3C3 and starts the positioning control Note that the setting value for LCd 5 Start method is ignored when this instruction is executed E DSTRT1 Axis 1 z DSTRT2 Axis 2 z DSTRT3 Axis 3 3 E b Positioning control can be started with a desired control method by specifying the value at Control method of S 2 c Completion status of the DSTRTQ instruction can be checked by the completion device D 0 and D 1 x A 14 4 DSTRT1 DSTRT2 DSTRT3 14 9 1 4 DEDICATED INSTRUCTIONS MELSEC A series 1 Completion device D 0 Turns ON at END processing in the scan where the DSTRTO instruction is completed and turns OFF at the next END processing 2 Completion status display device D 1 Turns ON OFF according to the status when the DSTRTU instruction is completed Normal completion Remains OFF Error completion Turns ON at END processing in the scan where the DSTRTU instruction is completed and turns OFF at the next END processing Same ON OFF operation as a completion device END processing END processing END processing END processing Sequence program
16. Refer to Section 15 1 6 When the coincidence detection interrupt does not occur Check whether other modules have an error or not 1 5 1 15 1 Troubleshooting Flow 1 5 TROUBLESHOOTING MELSEC KE eries 15 1 1 When the RUN LED turns OFF POSITIONING CONTROL Check item Action i lied Check if the service voltage of the power supply module is S power supplied F me within the rated range Calculate the consumption current of the modules mounted T to the base unit such as CPU module I O module and Is the capacity of the power supply module sufficient intelligent function module and check that the power capacity is sufficient Reset the programmable controller CPU and check that the RUN LED turns ON Is the watchdog timer occurring If the RUN LED does not turn ON the module may be at JOG OPERATION failure Please consult your local Mitsubishi representative to explain a detailed description of the problem Are the modules correctly mounted to the base unit Check the module mounting status AUXILIARY FUNCTION 15 1 2 When the ERR LED turns ON Check item Action Check the error code and take measures described in Is any error occurring Section 15 2 1 COUNTER FUNCTION z 15 1 3 When the AX LED flashes after the ERR LED flashes o S 2 o Check item Action 5 Check the error code and take measures described
17. UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 2 3 Applicable System 2 4 2 SYSTEM CONFIGURATION 2 5 MELSEC TE eries 3 Supported software packages Relation between the system containing the QD72P3C3 and software package is shown in the following table GX Developer is necessary when using the QD72P3C3 Software version GX Developer GX Configurator PT Single CPU Version 7 or later Q00J Q00 System Q01CPU Multiple CPU Version 8 or later system Single CPU Version 4 or later Q02 Q02H Q06H system Q12H Q25HCPU Multiple CPU Version 6 or later system Single CPU CHAP System Version 7 10L or later Version 1 23Z or later Q25PHCPU Multiple CPU system Q12PRH Redundant Version 8 45X or later Q25PRHCPU CPU system Q02U QO03UD Single CPU QO04UDH SS Version 8 48A or later QO6UDHCPU Multiple CPU system When mounted to the MELSECNET H remote I O station Version 6 or later 2 3 Applicable System 2 SYSTEM CONFIGURATION M SIS eb 2 4 About Use of the QD72P3C3 with the Q12PRH Q25PRHCPU Here use of the QD72P3C3 with the Q12PRH Q25PRHCPU is explained 1 Dedicated instruction The dedicated instruction cannnot be used Ise PRODUCT OUTLINE 2 GX Configurator PT connection GX Configurator PT cannot be used when accessing the Q12PRH Q25PRHCPU via an intelligent function module on
18. X 1000 100 999 ms e 8 Actual ACC DEC time 3 ACC DEC time x 3 ACC DEC ine Set speed at start target speed and ACC DEC time to each control individually For details refer to CHAPTER 4 DATA USED FOR POSITIONING CONTROL Parameter set as target Parameter set as speed Parameter set as ACC Control contents speed at start DEC time Pr 15 ACC DEC time at OPR control Pr 13 OPR speed Pr 14 Creep speed OPR Positioning control 4 Command speed 5 Bias speed at start 3 ACC DEC time JOG operation JOG speed 5 Bias speed at start JOG ACC DEC time 11 16 11 6 ACC DEC Process Function 11 6 1 Calculating the actual ACC DEC time 1 2 COUNTER FUNCTION CHAPTER12 COUNTER FUNCTION This chapter describes the counter function of the QD72P3C3 MELSEGC Sl 12 1 Outline of Counter Function 12 1 1 Types of pulse input method There are four kinds of the pulse input methods CW CCW pulse input and 2 phase pulse input 1 2 or 4 multiples Select the pulse input method in the pulse input mode of the intelligent function module switch on GX Developer For setting details refer to Section 5 6 The following table shows the pulse input methods and count timing Pulse input em Count timing met
19. control Setting value is Current value change p S invalid Pr4 Speedlimit Out of speed range warning warning code 20 occurs JOG operation oe value and the axis is controlled by the speed limit value Setting is required Setting not required Setting value is invalid If setting use the default value or a value within the range where no error occurs 2 Setting the speed limit function To use the speed limit function set the speed limit value in the parameter as shown in the following table and write it to the QD72P3C3 The speed limit value depends on the motor used Set it according to the motor used The setting contents are enabled when the programmable controller CPU READY signal YO is turned from OFF to ON Table 11 3 Relevant parameter eae Setting A Factory Setting item Setting contents value default value Pr 4 Speed limit Set the speed limit value maximum speed 8000 value during control pulse s For details of the setting contents refer to Section 4 2 Parameter List 11 2 11 2 Speed Limit Function 1 AUXILIARY FUNCTION M SIS EO EAseries 11 3 Speed Change Function o z z This function changes the speed within LPr 4_ Speed limit value during the constant speed Sg of speed control or JOG operation 5 6 Set the new speed in LCd 1 New speed value The speed is changed accor
20. etting item julfer size tansfer levice H i word count hehe This one row is counted as one setting Axis 1 Current feed value 2 2 gt 0200 Blank rows are not counted Count up all the setting items on this CH1 Count value 2 2 gt D300 screen and add the total to the number of settings for other intelligent function modules to get a grand total E Axis 1 CH1 Error code Axis 1 CH1 Warning code Avis 2 Current feed value Axis 2 Current speed CH2 Count value 1 1 1 1 2 2 2 2 2 2 Make text file Endsetup Cancel 6 2 Installing and Uninstalling the Utility Package 6 2 1 Handling precautions 6 UTILITY PACKAGE GX Configurator PT 6 2 2 Operating environment MELSEC KE eries This section explains the operating environment of the personal computer that runs GX Configurator PT Item Description Installation Add in target Add in to GX Developer Version 4 English version or later Computer Windows based personal computer CPU Refer to the following table Used operating system and performance required for Required memory personal computer Hard disk For installation 65MB or more space For operation 10MB or more Display 800 x 600 dots or more resolution 4 Operating system Microsoft Microsoft Microsoft Microsoft Microsoft Microsoft Microsoft Microsoft Microsoft Microsof
21. Near point dog signal A10 B10 DOG control The near point dog signal is detected at turning from OFF to ON Input this signal from the limit switch which is set to the stroke upper Upper limit signal A8 B8 FLS limit position nw Ze ege EE X o2 uD Oo D Z ox Turning OFF this signal stops positioning Input this signal from the limit switch which is set to the stroke lower Lower limit signal A6 B6 RLS limit position B Turning OFF this signal stops positioning Po az A9 B9 a m uz Common for near point dog signal upper limit signal and lower limit ES Common A7 B7 COM i REB signal ES A5 B5 go0 This signal is output during machine OPR control The output time of the deviation counter clear is set in Pr 7 Deviation ou counter clear signal input time 5 E Deviation counter clear A12 B12 CLEAR Use the drive unit that can reset the droop pulse amount in the internal fe 2 deviation counter when the QD72P3C3 turns this signal ON E z Note The deviation counter clear is a signal output by the QD72P3C3 2L a during machine OPR control It cannot output randomly Deviation counter clear CLEAR 2n A11 B11 Common for deviation counter clear common COM This signal is used to output command pulses to the open collector Pulse output F A4 B4 PULSEF compatible unit CW CCW mode CW PULSE SIGN mode PULSE This signal is used to output command pulses to the
22. m Operation chart Da 4 Command speed Positioning start signal Y8 to YA Start complete signal XC to XE BUSY signal X8 to XA OFF Positioning complete signal X10 to X12 OFF Axis stop signal stop command Y4 to Y6 OFF Does not turn ON if stopped by the axis stop signal Y4 to Y6 In speed control flag Figure 9 5 Speed control operation timing 9 2 Positioning Data Setting 9 2 3 Speed control POSITIONING CONTROL MELSEC Sl mCurrent feed value during speed control Md 1 Current feed value during speed control differs depending on LPr3 Current feed value during speed control setting as follows O z pee 59 EE 86 ao Current feed value during speed EEE Current feed value control setting The current feed value at the start of speed control is held 1 Update The current feed value is updated 0 No update JOG OPERATION During speed control During speed control AUXILIARY FUNCTION 1 The current feed value at the start of X a speed control is held Current feed value updated a When the current feed value is not updated b When the current feed value is updated Figure 9 6 Current feed value during speed control mCurrent feed value when using the ring counter When the counter format is set to ring counter in intelligent function module switch COUNTER FUNCTION
23. AUXILIARY FUNCTION EY COUNTER COMMON FUNCTION A FUNCTION DEDICATED INSTRUCTIONS TROUBLESHOOTING APPENDIX 1 3 COMMON FUNCTION MELSEC Aries 13 2 External I O Signal Logic Switching Function This function changes the external I O signal logic to match the device connected to the QD72P3C3 The following table shows the external I O signals whose logic is switchable ve Signal name Symbol Remarks classification Zero signal PGOO Input Near point dog signal DOGO L1 of the symbol indicates Upper Lower limit signal FLSO RLSO the axis or channel number Output Pulse output F pulse output R PULSE FO PULSE RO 1 to 3 Deviation counter clear CLEARO 1 Setting contents Make settings at Switch setting for intelligent function module on the I O assignment tab in the PLC Parameter screen of GX Developer For details of the settings refer to Section 5 6 Intelligent Function Module Switch Setting 2 Precautions for setting a The switch settings become effective after power ON or programmable controller CPU reset The settings cannot be changed during operation b The module may not be able to operate normally if each I O signal logic is set incorrectly Before setting check the specifications of the device to be used 1 3 2 13 2 External I O Signal Logic Switching Function 1 3 COMMON FUNCTION MELSEC Sl 13 3 External I O Signal Monitor Function Th
24. M6 Positioning control start command pulse LE Positioning control start command storage UON G56 Start method Y8 Axis 1 positioning start signal M Positioning control start command storage Yg Axis 1 positioning start signal SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No 9 JOG operation program MELSEGC Sl MB UO 649 DMOVP K5000 G40 JOG JOG operation speed flag UO MOYP K1000 G42 JOG ACC DEC time XQ x8 673 F TsET MB Module Axis 1 BUSY JOG READY signal operation signal flag 678 RST MB Forward Reverse JOG runJOG run JOG operation command command flag X27 MB YOD 681 e i e s AE Forward JOG Reverse Forward run JOG operation run JOG run JOG command flag start start signal signal X28 MB YOG 685 HS F 9 xob Reverse JOG Reverse Reverse run JOG operation run JOG run JOG command flag start start signal signal 7 4 Positioning Control Program Examples T 20 SYSTEM SPECIFICATIONS AND FUNCTIONS PROCEDURES AND DATA USED FOR SETTINGS BEFORE POSITIONING UTILITY PACKAGE GX Configurator PT PRODUCT OUTLINE CONFIGURATION CONTROL OPERATION j e W n z 9 O a a 9 zZ pa je E le a c O mm OPR CONTROL SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No 10 Speed
25. Set the destination address For details of setting refer to Section 4 4 Positioning Data List 9 2 Positioning Data Setting 9 2 4 Current value change O POSITIONING CONTROL MELSEC Sl 9 3 Multiple axes concurrent start control The QD72P3C3 allows the axes to be started concurrently on a pulse level by turning ON the positioning start signal Y8 to YA within the same scan during positioning control 9 z E Sg EE NZ OQ ao mPrecautions a The speed limit function is valid on an axis basis b To perform stop processing the stop command axis stop signal Y4 to Y6 ON must be issued to each axis Note that the axes do not stop concurrently JOG OPERATION c JOG operation cannot start the axes concurrently d Note if an error occurs in any axis it is processed in the corresponding axis AUXILIARY FUNCTION COUNTER FUNCTION COMMON FUNCTION DEDICATED INSTRUCTIONS TROUBLESHOOTING APPENDIX 9 3 Multiple axes concurrent start control 9 15 1 Q JOG OPERATION MELSEC S1 CHAPTER10 JOG OPERATION This chapter describes details of the QD72P3C3 JOG operation 10 1 Outline of JOG Operation IMPORTANT When performing JOG operation near the out of moving range provide a safety circuit externally Ifan external safety circuit is not provided the workpiece may advance over the moving range resulting in an accident JOG operation is a contro
26. and the OPR complete flag LMd 8 Status bO turns from ON to OFF Creep speed Zero signal OPR control start Positioning opf start signal Y8 to YA OPR request flag CIMd 7 Status b1 OPR complete flag C Md 7 Status b2 Deviation counter clear output lt _ Pr7 Deviation counter clear output time Axis operation status Standby X During OPR X Standby Current feed value Unfixed A Moved value is stored OP address Figure 8 7 Stopper 3 machine OPR control 8 8 8 2 Machine OPR Control 8 2 4 OPR method 2 Stopper 3 8 OPR CONTROL MELSEC KE eries 2 Restrictions a Always set torque limit to the motor If the torque limit is not set the motor may be a failure when the workpiece contacts against the stopper For torque limit refer to the manual for the drive unit b Use an external input signal as the zero signal 3 Precautions during operation a When the zero signal is input before the workpiece is stopped by the stopper the workpiece stops and the stop position will become the OP Creep speed Zero signal Torque limit OPR control start Positioning OFF start signal Y8 to YA OPR request flag Md 7 Status b1 OPR complete flag Md 7 Status b2 Deviation counter clear output i gt e Pr7 Deviation counter clear output time Axis operation stat
27. e eeeeeeeeeeeeeeeee esee eeeeee esee ee eseseecsescsssseceeseseeeeeeece Q 4 8 23 OPR method 1 Near point dog method e eeeeeee esee eee eee ee ee eee eee sees esee esee eeeeeeeeeee 8 5 8 24 OPR method 2 Stopper 3 eeeeeeeeeeeeee eene eee ee eee nen en een ene ee eese esee eee eese eese oeeeeeeeseeeee 8 B 8 3 Fast OPR Control e c c 000000000000 0000000000000000000000000000000000000000000000000000c0c0c0cccccccccccc J 10 8 3 1 Outline of the fast OPR control operation 0000000000000000000000000000000000000000000000000000000000000 8 a 10 8 4 Count Value Selection Function at OPR 00000000000000000000000000000000000000000000000000000000000000000000 8 12 CHAPTERS POSITIONING CONTROL 9 1to9 15 9 1 Outline of Positioning Controle eeececccoooooo00000000000000000000000000000000000000000000000000000000000000000000000 C z 1 9 1 1 Data required for positioning COntrol sseseseseeeseeeeseseeeecsososcsososcooeosocecececccesosecececeoseseee9 9 1 2 Positioning control operation patterns eeesseeeeee ee ee ee eee eee eee eee eee eene eene eese eese eee eeeeeseseee 2 9 1 3 Specifying the positioning address eeeeeeeeeeeeeee ee eene en en eee eee eee eee eese eese eese eese eeeeeeeeee 4 9 1 4 Checking the current value eeeeeeeeeeeee eee esee eee eee ooo o noe ones eee ee eese eese eese eese eee esee eeeeeeeeeee 5 9 2 Positioning Data Setting 00000000000000000000000000000000000000000000000000000000
28. 2 instruction The setting side indicates the following User Data stored by the user at dedicated instruction execution System Data stored by the programmable controller CPU at dedicated instruction completion 3 Function For details of error code at error completion refer to Section 15 3 a Changes the speed of the Axis which is in JOG operation during speed control e SPCHG 1 Axis 1 SPCHG2 Axis 2 e SPCHG3 Axis 3 b The speed can be changed by specifying the value at New speed value of S 2 and ACC DEC time at speed change of S 3 S 4 c Completion status of the SPCHGnq instruction can be checked by the completion device D 0 and D 1 1 Completion device D 0 Turns ON at END processing in the scan where the SPCHGrui instruction is completed and turns OFF at the next END processing 2 Completion status display device D 1 Turns ON OFF according to the status when the SPCHGni instruction is completed Normal completion Remains OFF Error completion Turns ON at END processing in the scan where the SPCHGnui instruction is completed and turns OFF at the next END processing Same ON OFF operation as a completion device 14 5 SPCHG1 SPCHG2 SPCHG3 14 13 POSITIONING CONTROL AUXILIARY FUNCTION COUNTER Q u lt x 9 e Imi e JOG OPERATION FUNCTION COMMON FUNCTION on pa le Q E a no TRO
29. 6 4 Initial Setting Purpose eG Q series Make initial setting axis by axis for the QD72P3C3 to operate The following items are data that need initial setting Parameters OPR data Positioning data Counter function parameter This initial setting makes sequence program setting unnecessary For more information on the setting details refer to CHAPTER 4 DATA USED FOR POSITIONING CONTROL Operating procedure Start I O No gt Module type Module model name Enter the start I O No in hexadecimal Setting screen Initial setting of parameters and OPR data Initial setting Module information Module type QD70 Model Module Module model name QD72P3C3 Start 1 0 No 0000 Initial setting Setting item Axis 1 Parameter selling Avis 1 Parameter setting Axis 1 OPR data setting Axis 1 OPR data setting Axis 2 Parameter setting Avis 2 Parameter setting Axis 2 OPR data selling Axis 2 OPR data setting Select items to be Axis 3 Parameter setting Avis 3 Parameter setting moved to sub window Axis 3 OPR data setting Axis 3 OPR data setting Axis 1 Positioning data setting Axis 1 Positioning data setting Details Move to sub window Make text file End setup Move to sub window Cancel Axis 1 Parameter setting Axis 1 Parameter setting Module informat
30. 9 2 Positioning Data Setting O POSITIONING CONTROL MELSEC Sl 2 1 axis linear control INC mOperation chart In 1 axis linear control of incremental system addresses established by a machine OPR control are used Position control is performed from the current stop position starting O z pee 59 EE 86 ao address for the movement amount set in _Da 5 Positioning address movement amount The movement direction is determined by the sign of the movement amount Starting address current stop position Reverse direction f Forward direction lt gt Movement direction for sectas direction for a negative movement amount a positive movement amount JOG OPERATION When the starting address is 5000 and the movement amount is 7000 position control is performed to the 2000 position AUXILIARY FUNCTION Address after Starting address 1 I 1 I 1 I I i 1 I I 1 1 I 1 I i I 1 f I 1 I I 1 I I I 1 I I I I I if I I I 1 1 1 i 1 position control current stop position i I 1 1 I I I I 1 I I I I I 1 j I I 1 I I I 1 I 1 I I I 1 I i 1 1 I 1 I 1 I l I I I I I 1 I 1 I l 3000 2000 1000 0 1000 2000 3000 4000 5000 6000 COUNTER FUNCTION Position control in the reverse direction movement amount 7000 S E o z u CI ILLO EENE MEM gt o m Positioning data setting example ie The
31. 929 a stroke limit lower limit value is out of the limit value setting setting range range Out of positioning The setting value of the Pr 17 Positioning 930 range upper limit range upper limit value is out of the setting value setting range range 1 5 17 15 2 Error and Warning Descriptions 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC TE eries 9 z z oO ER Related buffer memo 06 Error x 2 8 address g code Setting range g Axis 1 Axis 2 Axis 3 decimal CH 1 CH 2 03 IC zZ Pr 19 Count value selection at E OPR 2 if W 926 35 135 235 0 OP address not set to count g value 9 1 OP address set to count value 30 130 230 rA Ring counter upper limit 31 131 231 Y9we 0 to 1073741823 pulse gt z Pr 1 Software stroke limit Set the value within the setting range and turn OFF and then E e 928 0 100 200 upper limit value ON the programmable controller CPU READY signal YO E 2 1 101 201 1073741824 to 1073741823 du pulse Pr2 Software stroke limit 929 2 102 202 lower limit value 3 103 203 1073741824 to 1073741823 pulse r isai EE z a 32 132 232 EN ooo range upper 3 2 33 133 a e oe Ou 0 to 1073741823 pulse z o Z 5 LL z Oo z z O o Z a9 me Eo a u2 TROUBLESHOOTING APPENDIX 15 2 E
32. I i lt r 1 j BUSY signal X8 to XA li s UEM 1 1 n Start complete signal XC to XE i i Axis operation status Standby X Speed control i i Axis stop signal Y4 to Y6 Speed control operation i E 1ms 0to2 5ms Oto2 5ms 0to2 5ms 0 to 2 5ms A delay may occur in the t1 depending on the operating conditions of the other axes App 5 Appendix 2 Operation Timing and Processing Time in Each Control APPENDICES MELSEGC Sl 5 Operation timing and processing time of JOG operation CN JOG start signal YC to Y 11 li T i i t2 l N f DEMNM O BUSY signal X8to XA FF a T i t1 i i i t3 C 1 1 i bg i i i 1 i Ayi A l JOG The JOG start signal N is operation status Standby JOG be d Vii is OFF ig Standby i Ju I Pulse output to outside PULSE l j N JOG operation Positioning complete signal cec l X10 to X12 i 2 5ms 0 to 2 5ms 0 to 2 5ms 0 to 2 5ms A delay may occur in the t1 depending on the operating conditions of the other axes Appendix 2 Operation Timing and Processing Time in Each Control App 6 POSITIONING CONTROL AUXILIARY FUNCTION COUNTER DEDICATED JOG OPERATION FUNCTION COMMON FUNCTION INSTRUCTIONS TROUBLESHOOTING APPENDIX APPENDICES MELSEC 8 Appendix 3 Connection
33. PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT j 9 zZ pa je E le a c O mm OPR CONTROL SEQUENCE PROGRAM USED FOR POSITIONING e NIRO M EIS EC Q series 7 6 Program Example when the Coincidence Detection Interrupt Function is Used This section describes a program example to start an interrupt program upon detecting coincidence of coincidence detection point No 1 of channel 1 1 Interrupt pointer setting Set the values at PLC parameter PLC system Intelligent function module setting Interrupt pointer setting in the Project data list on GX Developer Set the values for this program example as shown below Cancel 2 Program example An interrupt must be enabled using the IMASK instruction before using an interrupt pointer Enabling 150 interrupt lt Interrupt programt gt 7 31 7 6 Program Example when the Coincidence Detection Interrupt Function is Used PART 2 CONTROL DETAILS AND SETTING PART 2 consists for the following purposes 1 to 3 1 To Understand the operation and restrictions of each control 2 To perform the required settings in each control 3 To deal with errors The required settings in each control include parameter setting positioning data setting and control data setting by the sequence
34. Setting the set value 1 4 as integer Therefore the difference might be generated between Actual ACC DEC time 3 and ACC DEC time 3 4n Actual ACC DEC time can be calculated by inputting set value 1 4 on this dialog 1 Command speed pps 2 Bias speed at start pps 3 4CC DEC time ms speed S dhffergneel ma 4 Speed limit value pps r Result 5 Acceleration B Actual acceleration Difference zz 8 Difference ms S Actual ACC DEC time ms 998 Details B is a half adjust value of 5 7 and 8 is calculated as follows 5 5 5 100 9 3 w 8 6 21 6 6 Monitoring Test 6 6 2 ACC DEC time calculation function screen 6 UTILITY PACKAGE GX Configurator PT MELSEC TE eries Explanation of items Z T Enter parameters required for calculating acceleration into the Setting 1 5 to 4 5 Parameters entered to the Setting 1 to 3 depend on control contents B Control Parameter entered hs Parameter entered to 2 Parameter entered to 3 contents to 1 Pr 15 ACC DEC time at OPR control Pr 13 OPR speed Pr 14 Creep speed OPR S Positioning Da 4 Command E Pr5 Bias speed at start Da 3 ACC DEC time control speed o JOG Ez JOG 1 JOG speed Pr5 Bias speed at start JOG 2 JOG ACC DEC time 2 operation no e Enter L Pr4 Speed limit value
35. The text files can be utilized to create user documents Text files can be saved in any directory GX Developer GX Configrator PT Personal computer t Programmable e controller CPUS A Intelligent function module parameters B Data saved by Make text file Figure 6 1 Correlation chart for data created with the utility package 6 7 6 3 Utility Package Operation 6 3 1 Common utility package operations 6 UTILITY PACKAGE GX Configurator PT 6 3 2 Operation overview MELSEC KE eries GX Developer screen D Edit mode ify Window Help Check program Confirm project memory size Merge data Check parameter Transfer ROM Delete unused comments Clear all parameters IC memory card j Start ladder logic test Set TEL data Intelligent function utility Customize keys Change display color Options j OP Create start up setting file gt Utility list PRODUCT OUTLINE CONFIGURATION SYSTEM Tools Intelligent function utility Start Screen for selecting a target intelligent function module Intelligent function module utility D WELSECXGPPWYPT E JfEi fX Intelligent function module parameter Online Tools Help Select a target intelligent function module Start 1 0 No Module type 0000 QD70 M
36. Use GX Configurator PT DATA USED FOR POSITIONING CONTROL oO Initial setting Initial setting Create a sequence program with initial Make initial setting using values using the FROM TO instruction GX Configurator PT Refer to CHAPTER 7 Refer to Section 6 6 Ww a 9 LL Ww mz go Z3 Eu Ww No Make auto refresh setting Auto refresh setting Make auto refresh setting using GX Configurator PT Refer to Section 6 5 UTILITY PACKAGE GX Configurator PT Programming and debugging Create and check the sequence program Refer to CHAPTER 7 System operation SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 5 2 Procedures Before Operation 5 3 5 PROCEDURES AND SETTINGS BEFORE OPERATION MELSEC IA ries 5 3 Part Names 1 The following explains the part names of the QD72P3C3 QD72P3C3 1 CH3 CH2 CH 3 RUN Oo oax O 16A 4 ERO O OF O68 2 5 QD72P3C3 CON2 CON1 Name Description 1 RUN LED 2 ERR LED 3 AX LED Refer to the next page 4 ALED 5 B LED Connector for connecting a drive unit encoder and 6 External device connector mechanical system inputs 5 3 Part Names PROCEDURES AND SETTINGS BEFORE OPERATION M als 26 Fel RM z 2 The LED display changes according to the operation
37. X8 to XA E Axis CH error occurrence Q o signal X1 to X3 az usa NOOO Cd 5 Start method amp oz oo ano Figure 7 5 Fast OPR control start timing chart 7 Positioning control start timing chart PROCEDURES AND SETTINGS BEFORE OPERATION Positioning start signal Y8 to YA Programmable controller CPU READY signal Y0 UTILITY PACKAGE GX Configurator PT j Module READY signal X0 Start complete signal XC to XE BUSY signal X8 to XA Positioning complete signal X10 to X12 Axis CH error occurrence signal X1 to X3 Cd 5 Start method 9 zZ pa je E le a c O mm Figure 7 6 Positioning control start timing chart OPR CONTROL 7 5 Program Details 7 28 7 5 3 Start program SEQUENCE PROGRAM USED FOR POSITIONING ie en MELSEG LAY series x POINT For positioning control and OPR control multiple axes can be started simultaneously In this case turn ON the positioning start signal Y8 to YA of the target axes within the same scan However after multiple axes have been started simultaneously they cannot be stopped simultaneously 7 29 7 5 Program Details 7 5 3 Start program SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M als 26 e 7 5 4 Auxiliary program Speed change program This program is used to change the speed within _Pr 4_ Speed limit value range during the constant s
38. as Da 1 Operation pattern Movement amount 250000000pulse 150000000 End address Example 2 Performing positioning control whose movement amount is over 268435455pulses When performing position control from 99999999 starting address to 500000000 end address in absolute system since the movement amount is 600000000pulses select 99999999 Address at start 5000 Positioning start continuous as I Da 1 Operation pattern The QD72P3C3 can output up to 268435455pulses at a time When performing positioning control exceeding the number of pulses that can be output perform movement in multiple times as the figure below M t t Maximum 2 5ms Maximum 2 5ms 63120090pulse Movement amount Movement amount 268435455pulse 268435455pulse 99999999 Address at start 500000000 End address 9 2 9 1 Outline of Positioning Control 9 1 2 Positioning control operation patterns O POSITIONING CONTROL M IS 26 OQ M 3 POINT Positioning data of the QD72P3C3 is started by setting 0 to Cd 5 Start method The BUSY signal X8 to XA turns ON even when position control of movement amount 0 is performed However since the ON time is short the ON status may not be detected in the sequence program O Z pee 59 EE 7204 one ao JOG OPERATION AUXILIARY FUNCTION COUNTER FUNCTION COMMON FUNCTION DEDICATED INSTRUCTI
39. co 8 2 Machine OPR Control 8 2 1 Outline of the machine OPR operation 8 OPR CONTROL 8 4 8 2 2 MELSEC TE cries OPR method for machine OPR control This machine OPR control specifies a way to establish machine OP method for judging the OP position and machine OPR control completion according to configuration and application of the positioning control system The following table shows the two methods that can be used for this OPR method The OPR method is one of the items set in parameter It is set to LPr 10 OPR method in OPR parameter OPR method Description Deceleration starts when the near point dog turns from OFF to ON The axis decelerates until it reaches at LPr 14 Creep speed Near point dog method The axis stops on detection of the first zero signal signal output for one pulse per one rotation e g Zero signal output from the drive unit after the near point dog turns from ON to OFF and on completion of the deviation counter clear output machine OPR control is completed The stopper position is defined as the OP The axis starts at Pr 14 Creep speed from the beginning and is brought into contact with the stopper to stop Stopper 3 After stop when the deviation counter clear output is completed after zero signal signal which detects that a workpiece contacts against a stopper and then is output detection the machine OPR control is com
40. compatible mode Fast user switching Remote desktop Large fonts Details setting of Display Properties Also 64 bit version Windows XP and Windows Vista are not supported 2 Use a USER authorization or higher in Windows Vista 6 5 6 2 Installing and Uninstalling the Utility Package 6 2 2 Operating environment 6 UTILITY PACKAGE GX Configurator PT MELSEC TE eries J Lu 6 3 Utility Package Operation Z ED e 6 3 1 Common utility package operations g a 1 Control keys Special keys that can be used for operation of the utility package and their applications are shown in the table below E Key Application a g Cancels the current entry in a cell i Esc no Closes the window Tab Moves between controls in the window Used in combination with the mouse operation to select one Ctrl S6 multiple cells for test execution Deletes the character where the cursor is positioned 3 Z Delete When a cell is selected clears all of the setting contents in the 9 e al 2 cell OES Back Deletes the character where the cursor is positioned Space a t l j Moves the cursor Lo az 059 Page Moves the cursor one page up FEE Up Koz xoo G amp o Page Moves the cursor one page down Down aw Enter Completes the entry in the cell Ze im fre ea z 200 SEE SER 2 Data created with the utility
41. for the Setting 4 Click Calculation Calculation results are displayed in the Result 5 to 9 NN zz oo 5 Acceleration Displays the acceleration calculated according to the Setting 1 to 4 z 5 OZ 6 Actual Displays the rounded value of 5 Acceleration Actual accleration deceleraion 5 acceleration operation is performed with this acceleration m E T Difference Displays the difference between 5 Acceleration and 6 Actual acceleration The ES 96 displayed value is the difference over 5 Acceleration 8 Difference Displays the difference between 3 ACC DEC time and 9 Actual ACC DEC time ms 9 3 S 9 Actual ACC og n Displays the actual ACC DEC time I Z E DEC time ms 060 EE SS ano PROCEDURES AND SETTINGS BEFORE OPERATION C B T O S ej S o g i e x o WW z a gt E zi E SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 6 6 Monitoring Test 6 22 6 6 2 ACC DEC time calculation function screen SEQUENCE PROGRAM USED FOR POSITIONING ie en MELSEG LY series CHAPTER7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL This chapter describes sequence programs of the positioning control system using the QD72P3C3 7 1 Precautions for Creating Program 1 System configuration Unless otherwise specified the sequence programs in this chapter are for the following system For the applications of the devices used refer
42. ns x a z Lu n n 9 1 Outline of Positioning Control 9 5 9 1 4 Checking the current value O POSITIONING CONTROL MELSEC Kel ries m Restrictions If the stored current feed value is used for control tolerance occurs by 2 5ms at update timing of the current value m Monitoring the current value The current feed value is stored in the following buffer memory and can be read using the DFRO P instruction from the programmable controller CPU Buffer memory address Md 1 Current feed 70 170 270 value 71 171 271 F Ixample 33a sS eR pease a aes aaa ae ea aa ee uec Ion x Program in which the current feed value of axis 1 is read to D70 and D71 box ro lt Current feed value is read to D70 and D71 DFRO HO K70 D70 KI i Current Data re l I L i feed gister fot value current I feed value l l read storage command I I ena cea at ab pi nitla ias ac Sash ftp Nts Sala lt ea m sl Sak a a uses sak Seen Sea Sak sD a Es fal ada SOEs fale el Len dur ea cee fa ac aN i fa wh team nat E aE a made bel GM Rd nc a ca 9 6 9 1 Outline of Positioning Control 9 1 4 Checking the current value O POSITIONING CONTROL MELSEC Sl 9 2 Positioning Data Setting 9 2 1 Relation between each control and positioning data O z pee 59 Er 86 ao The setting requirements and description for the setting items of the positioning
43. 0 No 0000 Setting item Setting value CH1 Ring counter maximum value CH1 Positioning range upper imit value CH1 Coincidence detection setting Coincidence detection not requested CH1 Count value selection at OPR OP address not set to count value CH2 Ring counter mavimum value CH2 Positioning range upper limit value CH2 Coincidence detection setting Coincidence detection not requested Make text file Details Decimal input Setting range 0 1073741823 End setup Cancel Setting item Axis 1 Parameter setting Axis 1 OPR data setting Axis 2 Parameter setting Axis 2 OPR data setting Axis 3 Parameter setting Axis 3 OPR data setting Axis 1 Positioning data setting Axis 2 Positioning data setting Axis 3 Positioning data setting Counter function parameter setting 2 Command button Make text file Cancel 6 4 Initial Setting End setup Saves the set data and ends the operation Creates a file containing the screen data in text file format Cancels the setting and ends the operation 6 UTILITY PACKAGE GX Configurator PT MELSEC TE eries 3 POINT Initial settings are stored in an intelligent function module parameter file After being written to the CPU module the initial setting is made effective by either 1 or 2 1 Cycle the RUN STO
44. 1 Near point dog method 8 OPR CONTROL M aL eG e series c The following chart describes the operation when the near point dog is OFF and no near point dog exists in the OPR direction at the start of OPR control Deceleration starts when the upper limit switch turns ON Pr 13 OPR speed F2 Creep speed A Start point Near point Upper limit dog switch Zero signal After deceleration to the creep speed the axis returns to the near point dog ON area and OPR is performed again Figure 8 4 Operation when the near point dog is OFF and no near point dog exists in the OPR direction at the start of OPR control d The following chart describes the operation when OPR is performed from ON position of the limit switch in the OPR direction at the start of OPR control Creep speed Start point Near point Upper limit dog switch Zero signal The axis returns to the near point dog ON area and OPR is performed Figure 8 5 Operation when OPR is performed from ON position of the limit switch in the OPR direction at the start of OPR control e The following chart describes the operation when OPR is performed from the near point dog ON position Creep speed _ __ gt Start point 1 I I Near point dog Zero signal Figure 8 6 Operation when OPR is performed from the near point dog ON position P I I I l l l l l 8 2 Machine OPR Control 8 2 3 OPR met
45. 1 Current feed value SSS Seg m ee es Pr 17 Positioning range upper limit valuea Subtraction Addition Precautions When the ring counter is selected for the counter format the setting range of positioning address movement amount is from 0 to Pr 17 Positioning range upper limit value 1 If trying to perform positioning control at out of this range Out of positioning address movement amount setting range error error code 509 occurs If trying to perform positioning control when Md 1 Current feed value is outside the range from 0 to Pr 17 Positioning range upper limit value 1 Out of current feed value range error error code 518 occurs When Pr 17 Positioning range upper limit value is set to 0 the setting range of positioning address movement amount is from 0 to 1073741823 4 19 4 2 Parameter List 4 DATA USED FOR POSITIONING CONTROL Pr 18 Pr 19 Coincidence detection setting Setting contents eG Q series Select whether to use the coincidence detection function 0 Coincidence detection not request used 1 Coincidence detection requested Precautions The coincidence detection function is not The coincidence detection function is used If setting 1 Coincidence detection requested while the ring counter function is used Coincidence detection function ring counter function s
46. 2 1 and 2 2 above are checked at operation start 1 axis linear Therefore positioning control out of the software stroke limit range is not control performed 2 1 above is checked At operation start i 9 XS The axis does not start if the workpiece is out of the software stroke limit E o Positioning o5 Speed control O range Ou control During operation The axis starts deceleration to a stop when it exceeds the software stroke z limit range 2 Oo 2 2 above is checked E Current value e n Fs If the value of current value change is out of the software stroke limit E g range the current value is not changed g 2 1 above is checked S At operation start 2 The axis can be started only in the direction from the position out of the software stroke limit range to within the software stroke limit range JOG operation movable region o During operation a The axis starts deceleration to a stop when it exceeds the software stroke E S limit range SE no Q Checked az O Is not checked if the current feed value is not updated refer to Current feed value during speed control during speed control 9 Unchecked E When the counter format is set to ring counter in intelligent function module switch setting z software stroke limit check is not made ul E o a x a z Lu a a 11 4 Software Stroke Limit Function 1 1 7 1 1 AUXILIARY FUNCTION 11 8 MELSEC TE eries 4 Pr
47. 2 z FLS3 Upper limit signal of Axis 3 a RLS1 Lower limit signal of Axis 1 g RLS2 Lower limit signal of Axis 2 RLS3 Lower limit signal of Axis 3 x a Em Lu n n 13 3 External I O Signal Monitor Function 1 3 3 1 3 COMMON FUNCTION 13 4 H W SW Information The setting status of the intelligent function module switches is displayed Item Signal name Corresponding switch PLS OUT i Pulse output mode 0 to 2 bits MODE PLS OUT Pulse output logic SIG jS 4 to 6 bits selection Switch 1 Deviation counter clear DCC CLR 8 to 10 bits output logic selection Zero signal input logic i ZERO SIG 12 to 14 bits selection Near point dog signal i DOG SIG 0 to 2 bits input logic selection Lower limit signal input FLS SIG Switch 2 4 to 6 bits logic selection Upper limit signal input RLS SIG bubbles 8 to 10 bits logic selection PLS IN Pulse input mode 0 to 5 bits MODE Switch 3 RNF LIN Counter format 8 to 10 bits NOP Switch 4 NOP Switch 5 13 3 External I O Signal Monitor Function MELSEC 8 Value For details refer to Section 5 6 Intelligent Function Module Switch Setting 1 4 DEDICATED INSTRUCTIONS MELSEC TE eries z Zo i f i o Y 14 1 Dedicated Instruction List and Applicable Devices zd ims 1 Dedicated instruction list Fa D Dedicated C E Application j Descr
48. 3 3 When this signal is turned ON during BUSY the Start during operation start requested warning warning code 10 occurs Axis 1 forward run Axis 1 YC reverse run EM 7 OFF JOG not ile this signal i ioni YE forward run JOG start 1 While this signal is ON JOG operation is performed at the JOG 1 JOG started speed YF Axis 2 signal EE reverse run ON JOG started 2 When this signal is turned from ON to OFF it decelerates to stop Y11 Axis 3 forward run Axis 3 3 8 reverse run 3 3 Specifications of I O Signals with Programmable Controller CPU 3 3 3 Details of output signals programmable controller CPU QD72P3C3 3 SPECIFICATIONS AND FUNCTIONS Device MELSEC TE eries No Signal name Description OFF Coincidence Y44 ICHI Coincidenc signal reset not YA5 CH2 e signal commanded 1 This signal is turned ON when resetting the count value coincidence X15 reset ON Coincidence X19 and X1D Y16 CH3 command signal reset commanded vig CH1 OFF Preset not 7 E l l v19 cH2 Preset commanded 1 On the rising edge of this signal Cd 6 Preset value setting is set to YA CH3 command ON Preset Md3 Count value commanded OFF Count enable Y1C CH1 Count not commanded m NT Y1D CH2 enable 1 By turning ON this signal the counting operation is started ON Count enable Y1E CH3 command commanded 3 3 Specifications of I O Signa
49. 46 E O oa QE ED OPR CONTROL SEQUENCE PROGRAM USED FOR POSITIONING e NIRO M ELSEG Q series 7 3 Creating a Program This section describes positioning control operation programs actually used The programs designed to perform the functions described in PART 2 CONTROL DETAILS AND SETTING are installed in the positioning control operation programs described in Section 7 3 2 To monitor control add a necessary monitor program according to the system For monitor items refer to Section 4 5 Monitor Data List 7 3 1 General configuration of program The general configuration of the positioning control operation program is shown below Start of program creation Parame er and Set using the sequence program Set using the Parameter and data setting program GX Configurator PT Refer to Section 7 5 1 Refer to Section 7 5 2 Refer to Section 7 5 3 Refer to Section 5 7 Refer to Section 7 5 4 Stop program Counter function program ueJ60Jd uopesado jojuoo Buiuonisod Completion of program creation H 7 3 Creating a Program 7 3 1 General configuration of program SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M eL 26 FY caries 7 3 2 Positioning control operation program z 5 o The following are individual programs which comprise the positioning control operation S programs When creating a program refer to each section of the corresponding program 9
50. 5 Positioning address movement 1073741824 to 1073741823 pulse 0 96 196 296 amount 97 197 297 4 23 4 4 Positioning Data List 4 DATA USED FOR POSITIONING CONTROL Da Operation pattern MELSEC KE eries Setting contents Area to select a start method for positioning control 0 Positioning start independent Select this item when performing positioning control whose movement amount is within 268435455pulses regardless whether the system is the absolute system or incremental system 5000 Positioning start continuous Select this item when performing positioning control whose movement amount is over 268435455pulses regardless whether the system is the absolute system or incremental system Example 1 Performing positioning control whose movement amount is within 268435455pulses When performing position control from 99999999 starting address to 150000000 end address in absolute system since the movement amount is 250000000pulses select 0 Positioning start independent as Da 1 Operation pattern 250000000pulse 150000000 Address at start End address Example 2 Performing positioning control whose movement amount is over 268435455pulses When performing position control from 99999999 starting address to 500000000 end address in absolute system Since the movement amount is 600000000pulses select 5000 Positioning start con
51. A2 PULSE R3 B2 PULSE R2 A2 PULSER1 B1 NC A1 PULSE COM1 3 B1 PULSE COM1 39 A1 PULSE COM1 38 1 Common for CHLIA 5V CHL1A 24V O indicates any of channel numbers 1 to 3 2 Common for CHOB_5V CHLIB 24V O indicates any of channel numbers 1 to 3 8 Common for PGOLI O indicates any of axis numbers 1 to 3 4 Common for CLEARLI O indicates any of axis numbers 1 to 3 5 Common for DOGO FLSO RLS 6 Common for PULSE FO PULSE RO O indicates any of axis numbers 1 to 3 O indicates any of axis numbers 1 to 3 3 16 3 5 Specifications of I O Interfaces with External Device 3 5 2 Signal layout for external device connector 3 SPECIFICATIONS AND FUNCTIONS MELSEC Sl 3 5 3 List of I O signal details The details of each signal for the QD72P3C3 external device connector are shown below PRODUCT OUTLINE Signal details Signal name Negative logic is selected by external I O signal logic selection Input the zero signal for machine OPR control Use the encoder s zero signal and so on Zero signal A14 B14 PGO Use this signal when OPR method is the stopper 3 and the OPR complete is input from an external device CONFIGURATION SYSTEM The zero signal is detected at turning from OFF to ON Zero signal common A13 B13 PGO COM Common for zero signal This signal is used for detecting the near point dog during machine OPR C9
52. AND FUNCTIONS MELSEC KE ories Pulse rise fall time unit tr tf ws Duty Ambient air temperature is assumed to be ordinary temperature A B o Load voltage V 26 4 5 G NK Load E tf tr tf coment Fall Fall mA 2 100 2 341 0 156 44 76 2 824 0 162 42 45 10 2 849 0 169 49 1 3 727 0 182 49 08 z 5 100 1 101 0 176 49 7 1 487 0 188 48 37 O 10 1 114 0 174 49 6 1 516 0 190 49 83 Dg 10 100 0 511 0 188 51 4 0 753 0 203 50 89 Be 10 0 522 0 187 50 15 0 745 0 204 50 09 K 20 100 0 268 0 218 52 37 0 379 0 233 52 18 10 0 262 0 218 50 24 0 376 0 234 50 22 22 50 100 0 098 0 344 53 34 0 140 0 359 53 33 lt 5 10 0 097 0 347 50 34 0 135 0 361 50 34 L5 uo D OL Load voltage V 4 75 Cabelnghim 1 o o o M Lo Load az tf tr tf UZ current Fall Fall See a a E ia 34 2 100 0 510 0 107 50 87 0 712 0 113 50 38 10 0 492 0 107 50 08 0 680 0 112 50 04 5 100 0 207 0 117 51 8 0 289 0 120 51 74 Zt O 10 0 201 0 113 50 19 0 288 0 119 50 18 Ph 40 100 0 097 0 129 52 29 0 138 0 131 52 28 526 10 0 098 0 128 50 23 0 131 0 130 50 23 E n 20 100 0 039 0 160 52 75 0 055 0 159 52 80 gua 10 0 038 0 159 50 28 0 054 0 158 50 28 50 100 0 015 0 255 53 41 0 016 0 258 53 47 ES 10 0 014 0 254 50 34 0 016 0 259 50 36 uk ze ES 58 g2 wee oe z o DE D ra LE a O O ug n O 3 5 Sp
53. Axes 2 or 3 refer to Section 3 5 2 Signal layout for external device connector 2 These are limit switches for servo amplifier for stop 3 For details of connection refer to the MR H series Servo Amplifier Instruction Manual 4 This indicates the distance between the QD72P3C3 and servo amplifier App 9 Appendix 3 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation APPENDICES MELSEC KE eries 4 Connection example of QD72P3C3 and MR CoA F ETE L a vio dip Regenerative resistor is an external option Sarvomnater E fee Power supply x ge 9 9 MENS 8 Single phase 200VAC type A type amp oO single phase 100VAC type A1 type oi M MR CEIA1 85 9946 E 24VDC ciet emagnelic amp Within 2m 4 Cut off by turning the servo E m ON signal OFF and the 2 QD72P3C3 alarm signal ON W AE et mit ELA CNi 3 H H A PULSE F1 A an PP 9 o PULSE COM1 3 A3 i T sa 5 A i Q9 PULSE R1 A2 l NP 7 Q PULSE COMI 3 Al H m P CLRI A12 GR 13 f i CLRICOM All r1 it SG 12 i E CN ERE PG01 i i PGO1COM A13 OP 4 i SD u i H CHIA 24V A20 Ez CHIA SV A19 5V power 5V ae CH1 ACOM A18 a CH1B 24V A17 SUPP svenp E 2 CH1B_5V A16 i i CH1 BCOM A15
54. CPU modules and base units applicable to the QD72P3C3 and quantities for each CPU model The QD72P3C3 can be mounted into any I O slots on the applicable base unit However the power capacity may be insufficient depending on the combination with the other mounted modules and the number of mounted modules Be sure to check the power capacity when mounting the modules Applicable CPU module No of Base unit 4 Extension base Basic model Up to 8 B QCPU CHO Up to 24 QO02CPU High QO2HCPU Performance QO6HCPU Up to 64 O O model QCPU Q12HCPU Programmable Q25HCPU Q12PHCPU controller CPU Process CPU SESEHSEN Up to 64 Oo Oo Redundant Q12PRHCPU x Up to 53 x O cpu Q25PRHCPU QO2UCPU Up to 36 Universal model QO3UDCPU QCPU Q04UDHCPU Up to 64 9 QO6UDHCPU 2 3 O Applicable x N A 1 Limited within the range of I O points for the CPU module 2 Can be installed to any I O slot of a base unit 8 For the coincidence detection interrupt function use the CPU module of function version B or later 4 The dedicated instructions are not supported in the Redundant CPU system 2 3 Applicable System 2 SYSTEM CONFIGURATION MELSEC Sl b Mounting to a MELSECNET H remote I O station The following shows the mountable network modules No of mountable modules and mountable base unit of the QD72P3C3 module The QD72P3C3 can be mounted into any I O slo
55. Current feed value at speed control The current feed value does not change The current feed value at the start of 0 No update gs speed control is held The current feed value is updated The current feed value at the start of speed 1 Update control is updated Speed limit value Setting contents Set the maximum speed for OPR control positioning control and JOG operation The Speed limit value is determined by the following two conditions The number of motor rotations Moving speed of workpiece 4 9 4 2 Parameter List 4 DATA USED FOR POSITIONING CONTROL Pr5 Bias speed at start Setting contents SIS eG Q series Set the minimum starting speed for positioning control and JOG operation In case of using a motor such as a stepping motor set this item to start the motor smoothly A stepping motor does not start smoothly if the motor speed is low at start Precautions The minimum starting speed during Set a value equal to or less than Pr4 Speed limit value If setting a value greater than Pr4 JSpeed limit value Out of bias speed at start setting range error error code 906 occurs Setting unit pulse unit changes according to the value set to value as the table below Setting value of value pulse s Pr 4 Speed limit Pr4 Speed limit 1 to 8000 8001 to 32000 3200
56. DOG 24VDC OFF COM Negative logic Default value Voltage applied DOG 24VDC On COM Voltage not applied DOG 24VDC ON COM Positive logic Voltage not applied o O DOG 24 DC OFF I COM 1 Set the logic setting using Intelligent function module switch setting For details of the setting contents refer to Section 5 6 2 When using the upper limit signal FLS and or the lower limit signal RLS always wire them it as the normally closed contact in the negative logic setting Turning OFF this signal stops positioning Logic setting and internal circuit In the QD72P3C3 the case where the internal circuit photocoupler is OFF in the negative logic setting is defined as input signal OFF Reversely the case where the internal circuit photocoupler is OFF in the positive logic setting is defined as input signal ON Photocoupler ON OFF status When voltage is not applied Photocoupler OFF When voltage is applied Photocoupler ON 3 5 Specifications of I O Interfaces with External Device 3 19 3 5 4 Internal circuit of I O interface PRODUCT OUTLINE CONFIGURATION SYSTEM oO NaN Ze lege EE X o2 uD Oo 80d 0 DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 DATA USED FOR POSITIONING CONTROL MELSEC 8 CHAP
57. Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation QD72P3C3 PULSE F1 PULSE COM1 3 1 Connection example of QD72P3C3 and MR J3 0A Configure a sequence circuit to turn OFF the MC at alarm and emergency SOP PULSE R1 PULSE COM1 3 CLRICOM PGO1 PGO1COM CH1A 24V CH1A 5V CH1 ACOM CH1B 24V CH1B 5V CH1 BCOM Doct Near point dog Upper limit App 7 Zero speed detection During torque limit Positioning complete Analog torque limit 10V max current Power supply NF 3phases 200VAC JN one te 24V power supply i Torque limit Failure Within 2m i Proportional control Forward run stroke end CN1 CNP1 CNP2 LA LAR LB LBR Servomotor si EX 24VDC Electromagnetic j brake Cut off by turning the servo ON signal OFF and the i alarm signal ON CN6 Monitor output 10k Q MOI Max 1mA total LG Bi directional MO2 measurement Within 2m IG in t 1 The logic of each I O terminal can be changed by the intelligent function module switch setting refer to Section 5 6 The above example assumes that all terminals are set to the negati
58. FD First two digits when I O signals are expressed in 3 digit S Start number of the device in which control data is stored Device 2 Start number of the bit device to be turned ON for one scan upon 9 D completion of the instruction System Bit 5 D 1 also turns ON at error completion m o Local devices and file registers for each program cannot be used for setting data E x a z Lu n n 14 3 PSTRT1 PSTRT2 PSTRT3 14 3 1 4 DEDICATED INSTRUCTIONS MELSEC IA series 2 Control data Setting P Device Item Setting data Set by range S 0 System area Stores the status at completion S 1 Completion status 0 Normal completion System Other than 0 Error completion Error code Specifies the start number to start the control with the RSTRTO instruction 0 S 2 Start number Positioning control 0 9000 User Machine OPR control 9000 9001 Fast OPR control 9001 1 The setting side indicates the following User Data stored by the user at dedicated instruction execution System Data stored by the programmable controller CPU at dedicated instruction completion 2 For details of error code at error completion refer to Section 15 3 3 Function a Starts the positioning control of the target axis see below PSTRT1 Axis 1 PSTRT2 Axis 2 PSTRT3 Axis 3 b Positioning control and OPR control are started by specifying either 0 9000 o
59. Iba Monitoring Select Error reset requested Details Select input Setting range Error reset not requested Error reset requested PROCEDURES AND SETTINGS BEFORE OPERATION Click Execute test Close Closes the currently open screen and returns to the previous screen E ki Sg ej S 2 e e O x 9 WW z a gt E zi E SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 6 6 Monitoring Test 6 20 6 6 1 Monitoring Test screen 6 UTILITY PACKAGE GX Configurator PT Mi ELSEG Q series 6 6 2 ACC DEC time calculation function screen Purpose The QD72P3C3 processes acceleration as integer Therefore the difference may be generated between actual ACC DEC time and set ACC DEC time With this function actual ACC DEC time can be calculated by entering parameters required for calculating ACC DEC time For details of ACC DEC time refer to Section 11 6 1 Calculating actual ACC DEC time Operating procedure Select monitor test module screen Start I O No Module type Module model name gt Monitor Test Enter the start I O No in hexadecimal The screen can also be started from System monitor of GX Developer Version 6 or later Refer to the GX Developer Operating Manual for details Setting screen ACC DEC time calculation Function QD72P3C3 module processes acceleration value calculated based on
60. Initial setting Module information Module type QD70 Model Module Module model name QD72P3C3 MELSEC 8 Initial setting for positioning data and counter function parameter Start 1 0 No 0000 Setting item Axis 1 Positioning data setting Move to sub window Axis 1 Positioning data setting Anis 2 Positioning data setting Axis 2 Positioning data setting Axis 1 Positioning Axis 3 Positioning data setting Axis 3 Positioning data setting data setting Counter function parameter setting Make text file 6 13 Details Move to sub window End setup Select items to be moved to sub window Counter function parameter setting Explanation of items 1 Setting item list Axis 1 Positioning data setting Module information Module type QD70 Model Module Module model name QD72P3C3 Start 1 0 No 0000 Setting item Not Operation pattem Setting value Positioning start independent No1 Control method No control method Not ACC DEC time INo1 Command speed Not Positioning address movement amount Make text file Counter function parameter setting Module information Module type D70 Model Module Module model name QD72P3C3 Details Select input Setting range Positioning startIndependent Positioning start Continuous End setup Cancel Start 1
61. JOG operation start 1 o i z i i E i o i g T I i JOG ACC DEC time Cd 2 Cd 2 m i i gt N JOG start signal YC to Y11 OFF i on ON ICd 3 Speed change request OFF Cd 1 New speed value V2 X V3 X a Figure 11 1 Speed change operation f n lt 11 3 Speed Change Function 1 1 3 1 1 AUXILIARY FUNCTION MELSEC IA series 2 Precautions during control a When turning ON the axis stop signal Y4 to Y6 or OFF the JOG start signal YC to Y11 during acceleration deceleration using the speed change function the axis continues decelerating at the accelerated velocity at the acceleration deceleration until it reaches to Pr5 Bias speed at start and then stops Example of stop operation from during deceleration A acceleration B v A A 3 Speed change request OFF Stop operation from during deceleration A Y A Figure 11 2 Operation when turning ON the axis stop signal Y4 to Y6 or OFF the JOG start signal YC to Y11 before the axis reaches to the speed change value 1 1 4 11 3 Speed Change Function 1 1 AUXILIARY FUNCTION MELSEC Sl b The speed cannot be changed in the following cases The speed change request is ignored During deceleration started by turning ON the axis stop signal Y4 to Y6 During deceleration started by turning OFF the JOG s
62. OPR control when the movement amount is over 268435455pulses lt 5 E oo aco PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING oe OPR CONTROL 8 3 Fast OPR Control 8 11 8 3 1 Outline of the fast OPR control operation 8 OPR CONTROL MELSEC S1 8 4 Count Value Selection Function at OPR wo This function stores LPr 12 OP address to Md To use this function set Pr 19 Count value selection at OPR to 1 OP address set to count value Count value when OPR is completed 8 12 8 4 Count Value Selection Function at OPR O POSITIONING CONTROL MELSEC 8 CHAPTER9 POSITIONING CONTROL This chapter describes details of the QD72P3C3 positioning control control functions using positioning data 0 z 6g Er 36 ao 9 1 Outline of Positioning Control 6 Positioning control is a control using positioning data stored in the QD72P3C3 ui Position control speed control and current value change are performed by setting the e necessary items to the positioning data S Set the control method of positioning control to LDa 2 Control method in setting item of the positioning data The following table shows controls which can be defined as positioning control by t
63. OSlot Function version Module Information Module access Possible 1 0 Clear Hold Settings Status of External Power Supply Noise Filter Setting UTILITY PACKAGE GX Configurator PT Fuse Status ae Input Type Status of 120 Address Verify Agree Remote password setting status Error Display No Present Error Error History The display sequence of the error history is from the oldest error The latest error is displayed in the line as under Display format C HEX DEC SEQUENCE PROGRAM USED FOR POSITIONING HAW Information Stop monitor OPR CONTROL 2 6 How to Check the Function Version Software Version 2 8 SYSTEM CONFIGURATION MELSEC lA cries 2 Checking the software version of GX Configurator PT Check the version on the Production information screen displayed by clicking the Help menu of GX Developer GX Developer operation Help Product Information GX Developer screen Product information Programming and Maintenance tool Ww GX Developer Version 8 484 S W8D5C GPPW E COPYRIGHT C 2002 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED This Product is licensed to Name Company ProductlD List of version information on Add in software GX Configurator PT Gersiont 22218 1D5C QPTU E COPYRIGHT C 2000 HSW ELECTRIC CORPORATION ALL REPE ME Software version Warning This product is protected by copyright law and international trea
64. PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 DATA USED FOR POSITIONING CONTROL MELSEC TE eries Pr 15 ACC DEC time at OPR 4 17 Setting contents Set acceleration time from Pr 14 Creep speed to Pr 13 OPR speed and deceleration time from Pr 13 OPR speed to Pr 14 Creep speed during machine OPR control in near point dog method i Pr 13 Pr 14 i i Po Pas 1 1 l Precautions Set ACC DEC time at OPR within the range that the following formula is satisfied If the condition is not satisfied Out of ACC DEC time setting valid range warning warning code 26 occurs and control is performed in the time between the maximum value and the minimum value calculated by the following formula Refer to Example below Pr 13 0PR speed Pr 14 Creep speed Pr 18 ACC DEC time at OPR x Pulse unit x 0 125 8000 1 IIA Example When Pr 13 OPR speed 8000 Pr 14 Creep speed 1 and LPr 4 Speed limit value 8000 1 pulse unit the setting range of LPr 15 ACC DEC time at OPR is from 8 to 5000 ms 4 2 Parameter List 4 DATA USED FOR POSITIONING CONTROL M als 26 e LL j imi Zz Pr 16 Ring counter upper limit value 5 Setting contents 2 Set the
65. POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION E ki e S ej S 2 z e x 9 WW z a gt E zi E SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 6 UTILITY PACKAGE GX Configurator PT MELSEC 8 Used operating system and performance required for personal computer Operating system Performance required for personal computer CPU Windows 95 Pentium 133MHz or more 32MB or more Windows 98 Pentium 133MHz or more 32MB or more Windows Me Pentium 150 MHz or more 32MB or more Windows NT Workstation 4 0 Pentium 133MHz or more 32MB or more Windows 2000 Professional Pentium 133MHz or more 64MB or more Windows XP Professional Service Pack1 or later Pentium 300MHz or more 128MB or more Windows XP Home Edition Service Pack1 or later Pentium 300MHz or more 128MB or more Windows Vista Home Basic Pentium 1GHz or more 1GB or more Windows Vista Home Premium Pentium 1GHz or more 1GB or more Windows Vista Business Pentium 1GHz or more 1GB or more Windows Vista Ultimate Pentium 1GHz or more 1GB or more Windows Vista Enterprise Pentium 1GHz or more 1GB or more POINT 1 The functions shown below are not available for Windows XP and Windows Vista If any of the following functions is attempted this product may not operate normally Start of application in Windows
66. S 2 Difference Displays the difference between 5 Acceleration and 6 Actual acceleration The 96 displayed value is the difference over 5 Acceleration z Difference Displays the difference between 3 ACC DEC time and 9 Actual ACC DEC time 2 o ms 9 3 Z 9 Actual ACC i Displays the actual ACC DEC time DEC time ms z o o ACC DEC time calculation Function Febr E acceleration value calculated based on Setting the set value 1 4 as integer n Therefore the difference might be generated between Actual Command speodpps 100000 z ACC DEC time S and ACC DEC time 3 am 100 a9 An Actual ACC DEC time can be calculated by inputting set value Bias speed at start pps B 5 1 4 on this dialog a X25 3 ACC DEC time ms 1000 S i 1 7 excod 8 difference ms 4 Speed limit value pps 100000 az Result 5 Acceleration 2 E B Actual acceleration S T 7 Difference n ml 8 Difference ms E time o S Actual ACC DEC time ms fr Details 6 is a half adjust value of 5 7 and 8 is calculated as follows 5 6 6 100 Log x a Zz Lu n n lt 11 6 ACC DEC Process Function 11 6 1 Calculating the actual ACC DEC time 11 13 1 1 AUXILIARY FUNCTION M ELSEG Esenes 2 Calculation example of 5 Acceleration and 9 Actual ACC DEC time Calculating formula for 5 Acceleration is shown below 1 Target speed 2 Speed at start x 8 5 Accelerationi 2
67. Section nen limit stroke limit setting range which are set in the parameters this 144 unction function will not execute operation for that command Hardware stroke limit Executes the deceleration stop by the limit switch connected to the Section function QD72P3C3 11 5 ACC DEC process Section Adjusts the acceleration deceleration processing of control function 11 6 3 2 3 2 Function List 3 SPECIFICATIONS AND FUNCTIONS MELSEC Sl W z Control method function name Description Reference i Can count from 1073741824 to 1073741823 and detect an Section o Linear counter function 5 overflow when the count range is overrun 12 2 2 Counts repeatedly from 0 to the Pr 16 Ring counter upper limit g 7 Section Ring counter function ela Note When using the ring counter function the positioning control 12 3 range is from 0 to 1073741823 pulse p Counts pulses while the count enable command Y1C to Y1E is Section amp Count enable function ON 12 4 a Counter irr NE A By presetting the LCd 7 Coincidence detection point setting this 2S function Coincidence detection Section 60 function function outputs ON OFF signal as compared to the Md 3 Count 12 5 3 value z Section nn Preset function Rewrites the Md 3 Count value to an arbitrary value 12 6 6 B EE Current feed value 3 z count value Changes the Md 1 Current feed valu
68. USED FOR POSITIONING OPR CONTROL 5 PROCEDURES AND SETTINGS BEFORE o PE RATI 2 N M ELSEG Q series 5 5 Wiring Check 5 5 1 Check items at wiring completion Check the following items after installation and wiring of the QD72P3C3 are completed Is the module correctly wired sseeee Connection check By performing connection check whether the QD72P3C3 recognizes the external I O signals such as near point dog signal and upper lower limit signals can be checked The following describes the method of connection check 1 Checking using GX Developer Read the monitor data Md 8 External I O signal using the monitor function Buffer memory batch and check the read values Buffer memory address Signal name External I O signal Bit pattern bl5 b4b3 b0 eerie Lower limit signal 0 OFF Reserved Example Checking the external I O signals of Axis 1 GX Developer screen Module start address 0 Hex Buffer memory address go DEC C HEX Monitor format Bit amp word Display 16bit integer Value DEC C Bit C 32bit integer HEX Homer C Word C Real number single precision C Real number double precision C ASCII character Option setup Address FEDC 4BA98 7654 3210 00080 0000 0000 0000 0011 E Set the Buffer memory address T of Md 8 External I O signa
69. ar EEN J Doat COMI 3 Forward run stroke end A SON 1 cz uio Failure mj zo spy V24 20 az Q5 OL z o I O z LL Z fe Remark ESSE o Z 1 The logic of each I O terminal can be changed by the intelligent function ae EO module switch setting refer to Section 5 6 The above example assumes SE E OE that all terminals are set to the negative logic al In addition the above example is for connecting to Axis 1 For the pin layout when connecting to Axes 2 or 3 refer to Section 3 5 2 Signal layout for o 3 z external device connector E 2 These are limit switches for servo amplifier for stop 2 P r N 3 For details of connection refer to the MR C series Servo Amplifier Instruction a Manual 2 tg wigs wz 4 This indicates the distance between the QD72P3C3 and servo amplifier iz Appendix 3 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation App 10 APPENDIX APPENDICES MELSEC S1 Appendix 4 Connection Examples with Stepping Motors Manufactured by ORIENTAL MOTOR CO LTD 1 Connection example of QD72P2C3 and RK series Within 2m 3 QD72P3C3 RK series 2 1 CH1A 24V A20 CH A 5V A19 CHI ACOM A18 CH1B 24V CHIB bV CHI BCOM LLL PGO O A16 P5V 5VG lt xp c N PGO1 A13 PGO1COM CLRI H1 ACOM CHIB 5V CH1 BCOM G01COM CLRICOM ULSE F1 ULSE
70. at EN start setting range peed at start exceeds the Pr4 Speed limit value The setting value of the Pr5 Bias speed at start is less than pulse unit 1 5 11 15 2 Error and Warning Descriptions 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC KE eries 9 z za oO EE Related buffer memory o Error amp o address g code Setting range A Axis Axis Axis decimal CH 1 CH2 CH 3 Change the setting of the Error time output mode parameter 800 of the CPU module to Clear z Refer to QCPU User s manual m fe Q e PSTRTLI start method 0 9000 9001 When executing the PSTRTLI instruction set the start DSTRTLI control method method within the range Refer to Section 14 3 804 1to5 When executing the DSTRTLI instruction set the ACC DEC DSTRTO ACC DEC time time within the range Refer to Section 14 4 Z ze 1 to 5000 When executing the SPCHGT instruction set the ACC DEC z S SPCHGLI ACC DEC time time within the range Refer to Section 14 5 zm 1 to 5000 820 Turn OFF and then ON the power or reset the programmable x controller CPU 55 830 Refer to QCPU User s manual 3 5 Pr 1 Software stroke limit 0 100 200 upper limit value 5 1 101 201 1073741824 to 1073741823 5 Set the values to satisfy Upper limit value gt Lower limit E p
71. axis CH error reset signals Y1 to Y3 for all axes are turned ON The axis CH warning occurrence signals X4 to X6 are turned OFF the axis CH error reset signals Y 1 to Y3 for all axes are turned ON e Md 4 JAxis operation status changes from Error to Standby Md 5 JAxis CH error code is cleared to 0 Md 6 JAxis CH warning code is cleared to 0 Checking error and warning description The error and warning description can be checked with Ma 5 JAxis CH error code and Md 6 JAxis CH warning code To check them GX Developer or GX Configurator PT is needed For details refer to Section 15 4 Checking Error Description Using System Monitor of GX Developer or CHAPTER 6 UTILITY PACKAGE GX Configurator PT For details of error code and warning code refer to Section 15 2 and Section 15 3 15 2 Error and Warning Descriptions 1 5 6 POSITIONING CONTROL JOG OPERATION AUXILIARY FUNCTION COUNTER FUNCTION COMMON FUNCTION MEW DEDICATED PER INSTRUCTIONS TROUBLESHOOTING APPENDIX 1 5 TROUBLESHOOTING Error code decimal 15 2 1 Error code list MELSEC TE eries The following table shows the error descriptions and measures to be taken when an error occurs Error name Description Operation at error 0 Normal status 100 Fault Hardware is a failure The system stops Stop signal ON at A star
72. cause a malfunction due to noise surge or induction SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 5 4 Wiring 5 7 5 4 1 Wiring precautions 5 PROCEDURES AND SETTINGS BEFORE OPERATION MELSEC TA cries 8 When the QD72P3C3 connection cable is located close to the power line less than 100mm 3 94inch use a shielded cable for noise suppression Be sure to ground the shield of shielded cables to a control panel on the QD72P3C3 side A wiring example is shown on the next page Wiring example of shielded cables Wiring example for noise suppression using the AGCON1 et m Drive unit Connector A6CON1 bs external evice For three drive units To external device To drive unit Ground the FG wire of 2 mm or more at the shortest length Securely provide grounding The length between the connector on the QD72P3C3 side to the control panel and the shielded cables should be the shortest possible up To the QD72P3C3 Processing example of shielded cables Connecting FG wire and shielded cables Take off the insulating tube of each shield and electrically connect the shields of the cables with conductive tapes Cover the conductive part with insulating tape S RSS SSSA Ve Solder the shield of any of the shielded cables to the FG wire 5 8 5 4 Wiring 5 4 1 Wiring precautions MELSEC Sl 5 PROCEDURES AND SETTINGS BE
73. change is executed when the positioning start signal Y8 to YA is changed from OFF to ON the value set to Da 5 Positioning address movement amount is stored to both Md 1 Current feed value and LMd 3 Count value When the preset command Y 18 to Y1A is changed from OFF to ON a normal preset operation is performed This time Md 3 Count value is not changed 1 2 12 12 7 Current Feed Value Count Value Simultaneous Change Function 1 2 COUNTER FUNCTION M IS D b Current feed value changed together at preset Setting value of Pr9 2 5 Positioning address movement amount Cd 6 Preset value setting Current value change execution Positioning start signal Y8 to YA Preset command Y18 to Y1A Md 1 Current feed value Indefinite 3 Count value Indefinite When the preset command Y 18 to Y1A is changed from OFF to ON a value in LCd 6 Preset value setting is stored to both Md 1 Current feed value and Md 3 Count value When current value change is executed when the positioning start signal Y8 to YA is changed from OFF to ON a normal current value change control is performed This time Md 3 Count value is not changed c 3 Values changed both at current value change and at preset Setting value of Pro 3 Da 5 Positioning address movement amount
74. completed at zero signal For details of each OPR method refer to Section 8 2 2 OPR method for machine OPR control Machine OPR control operation 0 Near point dog method 1 The machine OPR control is started The axis starts movement in Pr 11 OPR direction at OPR speed 2 speed 2 The near point dog ON is detected and deceleration starts 3 The axis decelerates until it reaches to Pr 14 Creep speed and then starts moving at the Creep speed At this time the near point dog must be ON 4 When the first zero signal signal output for one pulse per one ION Near point dog OFF i First zero after _ near point dog OFF rotation after near point dog OFF is detected pulse output from the QD72P3C3 stops and the machine OPR control is completed Zero singal 1 Stopper 3 1 The axis starts movement in Pr 11 JOPR direction at Pr 14 Creep speed At this time a torque limit to the motor is required If torque Creep speed ME Stopped by stopper limit is not set the motor may be a failure at 2 2 The axis contacts against the stopper at Pr 14 Creep speed and 2 then stops 1 Zero signal 3 When the zero signal signal which detects a contact against a stopper and then is output is detected pulse output from the QD72P3C3 stops and the machine OPR contro
75. control checking the actual position at the same time The positioning address and count value can be synchronized with the use of following functions f Refer to Count value selection function at OPR Section 8 4 Current feed value count value Refer to simultaneous change function Section 12 7 2 The status of I O signals and buffer memory of the QD72P3C3 can be checked with the sequence program The start stop and preset of count operation can also be performed 1 8 1 2 Outline of Positioning Control and Count Operation 1 2 3 Design outline of counter function PRODUCT OUTLINE MELSEGC Sl 1 2 4 Communicating signals between QD72P3C3 and each module The following shows the outline of the signal communication between the QD72P3C3 and programmable controller CPU peripheral GX Configurator PT and drive unit A peripheral is connected to the programmable controller CPU and communicates signals with the QD72P3C3 via the programmable controller CPU w z m E 2 Oo E S 2 Q O fad o For details of each I O signals refer to CHAPTER 3 z o LE lt Programmable QD72P3C3 E controller CPU zo Programmable controller i ie Yo CPU READY signal Ly a XO l Module READY signal DO Forward r
76. controls can be performed by setting OPR parameter 9000 or 9001 to LCd 5 Start method and turning ON the positioning start signal Y8 to YA SPECIFICATIONS AND FUNCTIONS Cc Establishing a positioning control OP Machine OPR control LC4 5 Start method 9000 Performing position control toward the OP Fast OPR control LC4 5 Start method 9001 DATA USED FOR POSITIONING CONTROL Machine OPR control must be performed before performing fast OPR control mWhen OPR control is not needed In the system that does not require OPR control setting 1 to 5 Cd 4 OPR request flag OFF request forcibly turns OFF OPR request flag LMd 7 Status b1 When OPR control is not performed operation starts using the position at power ON PROCEDURES AND SETTINGS BEFORE OPERATION LMd 1 Current feed value as 0 Also the OPR parameter Pr 10 to Pr 15 must all be set to the default values or the values that will not result in an error OPR request In the following cases the QD72P3C3 is required to turn ON OPR request flag UTILITY PACKAGE GX Configurator PT LMd 7 Status b1 and perform machine OPR control At power ON At machine OPR control start The OPR request flag turns OFF and the OPR complete flag LMd 7 Status b2 turns ON when the machine OPR control is performed and is c
77. esee esee eese eseeeeseseee 3 12 3 5 2 Signal layout for external device connector sssese eese e ee ee eee eee eee eee esee eee eeeeeeeeeeee 3 16 3 5 3 Listof I O signal details eeeeeeeee esee eee en eee eere eee ooo eee eee eee eese esee ees oeoeeseeeeseseee 3 17 3 54 Internal circuit of I O interfaceeeeseeeeeeeeee eee eee ee ee eee eee eese ee eesesoso ee eeecesseeeesecessssecececseseee 3 18 CHAPTER4 DATA USED FOR POSITIONING CONTROL 4 1to 4 31 4 1 Data Types 0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000c t 1 4 1 1 Parameters and data required for control eeeeeseeee esee eee eene ee eee eee eee eeosoceeeeeeeeeseseseeee 4 1 4 1 2 Parameter setting items eese eee ee ee ee eee eee eee eoe eee eee ee eee sesso ssssesesesccssssssse eee d 4 1 3 JOG data setting items eeee ee eee ee eee eee eee eene eee eene eoe e eee esee oso ssososessescssess s sese esee esee dy 5 4 1 4 Positioning data setting items sseeeee ee ee eee eee eee eee eene eene seen eoe o so soosesessescesssssss ee eee dy 5 4 1 5 Types and functions of monitor data eeeeeee eee ee eee ee eene eene eese eoe o sooo sso sceseseccess eese eee eee 4 G 4 1 6 Types and functions of control data eeeeeeee eee ee eee ee eese eene eese eoe o so sessosessesesessssssssss eese G 4 2 Parameter List e eeececeeeeeeee eese eese eese eese ee eoeo esee e
78. f performs actual operation according SEQUENCE PROGRAM USED FOR POSITIONING Workpiece OPR CONTROL 1 2 Outline of Positioning Control and Count Operation 1 3 1 2 1 Mechanism of positioning control 1 PRODUCT OUTLINE MELSEC S1 The following describes the operation principle of position control and speed control 1 Position control The total number of pulses required to move the specified distance is obtained in the following manner Total number of pulses required _ Specified distance _ x Number of pulses to move the specified distance 2 required for the motor Movement amount of the to rotate once machine load side when the motor rotates once The number of pulses required for the motor to rotate once is the encoder resolution described in the motor catalog specification list When this total number of pulses is issued from the QD72P3C3 to the drive unit the control for which the workpiece to move the specified distance can be realized The machine side movement amount when one pulse is issued to the drive unit is called the movement amount per pulse This value is the minimum value for the workpiece to move and is also the degree of accuracy for electrical positioning control 2 Speed control Although the above total number of pulses is an element required to control the movement amount speed must be controlled to perform equal speed operation This speed is controlled by the pulse
79. following table shows a setting example when 1 axis linear control INC is set in positioning data of axis 1 2 Setting item Setting example Setting contents m 2 EO e Set positioning start independent assuming Sz Positioning start at Da 1 Operation pattern independent position control whose movement amount is mE p within 268435455pulses is performed 1 axis linear control o ar o Axis 1 Da 2 Control method INC Set 1 axis linear control in incremental system z creer positioning Set the acceleration deceleration time for position p data Da 3 J ACC DEC time 1000ms 5 control Da 4 Command speed 50000pulse s Set the speed during movement 3 Da 5 itioni 222 Positioning address 000pulse Set the movement amount movement amount For details of setting refer to Section 4 4 Positioning Data List x a z Lu n n 9 2 Positioning Data Setting 9 9 9 2 2 1 axis linear control O POSITIONING CONTROL 9 10 9 2 3 Speed control MELSEC 8 In speed control 1 Da2 Control method Speed forward run Speed reverse run pulses are continued outputting at the speed set in Da 4 Command speed until the axis stop signal Y4 to Y6 is input in axis direction set for positioning data The speed control has two types control that starts in forward direction speed control forward run and control that starts in reverse direction speed control reverse run
80. for use 8 Pulse unit for inside of the module differs according to the setting range of the speed limit value For details refer to CHAPTER 4 Speed limit value 1 to 8000pulse s 1 pulse unit Speed limit value 8001 to 32000pulse s 4 pulse unit Speed limit value 32001 to 64000pulse s 8 pulse unit Speed limit value 64001 to 100000pulse s 25 pulse unit App 19 Appendix 8 Comparison with QD70P type positioning module APPENDICES MELSEC Ke ories Appendix 9 List of Buffer Memory Addresses 9 z z oO EE oz oO Buffer memory Buffer memory E address address Axis Axis 1 2 S ET C E Pr 1 Software stroke limit upper limit 0 100 200 Da 1 Operation pattern 90 190 290 E value 1 101 201 Da 2 Control method 91 191 291 a Pr2 Software stroke limit lower limit 2 102 202 Da 3 ACC DEC time 92 192 292 g value 3 103 203 94 194 294 Current feed value during speed Da 4 Command speed Pr 3 5 105 205 95 195 295 control fame oe 6 106 206 Positioning address movement 96 196 296 Pr 4 Speed limit value Da 5 7 107 207 amount 97 197 297 Z ze 8 108 208 70 170 270 ao Pr5 Bias speed at start Md 1 Current feed value xz 9 109 209 71 171 271 zm Positi
81. frequency output from the QD72P3C3 to the drive unit Pulse frequency This area indicates the total number of command pulses Positioning Servo module amplifier M c Servomotor Encoder Pulse encoder Speed Pulse frequency Movement amount Number of pulses Feedback pulses Feedback pulses Pulses generated by encoder 1 2 Figure 1 1 Relationship between position control and speed control POINT The movement amount per pulse is the value determined on the machine side Refer to Section 1 2 2 The QD72P3C3 uses the total number of pulses to control the position and the pulse frequency to control the speed 1 4 1 2 Outline of Positioning Control and Count Operation 1 2 1 Mechanism of positioning control 1 PRODUCT OUTLINE M IS eG lA cries 1 2 2 Design outline of positioning control system The following describes the outline of the operation of positioning control system using the QD72P3C3 W z m E 2 Oo E o 2 a O fad o 1 Positioning control system using the QD72P3C3 z o z Programmable Positioning module x controller CPU QD72P3C3 Drive unit Servo motor zo Forward run Rim pulse train Speed 2 uui command nO memory Reverse run XY device Pulse train Intelligent UUU
82. function module parameter interface i t gt Deviation D A Servo Program Read write etc counter convertor amplifier 8 Buffer Monitor data read Interface SPECIFICATIONS AND FUNCTIONS Feedback pulses UUU nita setting Auto refresh setting Operation monitor GX Configurator PT Figure 1 2 Outline of the operation of positioning control system using the QD72P3C3 DATA USED FOR POSITIONING CONTROL a Positioning control operation using the QD72P3C3 1 The QD72P3C3 outputs a pulse train When the pulse train is output from the QD72P3C3 the deviation counter of the drive unit accumulates the input pulses The D A converter converts these accumulated pulses droop pulses into DC analog voltage which serves as a speed command for the servomotor PROCEDURES AND SETTINGS BEFORE OPERATION The servomotor starts its rotation upon reception of the speed command from the drive unit As the servomotor rotates the pulse encoder PLG attached to the servomotor generates feedback pulses in proportion to the rotation frequency The generated feedback pulses are fed back to the drive unit and reduce the droop pulses of the deviation counter The deviation counter maintains a certain number of droop pulses so that the servomotor keeps its rotation UTILITY PACKAGE GX Configurator PT Co When t
83. i 1 eae oF ee Fo wel Py oF yd E PoP of ee i14 L1 E m Md 3 Count value 0 1 2 to 98 99 100 101 102 103 104 105 106 107 S DESSIN mE 422 5ms e No Description Set the value for detecting coincidence 100 to LCd 7 Coincidence detection point setting in advance z a 1 The coincidence detection starts using the value of LC4 7 Coincidence E S detection point setting when the count enable command Y1C to Y1E is 5 E turned ON a 2 When LMd 3 Count value is smaller than Cd 7 Coincidence detection point s setting the count value small X16 X1A and X1E turns ON Z Q When Mad 3 Count value coincides with LCd 7 Coincidence detection point p 3 setting the count value small X16 X1A and X1E turns OFF and the count i a value coincidence X15 X19 and X1D turns ON a The coincidence signal reset command Y14 to Y16 is turned ON and the E 4 count value coincidence X15 X19 and X1D is reset If the count value coincidence X15 X19 and X1D remains ON the next coincidence signal cannot be output 5 When Ma 3 Count value is larger than LCd 7 Coincidence detection point x a setting the count value large X14 X18 and X1C tums ON E a Dn lt 12 5 Coincidence Detection Function 12 7 1 2 COUNTER FUNCTION 12 8 MELSEC TE eries x POINT When the first programmable controller CPU READ
84. i B 1ms 0 to 2 5ms Oto 2 5ms 0 to 2 5ms A delay may occur in the t1 depending on the operating conditions of the other axes App 3 Appendix 2 Operation Timing and Processing Time in Each Control APPENDICES MELSEC Sl 3 Operation timing and processing time of position control o z o EE 28 go Positioning start signal Y8 to YF t1 ji i Pulse output to outside l l z PULSE _ 2 ij ji ji D dE g Mm i z BUSY signal X8 to XA o i fh i ij i T i Md 4 JAxis operation status Standby X Position control X Standby 1 i t4 li jg ue y Start complete signal XC to XE Position control operation AUXILIARY FUNCTION Positioning complete signal X18 to X1F OPR request flag Md 7 Status b1 COUNTER FUNCTION eu e 0 2ms Oto 2 5ms Oto 2 5ms 0to2 5ms As set in parameter E 5 t1 at multiple axes concurrent start z Number of started axes t1 S 3 axes concurrent start 1ms A delay may occur in the t1 depending on the operating conditions of the other axes e z a9 ui EO a 82 Z Q e as 7 a na APPENDIX Appendix 2 Operation Timing and Processing Time in Each Control App 4 APPENDICES MELSEC Aries 4 Operation timing and processing time of speed control Positioning start signal 3 Y8 to YF Pulse output to outside PULSE i t2 j
85. in Is any axis error occurring Section 15 2 1 a B 15 1 4 When the axis CH warning occurrence signal X4 to X6 turns ON 5 a az 15 Check item Action Check the warning code and take measures described in Is any warning occurring y Section 15 2 2 TROUBLESHOOTING APPENDIX 15 1 Troubleshooting Flow 1 5 2 15 1 1 When the RUN LED turns OFF 15 3 1 5 TROUBLESHOOTING 15 1 5 normally MELSEC TE eries When the count operation is not executed or not executed Check item Action Doesn t the programmable controller CPU indicate an error If the LED on the programmable controller CPU indicates an error correct the error for normal operation with reference to troubleshooting in the manual for the programmable controller CPU used Is the external wiring of pA and B normal Check the external wiring and correct the error Are the shielded twisted pair cables used for pulse input wiring Use the shielded twisted pair cables for pulse input wiring Has the measures against noise been Measures A d s Take noise reduction measures e g attach a CR surge taken to the adjacent devices and inside against suppressor to the magnet switch j the control panel noise Is the distance between the high voltage equipment and the pulse input line kept enough Bundle the pulse input lines and put them in a single tube and keep a distance of 100mm 3 94inch or more with the
86. no In addition the above example is for connecting to Axis 1 For the pin layout az when connecting to Axes 2 or 3 refer to Section 3 5 2 Signal layout for external device connector S 2 For wiring or shield of each signal line of the servo amplifier side other than 9 mentioned above refer to the manual for servo amplifier 5 3 This indicates the distance between the QD72P3C3 and MINAS E series a 0 0606 06000060000000000000000000000000000000000000000000000909 E zd x ja Gi c Appendix 5 Connection Examples with Servo Amplifiers Manufactured by Matsushita Electric Industrial Co Ap p 14 Ltd APPENDICES MELSEC S1 Appendix 6 Connection Examples with Servo Amplifiers Manufactured by YASUKAWA ELECTRIC CORPORATION 1 Connection example of QD72P2C3 and gt Il series Within 2m 3 QD72P3C3 I series 2 1 CH1A 24V CH1A 5V CH1 ACOM CH1 BCOM LL PGO1 SIGN aaa P24V lt 24VIN O 40 S ON 0 o P CON Q O Near point dog Ta DUE 46 N CL Upper limit ts O 45 P CL mE 1 The logic of each I O terminal can be changed by the intelligent function module switch setting refer to Section 5 6 The above example assumes that all terminals are set to the negative logic In addition the above example is for connecting to Axis 1 For the pin layout when connecting to Axes 2 or 3 refer to Section 3 5 2 Signal layou
87. of Speed limit value 1 to 8000 8001 to 32000 32001 to 64000 64001 to 100000 B pulse s hs Pulse unit 1 pulse unit 4 pulse unit 8 pulse unit 25 pulse unit When setting Pr4 Speed limit value to 100000 pulse s when pulse unit is 25 pulse unit set a value which is multiples of 25 to speed setting parameter and data If setting a value that does not satisfy the condition the value is dropped so that it can be multiples of z 25 Note if setting a value under 25 corresponding to pulse unit an error occurs z T T n Setting example of speed setting parameters and data when Pr4 JSpeed limit value is set to A 2 100000 Pr4 Speed limit value 100000 If Speed limit value is set to 100000 Pr5 Bias speed at start 100 z 2 Pr 13 OPR speed 20000 E E Set speed setting parameter and data so Zz LL Pr14 Creep speed 1000 that the values can be multiples of 25 aE Da 4 Command speed 50000 ma A If 65090 is set to speed setting parameter or data it is dropped to 65075 multiples of 25 2 Pr15 Bet ACC DEC time at OPR within the range that the following formula is satisfied If the condition is not satisfied Out of ACC DEC time setting valid range warning warning code 26 occurs and control is performed in the time between the maximum value and the minimum value calculated by the following formula Refer to Example below 9 Z S 8g EE NZ OQ ao
88. package guo The following data or files that are created with the utility package can be also handled in GX Developer Figure 6 1 shows respective data or files are handled in which operation a Intelligent function module parameter This represents the data created in Auto refresh setting and they are stored in an intelligent function module parameter file in a project created by GX Developer E ki e S ej S 2 amp e x 9 WW z EL gt E zi E Project L Program m Parameter I PLC parameter Network parameter SEQUENCE PROGRAM USED FOR POSITIONING Intelligent function module parameter OPR CONTROL 6 3 Utility Package Operation 6 6 6 3 1 Common utility package operations 6 UTILITY PACKAGE GX Configurator PT MELSEC 8 Steps 1 to 3 shown in Figure 6 1 are performed as follows 1 From GX Developer select Project Open project Save Save as 2 From the module selection screen of the utility select File Open file Save file 3 From GX Developer select Online Read from PLC Write to PLC Intelligent function module parameters Or from the module selection screen of the utility Online Read from PLC Write to PLC b Text files A text file can be created by clicking the Make text file button on the initial setting Auto refresh setting or Monitor Test screen
89. preset function 28 Se o Z E o o as i o E x a Gi bs 12 2 Linear Counter Function 1 2 3 1 2 COUNTER FUNCTION MELSEC S1 12 3 Ring Counter Function 1 Ring counter operation a When the ring counter is selected counting is repeated within the range between 0 and LPr 16 Ring counter upper limit value 1 No overflow occurs when the ring counter is selected Md 3 Count value POEN E E E Pr 16 Ring counter upper limit value Subtraction Addition b When the ring counter is selected the positioning range is from 0 to Pr 17 Positioning range upper limit value 1 When positioning control is performed in absolute system the movement amount is limited between 0 to Pr 17 Positioning range upper limit value 1 M a 1 Current feed value Se ee Pr 17 Positioning range l upper limit value Subtraction Addition When positioning control in incremental system speed control and JOG operation are performed the current feed value is repeatedly updated between 0 and LPr 17 Positioning range upper limit 1 Md 1 Current feed value Be fae ere ce ees ee ce Je es Pr 17 Positioning range upper limit value Subtraction Addition 1 2 4 12 3 Ring Counter Function 1 2 COUNTER FUNCTION Rotation target which rotates once with
90. scan ON Operation lt 5 E after RUN pattern pra OO Speed aco control aw MOVP K3 D101 zu Control Q method ia ui Speed coz 200 control AOE uz 2 SEE wove Ki000 D102 amp lu a ACC DEC 7o time Speed control EN LE Lu ola DMOVP 40000 D104 Command e 3 speed a2 Speed Z 5 control 50 E Xx o 3 Current value change setting 2 S402 7 218 MOVP KO D110 4 scan ON Operation fter RUN pattern 0 ae Current value change nz 59 E z E MOP K5 piti DS Control Ow method wo Current ou value change DMOYP K300000 D116 Positioning zi address o movement E amount z Current S value change x n o 7 4 Positioning Control Program Examples 7 16 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No 5 Programmable controller CPU READY signal YO ON program MO contact is not needed when GX Configurator PT is used to set the initial setting of parameters and data SM403 MO XI 241 L 34 1 scan OFF Initial data Axis CH 1 after RUN setting error completion occurrence Signal XO Module READY Signal No 6 OPR request OFF program OPR request OFF command M2 8 XOG eh ser OPR Axis 1 Axis 1 start request OFF positioning complete command start signal signal pulse M3 UO WAND G79 H2 Status o D120 KO OPR request flag SSN SET KI uo G55 KO OPR request OFF command He T 17 7 4 Positioning Control Program Examples M
91. selection at 0 OP address not set to count value 0 35 135 235 OPR 1 OP address set to count value ELSE Cel Reference Section 4 2 3 SPECIFICATIONS AND FUNCTIONS MELSEC KE ories Buffer memory u address for B Factory default setting a Setting value setting range Reference value Axis Axis Axis 9 1 2l 3 A CH1 CH2 CH3 A JOG d 1 to 100000 pulse s 1 ci RAE spee o ulse s i JOG 1 p p 41 141 241 Section 4 3 JOG 2 JOG ACC DEC time 1 to 5000 ms 1000 42 142 242 z 50 150 250 amp Cd 1 New speed value 1 to 100000 pulse s 1 51 151 251 ACC DEC time at speed gus Cd 2 1 to 5000 ms 1000 52 152 252 0S change 0 0 Speed change not requested Cd 3 Speed change request 0 54 154 254 3 1 Speed change requested OPR request flag OFF 0 OPR request flag OFF complete Cad pode ee P 0 55 155 255 9 0 request 1 OPR request flag OFF requested exe 0 Positioning control z S Cd 5 Start method 9000 Machine OPR control 0 56 156 256 i ni 9001 Fast OPR control wo 60 160 260 2 Cd 6 Preset value setting 1073741824 to 1073741823 0 61 161 261 Coincidence detection point 62 162 262 Section Cd 7 107
92. setting Details Current value Monitoring display Cannot execute test Make text file Stop monitor DATA USED FOR POSITIONING CONTROL oO Ww a 9 LL Ww mz go Z3 Eu Ww No UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 5 7 Simple Reciprocating Operation 5 21 6 UTILITY PACKAGE GX Configurator PT Ml ELSEG Q series CHAPTER6 UTILITY PACKAGE GX Configurator PT The QD72P3C3 utility package GX Configurator PT is software designed to make initial setting auto refresh setting monitor and others of the QD72P3C3 using dedicated screens without being conscious of the I O signals and buffer memory Use the utility package together with GX Developer SW4D5C GPPW E or later 6 1 Utility Package Functions The following table shows the functions of the utility package Function Description Reference Makes the initial setting for each axis to operate the QD72P3C3 Sets the values of the items where the initial setting is required Setting items Parameter OPR data Initial setting Positioning data Section 6 4 Counter function parameter The initially set data are registered to programmable controller CPU parameters and automatically written to the QD72P3C3 when the programmable controller CPU changes to the RUN status Sets the QD72P3C3 buffer memory to be automatically refreshed Auto refresh target buffer memory Curren
93. setting program 7 4 Positioning Control Program Examples TOP DNOVP DNOVP HO When setting the parameters or data with the sequence program set them in the QD72P3C3 using the TO instruction from the programmable controller CPU Carry out the setting while the programmable controller CPU READY signal YO is OFF When setting the parameters or data with GX Configurator PT programs for No 1 to No 4 are not necessary K100000000 K 100000000 MOVP DMOVP DMOVP MOVP MOVP MOYP KO KO K100000 K100 K100 K2 KI DO Software stroke limit upper limit D2 Software stroke limit lower limit DS Current feed value during speed control D Speed limit value Da Bias speed at start DIO Positionig complete signal output time Dil Deviation counter clear signal output time DI3 Current feed value count value simultaneous change function DO Software stroke limit upper limit K14 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M als 26 e LL cu zi d No 2 OPR parameter setting program a 2 MOVP KO D20 E OPR a method 2 Dn MOVP KO D21 Zz pum O irection d qo a DYOVP KO D22 0 OPR nO address DMOVP K20000 D24 OPR speed SPECIFICATIONS AND FUNCTIONS DMOVP K1000 D26 Creep speed fae Ro az uso MOVP K1000 D28 a re ACC DEC 2E c time at OPR faz oo aco TOP HO K20 D20
94. signal reset command X17 Use prohibited Y17 Use prohibited X18 CH2 count value large Y18 CH1 preset command X19 CH2 count value coincidence Y19 CH2 preset command X1A CH2 count value small Y1A CH3 preset command X1B Use prohibited Y1B Use prohibited X1C CH3 count value large Y1C CH1 count enable command X1D CH3 count value coincidence Y1D CH2 count enable command X1E CH3 count value small Y1E CH3 count enable command X1F Use prohibited Y1F Use prohibited 3 4 3 3 Specifications of I O Signals with Programmable Controller CPU 3 3 1 List of I O signals with programmable controller CPU 3 SPECIFICATIONS AND FUNCTIONS M als 26 e Lu z EJIMPORTANT 5 X07 XOB XOF X13 X17 X1B X1F YO7 YOB Y12 Y13 Y17 Y1B Y1F are i5 used by the system and cannot be used by the user B If used the operations of the QD72P3C3 are not ensured amp z O Be C9 nw Ze lege EE X 2 uD Ga a4 ee DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 3 3 Specifications of I O Signals with Programmable Controller CPU 3 5 3 3 1 List of I O signals with programmable controller CPU 3 SPECIFICATIONS AND FUNCTIONS 3 3 2 MELSEC TE cries Details of input signal QD72P3C3 programmable controller CPU The following table shows the details of input signals
95. status Axis 1 CH1 Error code Axis 1 CH1 Warning code Axis 2 Current feed value Axis 2 Current speed CH2 Count value Make text file End setup Refer to Section 6 5 6 8 6 3 Utility Package Operation 6 3 2 Operation overview SEQUENCE SPECIFICATIONS AND FUNCTIONS eo e un o e E a2 gt S ES FEX 59 PROGRAM USED FOR POSITIONING OPR CONTROL UTILITY PACKAGE GX Configurator PT MELSEC e series 1 Online Monitor Test Selecting monitor test module screen Select monitor test module Select monitor test module Start 1 0 No Module type lodule model name QD72P3C3 Module implementation status Start 1 0 No Module model name DOOD D 72P3C3 Monitor Test Monitor Test Select a module to be monitored tested Monitor Test screen Monitor Test Module information Module type QD70 Model Module Stetl O No 0000 Module model name QD72P3C3 Setting item Current value Setting value gt Module READY Prepared PLC READY ON Axis 1 Axis Operation status Standby Axis 2 Axis Operation status Standby Axis 3 Axis Operation status Standby Axis 1 CH 1 Error occurrence X1 No Error Axis 2 CH 2 Error occurrence 402 No Error Axis 3 CH 3 Error occurrence X03 No Error Axis 1 CH 1 Waming occurrence X04 No Error Axis H2 CH 2 Warning occurrence 4D5 No Error Ax
96. status of the 5 QD72P3C3 and Axis CH as follows 5 2 QD72P3C3 CH3 CH2 CHI RUN J TAX E I TOA ERR 7 7 B bz 50 R Operation Descriptio i Descriptio Display contents Display contents Operation status status n n CH1 CH2 CH3 RUN LED is CH1 CH2 CH3 RUN AX OFF RUN MAX oA The stat Hardware oA AX CH1 LED is e status o ERR B Failure ERR 6B ON Axis In ERR LED i Module Same for other operation AX1 to AX3 Error axes are undefined AX_CH1 LED is CH1 CH2 CH3 CH1 CH2 CH3 RUN AX RUN LED is RUN X flashing oA ON Module oA Same for other Axis CH ERIS 9B ERR LED is Normal ERR 9B axes Error OFF ERR LED is flashing CH1 CH2 CH3 RUNLED is Hos CH1 CH2 CH3 ee Tee Phase A stem REN Ph ON ERR i REN ON voltage Error Same for other ERR B LED is ON ERR B Applying CHs AX CH1t Axes i CH1 CH2 CH3 g i CH1 CH2 CH3 oR EE Is PheseB RUN AX AX CH3 Stopped RUN B AX ON voltage oA LEDs are Axes m Same for other in ERR B OFF Standby ERR oB CHs Pplying Symbols in the Display contents columns indicate the following status D OFF m ON Flashing 5 3 Par
97. the setting contents 11 12 11 6 ACC DEC Process Function 1 1 AUXILIARY FUNCTION MELSEC Sl 11 6 1 Calculating the actual ACC DEC time Acceleration and time taken to the actual acceleration deceleration during acceleration deceleration operation can be calculated by the ACC DEC time calculation function in GX Configurator PT POSITIONING CONTROL 1 Calculating using GX Configurator PT a Enter parameters required for calculating acceleration into the Setting 1 to 4 Parameters entered to the Setting 1 to 3 depend on control contents MEW JOG OPERATION Control contents Parameter entered to 1 Parameter entered to 2 Parameter entered to 3 OPR control Pr 13 OPR speed Pr 14 Creep speed Pr 15 ACC DEC time at OPR Positioning control Da4 Command speed Pr5 Bias speed at start Da 3 ACC DEC time JOG operation JoG 1 JOG speed Pr5 Bias speed at start JOG 2 JOG ACC DEC time gt z co 1E do xZ 35 tu Enter LPr 4 Speed limit value for the Setting 4 b Click Calcul Calculation results are displayed in the Result 5 to 9 5 Acceleration Displays the acceleration calculated according to the Setting 1 to 4 E EL 6 Actual Displays the rounded value of 5 Acceleration Actual acceleration deceleration E 9 acceleration operation is performed with this acceleration
98. the setting range of ca 2 JACC DEC time at speed change is from 8 to 5000 ms 4 6 Control Data List 4 6 1 Axis control data 5 PROCEDURES AND SETTINGS BEFORE OPERATION WI SETS CHAPTERS PROCEDURES AND SETTINGS BEFORE OPERATION PRODUCT OUTLINE This chapter describes the operating procedures before operation part names and setting and wiring method of the QD72P3C3 5 1 Handling Precautions CONFIGURATION SYSTEM This section describes precautions on handling the QD72P3C3 Be sure to shut off all phases of the external power supply used by the system before cleaning or retightening module fixing screw Failure to do so may cause an electric shock N CAUTION Use the programmable controller in the environment conditions given in the general specifications of the User s Manual for the CPU module Failure to do so may cause an electric shock fire malfunction or damage to or deterioration of the product SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL oO Do not directly touch any conductive part or electronic part of the module Doing so may cause a malfunction or failure of the module Be careful to prevent foreign matter such as dust or wire chips from entering the module Failure to do so may cause a fire failure or malfunction Ww a 9 LL Ww mz gO 25 Eu Ww No Do not disassemble or remodel each of the modules Doing s
99. to 2147483647 pulse Speed position switching control 0 to 2147483647pulse INC system Speed command range 1 to 100000pulse s 1 to 200000pulse s High level positioning control No No Machine OPR control O 2 types O 6 types JOG operation O O App 17 Appendix 8 Comparison with QD70P type positioning module O Possible x Not possible APPENDICES MELSEGC Sl Model QD72P3C3 QD70P4 Inching operation x x Manual pulse generator function No No ACCIDEC Automatic trapezoidal o o ACC DEC rocessin 5 e S pattern ACC DEC x x ACC DEC time and DEC STOP time can ACC DEC time can be set ACC DEC time be set 1 to 5000ms 0 to 32767ms OPR auxiliary function No No Compensation function No No n Speed limit software stroke limit a Ns Control limit function nO Speed limit software stroke limit Py hardware stroke limit Auxiliary i Control details change function Speed change Speed change function Absolute position restoration function x x Other auxiliary functions Start command No Device Y of the programmable controller CPU Restart Device Y of the programmable controller CPU Stop command Device Y of the programmable controller CPU Device Y of the programmable controller CPU Deceleration stop Oo O Stop Sudden stop x x method Immediate stop x Current value monitor data Current feed value Cu
100. top of others using the task bar r MELSOFT series GX D e Intelligent Function m Intelligent Function m Number of parameters that can be set in GX Configurator PT The remote I O station in MELSECNET H network system and CPU module are limited in the number of settable parameters with GX Developer for the mounted intelligent function module When intelligent function modules are Maximum number of settable parameters Q00J Q00 Q01CPU 512 256 Q02 Q02H Q06H Q12H Q25HCPU 512 256 Q12PH Q25PHCPU 512 256 Q12PRH Q25PRHCPU 512 256 QO2UCPU 2048 1024 Q03UD Q04UDH QO06UDHCPU 4096 2048 MELSECNET H remote I O station 512 256 For example if multiple intelligent function modules are installed to the remote I O station configure the settings in GX Configurator so that the number of parameters set for all the intelligent function modules does not exceed the limit of the remote I O station Calculate the total number of parameter settings separately for the initial setting and for the auto refresh setting The number of parameters that can be set for one module in GX Configurator PT is as shown below Target module Initial setting Auto refresh setting QD72P3C3 12 fixed 18 Max Example Counting the number of parameter settings in Auto refresh setting x Module information Module type QD70 Model Module Start 1 0 No 0000 Module model name QD72P3C3 Morije side Bodie ate Tania o side
101. upper limit value of count range when the ring counter is selected for the 5 counter format 9 For details of ring counter refer to Section 12 3 Ring Counter Function Select the counter format using the intelligent function module switch Md 3 Count val A s ount value E iine ze uad IPr 16 Ring counter upper limit value z sO ie 26 HO Subtraction Addition an 0 zz oo EE 52 T uo az nxt A 9 z S Sg EE NZ OQ ao PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 2 Parameter List 4 18 4 DATA USED FOR POSITIONING CONTROL MELSEC 8 Pr 17 Positioning range upper limit value Setting contents Set the upper limit value of positioning range when the ring counter is selected for the counter format and positioning control is performed in absolute system When positioning control is performed at ring counter setting the movable range in absolute system is from 0 to Pr 17 Positioning range upper limit value 1 Md 1 Current feed value IPr 17 Positioning range upper limit valuea Subtraction Addition When Speed control or JOG operation is performed at ring counter setting Md 1 Current feed value is repeatedly updated between 0 and Pr 17 Positioning range upper limit value 1 Md
102. was stopped with the axis stop signal Y4 to Y6 during JOG operation or speed control the positioning complete signal X10 to X12 are not output Programmable controller CPU Positioning QD72 module startsignal P3C3 Y8toYA Positioning complete signal X10to X12 Positioning control Positioning start signal Y8 to YA Start complete signal XC to XE y Positioning complete signal BUSY signal X8 to XA Positioning complete signal X10 to X12 Output time Pr7 JDeviation counter clear signal output time Setting contents Set the duration for outputting the deviation counter clear signal during machine OPR control For details refer to the manual for the drive unit 4 11 4 2 Parameter List 4 DATA USED FOR POSITIONING CONTROL M IES 26 e F LL Pr9 Current feed value count value simultaneous change function selection e E Setting contents 2 p Make setting to change LMd 1 Current feed value and LMd 3 Count value to the 9 a same value at current value change or presetting 9 0 Values not amp changed The current feed value count value simultaneous change function is not used simultaneously 1 Coun
103. 0000000000000000000000000000000000000000000000000 1 1 2 Outline of Positioning Control and Count Operation eeeee eee eee eee e eee eee eene eee eee eese sesso seese cese 3 1 2 1 Mechanism of positioning control seeeeeee eee ee eee ee eee eee e eee eee eee eese eee soos esee sssesssesscessseo 3 1 2 2 Design outline of positioning control system e eeeee eee eee e eee eee eee e eee eee eese eso eee ee eocsoseeseeseese 5 1 23 Design outline of counter function eeeeeee eese e eee eee eee eene eee eo eee eoe esee esee soc ee sse ssccesscessse B 1 2 4 Communicating signals between QD72P3C3 and each module eee esee e ee ee eee ee eee eee e eese 1 9 1 3 Basic Operation of Positioning Control 0 0000000000000000000000000000000000000000000000000000000000000000000000 1 12 1 3 1 Outline of control start 060000000000000000000000000000000000000000000000000000000000000000000000000000000000000 1 12 1 3 2 Outline of control stop 0000000000000000000000000000000000000000000000000000000000000000000000000000000000000 1 13 CHAPTER2 SYSTEM CONFIGURATION 2 1to2 9 2 1 General Image of System 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000009 2 1 22 Component iS eeeeceececeeecececececececeecescecec000000000000000000000000000000000000000000000000000000000000000000 2 2 3 Applicable System 000000000000000000000000000000000000000000000000000000000000000
104. 00000000000000000000000000000000000000000000000000000000000000000000000000000000000 5 12 5 5 1 Check items at wiring completion 0 00000000000000000000000000000000000000000000000000000000000000000000000 5 12 5 6 Intelligent Function Module Switch Settingeeeeeee ee ee eee e eee e ee eoe ee eee ee eese eese esee eese ssec eese sese oseee 5 e 14 5 7 Simple Reciprocating Operation 000000000000000000000000000000000000000000000000000000000000000000000000000000 5 18 CHAPTER6 UTILITY PACKAGE GX Configurator PT 6 1 to 6 22 6 1 Utility Package Functions 00000000000000000000000000000000000000000000000000000000000000000000000000000000000cccccc j 1 6 2 Installing and Uninstalling the Utility Package 00000000000000000000000000000000000000000000000000000000000cccccc 5 2 6 2 1 Handling precautions 00000000000000000000000000000000000000000000000000000000000000000000000000000000000cccccc 5 2 6 2 2 Operating environmenteeeeecccececccec0000000000000000000000000000000000000000000000000000000000000cccccccccc 4 6 3 Utility Package Operation 00000000000000000000000000000000000000000000000000000000000000000000000000000000000c0cccc j m 6 6 3 1 Common utility package operations 00000000000000000000000000000000000000000000000000000000000000000cccccc m 6 A 6 6 3 2 Operation overview 00000000000000000000000000000000000000000000000000000000000000000000000000000000000ccccccc 3 it 8 6 3 3 Starting the Intelligent function module util
105. 000000000000000000000000000000000002 3 2 4 About Use of the QD72P3C3 with the Q12PRH Q25PRHQCPU e e eeeeeeeeeeeeeeeeeessesecssesesesssssss ss 2 G 2 5 About Use of the QD72P3C3 with the MELSECNET H Remote I O Station eeeeeeeeee eee 55 92 7 26 How to Check the Function Version Software Version 000000000000000000000000000000000000000000000000000090 2 8 CHAPTER3 SPECIFICATIONS AND FUNCTIONS 3 1to3 19 3 1 Performance Specifications 000000000000000000000000000000000000000000000000000000000000000000000000000000000000009 3 1 3 2 Function List 000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000009 3 2 3 3 Specifications of I O Signals with Programmable Controller CPU eee eese eee eee ee eee eee eee eee 3 4 A 5 3 3 1 List of I O signals with programmable controller CPUsceececcccccccccccccccccccccccccccccccccccccccccocs 3 4 3 3 2 Details of input signal QD72P3C3 programmable controller CPU ssesseseeseeseccescescoscesecse 3 G 3 3 3 Details of output signals programmable controller CPU QD72P3C3 eeee eee eee eee 3 8 3 4 List of Buffer Memory Addresses e eeeeeeeee eee ee eee eese eee oo sese esee sees eese e eese eese eese eee eeeeeeeeeeee 3 1 3 5 Specifications of I O Interfaces with External Device eeeesseee ee eee ee ee eo eee eese eoo os soe ee eeeeseesese 3 12 3 5 1 Electrical specifications of I O signals sesee eee ee ee eee eee eee eene
106. 000000000000000000000000000000000c0cccccc 15 21 15 4 Checking Error Description Using System Monitor of GX Developere eeeee eee eee eee ee eee eee e 15 22 APPENDICES App 1 to App 20 Appendix 1 Appendix 2 Appendix 3 Appendix 4 Appendix 5 Appendix 6 Appendix 7 Appendix 8 Appendix 9 INDEX External Dimensions 000000000000000000000000000000000000000000000000000000000000000000000000000000000 App 1 Operation Timing and Processing Time in Each Control eeee eee eee ee eee eee eee reor eee eee App 2 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation eeeeee ee eee ee o ee eene e o eese oo neos sess esee esos sesso cose eee ssseseessesseeeeesecseeesesse ADD 7 Connection Examples with Stepping Motors Manufactured by ORIENTAL MOTOR CO LTD eeeeeceee eee ee ee e eoe o eo eese eso so eee ee sese e sesso see esosscseeesessseeseseceseeee ADD 11 Connection Examples with Servo Amplifiers Manufactured by Matsushita Electric Industrial Co Ltd eeeeeseeeeeee ee eee eoo e eee o e oen eo eee sees o eee sesseseeesessseeee ADD 13 Connection Examples with Servo Amplifiers Manufactured by YASUKAWA ELECTRIC CORPORATION e eeeeeceee eo eee e ooo eee oo eese seo sse eeosocs eee ssscceeeesssseeeesesseeeeeseeseeeeese ADD 15 Connection Examples with Servo Amplifiers Manufactured by SANYO DENKI CO LTD eeeeeeeecee eee eee eo o eo ee eee o esee oo esses soos se eesss
107. 0000000000000000000000000c0cccccccc C T A 7 9 2 1 Relation between each control and positioning data sesccccccocoooooo00000000000000000000000000000000 _ 7 9 2 2 1 axis linear control 000000000000000000000000000000000000000000000000000000000000000000000000000000000c0c0cccccc 8 9 2 3 Speed control 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 9 10 9 24 Current value Changgeeeeeeeeee eee eee ee esee eee os esos esse sese oos es soos esses essc esse esse ses ecs eos eeseooeee 9 E 13 9 3 Multiple axes concurrent start control 0 000000000000000000000000000000000000000000000000000000000000000000000000 9 15 CHAPTER10 JOG OPERATION 10 1 to 10 7 10 1 Outline of JOG Operation 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000 10 1 10 2 JOG Operation Execution Procedure 000000000000000000000000000000000000000000000000000000000000000000000000 10 a 4 10 3 JOG Operation Example 0 000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 10 5 CHAPTER11 AUXILIARY FUNCTION 11 1 to 11 16 11 1 Outline of the Auxiliary Function 000000000000000000000000000000000000000000000000000000000000000000000000000000 11 1 11 2 Speed Limit Function esesss ee ee eee eene e ee eee eee eoo s o eee etes sess osse e esee sesso sossc esee essessssesceeeeeeso 11 2 11 3 Speed Change Function eeee
108. 1 4 multiples of 2 phases Counter Counter format b10 CH3 b9 CH2 b8 CH1 format 0 Linear counter 1 Ring counter Switch 4 Reserved Switch 5 Reserved 5 14 When ring counter is set for the counter format the positioning control range is 0 to 1073741823 pulse 5 6 Intelligent Function Module Switch Setting 5 PROCEDURES AND SETTINGS BEFORE Mi aL AG Setting example A MI Setting contents Target Switch 5 Setting item n d o axis Axis Axis signal name setting CW CCW Pulse output mode PULSE SIGN mode PULSE FO 8 mode Y Pulse output logic selection N P N PULSE RO Switch 1 Deviation counter clear output logic selection N N P CLEARO 0126h Zero signal input logic selection P P N PGOL z o Near point dog signal input logic selection P N P DOG z Lower limit signal input logic selection N N N RLSO Sh 0005H mio Upper limit signal input logic selection N N N FLSO i i 2 multiples Do Pulse input mode CW CCW CHLI A Switch 3 of 2 phases 0420 Counter format Ring counter Linear counter CHO B P positive logic N negative logic Axis channel No is displayed in the O a Pulse output mode Sets the pulse output mode applicable to the drive unit used For switching between positive and negative logic of the pulse Switch 1 is used The following shows the examples of each pulse output mode 1 CW CCW mode During forward ru
109. 1 to 64000 64001 to 100000 Pulse unit 1 pulse unit 4 pulse unit 8 pulse unit 25 pulse unit When setting Pr4 Speed limit value to 100000 pulse s when pulse unit is 25 pulse unit set a value which is multiples of 25 to I Pr5 JBias speed at start If setting a value that does not satisfy the condition the value is dropped so that it can be multiples of 25 Note if setting a value under 25 corresponding to pulse unit Out of bias speed at start setting range error error code 906 occurs 3 POINT If the workpiece is dragged at start the value set to Bias speed at start may be small In this case set Bias speed at start using the following formula as a reference Pr 5 Bias speed at start y Acceleration x125 xPulse unit 4 2 Parameter List 4 10 PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS A u Z S 8g EE NZ OQ ao PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 DATA USED FOR POSITIONING CONTROL M ELSEG Q series Pr 6_ Positioning complete signal output time Setting contents Set the output time of the positioning complete signal X10 to X12 output from the QD72P3C3 Positioning complete designates the status when the QD72P3C3 finishes outputting pulses If the setting value is 0 ms or the motor
110. 2 1 3 Basic Operation of Positioning Control 1 3 1 Outline of control start 1 PRODUCT OUTLINE MELSEC Sl 1 3 2 Outline of control stop A control stops in the following cases Lu zZ E O Q a o c a 1 Each control ended normally 2 An error occurred in the programmable controller CPU 3 An error occurred in the QD72P3C3 CONFIGURATION SYSTEM 4 The axis stop signal Y4 to Y6 from the programmable controller CPU is turned ON The following table shows the outline of the stop processing performed in the cases above Except the case 1 where each control ended normally SPECIFICATIONS AND FUNCTIONS Axis operation Stop processing Cause of stop status after Positioning JOG OPR control stop control operation a g Programmable controller CPU 5 2 All axes Error Deceleration stop uz a error ES lt 55 Axis by EBS QD72P3C3 error Error Deceleration stop ano axis The axis stop signal Y4 to Y6 RE i from the programmable controller T Stopped Deceleration stop axis CPU is turned ON mStop after multiple axes concurrent start under positioning control The axes started will not stop simultaneously The stop command axis stop signal Y4 to Y6 ON must be issued to each axis PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 1 3 Basic Ope
111. 3000pulses Example By setting the same value in Pr 16 Ring counter upper limit value and 9 LPr 17 Positioning range upper limit value the angle of the rotation target can be 59 controlled checking the actual position at the same time BZ The following shows the operation when controlling a rotation target which rotates once ae with 3000 pulses Conditions x LPr 16 Ring counter upper limit value Pr 17 Positioning range upper limit value 3000 5 Md 3 Count value Md 1 Current feed value 500 ui o o Q Md 3 Count value at start 3000 500 501 Pere eee reer eer eee reer eee eee eee ee eee eee eee eee ee eee ee ees 2998 2999 0 4 2 m 498 499 mE Aul B lt 2 1 1 ao 1 1 Xz i i au The value set to Pr 16 Ring counter upper limit value Pr 17 Positioning range upper limit value is stored neither to Md 3 Count value nor eG Q series Md 1 Current feed value 0 is stored hr EE Current feed value at start S 9 OD 3000 500 501 eee ee eee eee eer eee ee eee eer ee ee eee ee eee eee eed 2998 2999 0 1 2 m 498 499 JUL o qc ue perm uds pes o 1 1 e 1 1 1 i L 1 1 Zz 1 1 o i uc CI aR ia e mL E e Ec I z o 2 Precautions a When the ring counter is selected the supported counter functions are limited d Z Preset function Supported ag Coincide
112. 3741824 to 1073741823 0 4 6 setting 63 163 263 5 70 170 270 E Md 1 Current feed value 0 m cu 71 171 271 EG S Honey 72 172 272 Z E c urrent spee l a P 73 173 273 aaa 74 174 274 Md 3 Count value a 0 75 175 275 ow Md4 Axis operation status 0 76 176 276 p Q W Md 5 Axis CH error code 0 77 177 277 E E S aor Md 7 Axis CH warning code 0 78 178 278 u z OF ui Md 7 Status 0002H 79 179 279 ee aa Md 8 External I O signal 0000H 80 180 280 0 Positioning start independent fan Da 1 Operation pattern UE 0 90 190 290 uk 5000 Positioning start continuous oO z 0 No control method E 1 1 axis linear control ABS a E 2 1 axis linear control INC ES Da 2 Control method 0 91 191 291 ax 3 Speed control forward run So 4 Speed control reverse run Section 5 Current value change 44 Da 3 ACC DEC time 1 to 5000 ms 1000 92 192 292 ae 94 194 294 oz Da4 Command speed 1 to 100000 pulse s 1 i 95 195 295 9 z T Positioning address 96 196 296 uto 2 Da 5 1073741824 to 1073741823 pulse 0 Gor movement amount 97 197 297 uco oon Sj o a LE z O x n 5 3 4 List of Buffer Memory Addresses 3 11 3 3 3 Details of output signals programmable controller CPU QD72P3C3 3 SPECIFICATIONS AND FUNCTIONS M EISE Q series 3 5 Specifications of I O Interfaces with External Device 3 5 1 Electrical specification
113. 72P3C3 11 5 ACC DEC process Section nn This function adjusts the acceleration deceleration processing of control 11 6 unction i 11 1 Outline of the Auxiliary Function 11 1 POSITIONING CONTROL MEW JOG OPERATION gt z co fe do xZ 225 tu COUNTER FUNCTION COMMON FUNCTION DEDICATED INSTRUCTIONS TROUBLESHOOTING APPENDIX 1 1 AUXILIARY FUNCTION MELSEC TE cries 11 2 Speed Limit Function If the command speed exceeds the Speed limit value during control this function limits the command speed to within the Speed limit value setting range 1 Relation between the speed limit function and each control The following table shows the relation between the speed limit function and each control Table 11 2 Relation between the speed limit function and each control Speed P Speed limit er Control type limit i Operation when speed limit value is exceeded value function Machine OPR control Does not operate OPR Out of OPR speed setting range error code 913 error or Out of creep speed setting range error code 914 control Fast OPR control Pr4 Speed limit error occurs value Refer to Section 4 2 Parameter List Position control Out of d n de 20 ut of speed range warnin arning code OCCUIS Te 1 axis linear control 2 9 oami a Positioning and the axis is controlled by the speed limit value Speed control
114. A6CON2 A6CONA An incomplete soldering or bonding may cause a malfunction SPECIFICATIONS AND FUNCTIONS 3 Be careful to prevent foreign matter such as dust or wire chips from entering the QD72P3C3 Failure to do so may cause a fire failure or malfunction DATA USED FOR POSITIONING CONTROL 4 A protective film is attached to the top of the QD72P3C3 to prevent foreign matter such as wire chips from entering the module during wiring Do not remove the film during wiring Be sure to remove it for heat dissipation before system operation oO 5 Securely mount the external device connector A6CON1 A6CON2 A6CON4 to the connector on the QD72P3C3 with two screws Ww a 9 LL Ww mz go Z3 Eu Ww No 6 When disconnecting the cable connected to the QD72P3C3 or drive unit do not pull it by holding the cable part Hold the connector connected to the QD72P3C3 or drive unit and disconnect it Pulling the cable part with the cable still connected to the QD72P3C3 or drive unit may cause a malfunction Doing so may also cause damage of the QD72P3C3 drive unit or cable UTILITY PACKAGE GX Configurator PT 7 Do not bind together or locate close to each other the QD72P3C3 cables connecting to external I O signals or drive unit with the main circuit line power line and load lines other than for the programmable controller Keep a distance of 100mm 3 94inch or more between those cables and lines Failure to do so may
115. ACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 1 Data Types 4 4 4 1 2 Parameter setting items 4 DATA USED FOR POSITIONING CONTROL Ml EIS EC Q series 4 1 3 JOG data setting items The JOG data has to be set to perform JOG operation The following table shows the JOG data setting items Set JOG data to each axis For details of JOG operation and details of each setting item refer to CHAPTER 10 JOG OPERATION and Section 4 3 JOG Data List respectively Nie cm E JOG operation JOG 1 JOG speed 2 JOG 2 JOG ACC DEC time 9 Q Setting is required mChecking the JOG data Setting ranges of HOG 1 to are checked when the JOG operation starts At this time an error occurs in the JOG data whose setting value is outside the range For details refer to CHAPTER 15 TROUBLESHOOTING 4 1 4 Positioning data setting items The positioning data has to be set to perform positioning control The following table shows the positioning data setting items One positioning data can be set to per axis For details of positioning control and details of each setting item refer to UHAPTER 9 POSITIONING CONTROL and Section 4 4 Positioning Data List respectively Positioning control Position Current value V Speed control Positioning data control change LDa 1 Operation pattern t Da2 Control meth
116. C 8 For the intelligent function device refer to the QCPU User s Manual Function Explanation Program Fundamentals In addition for the details of instructions used in the sequence program refer to the QCPU Q mode QnACPU Programming Manual Common Instructions 0e 060606060000000000000000000000000000000000000000000000009909 7 1 Precautions for Creating Program SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M al 26 Fel series 7 2 List of Devices Used Z 3 In Section 7 4 Positioning Control Program Examples the devices to be used are 5 assigned as indicated in the following table c The I O numbers for the QD72P3C3 indicate those when the QD72P3C3 is mounted in the slot 0 of the main base When mounting the QD72P3C3 in the slot other than the slot 0 of the main base change z the I O number for the mounted position E In addition change the external inputs internal relays and data resisters according to the 2 system used Eu 50 Device name X0 Module READY signal QD72P3C3 prepared X01 X02 X03 Axis CH error occurrence signal Axis CH error occurring X04 X05 X06 Axis CH warning occurrence signal Axis CH warning occurring X08 X09 XOA BUSY signal BUSY running Input X0C X0D XOE Start complete signal Start complete o X10 X11 X12 Positioning complete signal Positioning control complete a 2 X14 X18 X1C Count value large Count value large detected D I O of X15 X19 X1D Count value coincidence
117. C time at l ih 1000 52 152 252 4 speed change Setting range 1 to 5000ms Set 1 to request speed change processing make the value of Cd 1 New a speed value valid after setting Cd 1 New speed value for JOG operation Ca 3 Speed change request or speed control 0 54 154 254 This data changes automatically to 0 after speed change request acceptance When OPR request flag b1 of Ma7 is ON setting 1 forcibly turns this 9 Z S 8g EE NZ oQ ao a4 JOPR request flag OFF data OFF 0 55 155 255 ou request This data automatically changes to 0 after the OPR request flag turns E 9 OFF X a z Set this data when starting each control o 9 m 0 Positioning control sa lass See SE p cds Startmethod 9000 Machine OPR control EBS 9001 Fast OPR control Set a value to be set to Ma 3 Count value with the preset command 60 160 260 c Turning ON the preset command Y18 to Y1A stores the value set to this T Cd 6 Preset value setting 0 z buffer memory into _Md 3 Count value 61 161 261 g E D Setting range 1073741824 to 1073741823 E Iz Enter a value to be compared with Md 3 Count value e p 62 162 262 EG ca 7 Coincidence detection Setting 1 to Pr18 Coincidence detection setting performs coincidence 0 point setting detection 63 163 263 Setting r
118. CH 3 ui 0 z z E E E fe S Turn OFF and then ON the power or reset the CPU If the 100 error code is still stored after taking measures QD72P3C3 may be at fault Please consult your local Mitsubishi representative to explain a detailed description of the problem 102 Check whether the axis stop signal Y4 to Y6 is ON or OFF E Z and turn OFF the axis stop signal Y4 to Y6 that is ON ES 5 103 After resetting the error move the upper limit signal FLS to x E where the signal does not turn OFF ius 104 After resetting the error move the lower limit signal RLS to where the signal does not turn OFF 105 ae Review the sequence program that turns ON OFF the E E programmable controller CPU READY signal YO o m 110 z o Oo Z 5 u z E 202 Turn OFF the zero signal and then start OPR 8 Cd 5 Start method itioni Before starting fast OPR control execute machine OPR 2 203 56 156 256 0 Positioning control Ing execu 9000 Machine OPR control control ui 9001 Fast OPR control Or Qo az TROUBLESHOOTING APPENDIX 15 2 Error and Warning Descriptions 1 5 8 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC IA ries Error code Error name Description Operation at error decimal Out of start method The setting value of Cd 5 Start method setting range is other than 0 9000 or 9001 501 Out of operation 504 pattern setting range The sett
119. Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 1 2 Outline of Positioning Control and Count Operation 1 11 1 2 4 Communicating signals between QD72P3C3 and each module 1 PRODUCT OUTLINE MELSEC S1 1 3 Basic Operation of Positioning Control 1 3 1 Outline of control start The following flowchart shows the outline of each control start Assume that module installation and required settings for system configuration have already been prepared Flow of control start Setting of hardware Preparation installation and connection of module Control Positioning control OPR control JOG operation functions Q Position control Machine OPR control Speed control Q Current value change Fast OPR control Positioning gt Set the positioning parameters Pr 1 to Pr 9 parameter OPR parame Counter function parameter Positioning data Set the OPR parameters P10 to Pr 15 mum Set the counter function parameters Pr 16 to Pr 19 Set the positioning data Da 1 to Da 5 y Set the start method Cd 5 Set the JOG data JOG 1 and JOGA mE f Turn ON the JOG start Multiple axes simul Ma anaana petet vin ottme taneous stat programmable controller CPU ostii e fon me possible under programmable controller CPU positioning control For details refer to Section 9 3 Stop 1 1
120. Count value coincidence detected amp 5 z F X16 XIA XIE Countvalue small Count value small detected SLO Programmable controller CPU READY QD72 YO signal Programmable controller CPU prepared P3C3 aw Y01 Y02 YO3 Axis CH error reset signal Axis CH error reset being requested E S Y04 Y05 YO6 Axis stop signal Stop being requested t m Outpu Y08 YO9 YOA Positioning start signal Start being requested 2 2 2 t YOC YOE Y10 Forward run JOG start signal Forward run JOG being started Bre YOD YOF Y11 Reverse run JOG start signal Reverse run JOG being started g 5 a Y14 Y15 Y16 Coincidence signal reset command Coincidence signal reset being commanded Y18 Y19 Y1A Preset command Preset being requested Y1C Y1D Y1E Count enable command Count enable being requested Axis 1 CH1 1 I O and external inputs of the QD72P3C3 Device Axis 2 CH2 Axis 3 CH3 Application ON details 7 2 List of Devices Used T 4 SPECIFICATIONS AND FUNCTIONS UTILITY PACKAGE GX Configurator PT j 0 QZ z 46 E O oa QE ED OPR CONTROL SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC 8 Device Device name Axis 1 Axis 2 Axis 3 Application ON details CH2 CH3 X20 OPR request OFF command OPR request OFF being commanded X21
121. DURES AND SETTINGS BEFORE o a3 XE 2 x Mi ELSEG Q series b Pulse input mode Sets the pulse input mode applicable to the encoder and pulse generator used The following shows the examples of each pulse input mode Pulse input RU Count timing mode For addition oa B cout Counts on the rising edge 1 of dA CW CCW BE For subtraction ae Tou hana P EOB count os ounts on the rising edge 1 of B For addition oa f count When A is OFF counts on the falling edge of dB 1 multiple of 2 i hases 7 For subtraction A viv l l citt When B is OFF counts on the falling edge of dA B For addition A When A is ON counts on the rising edge f of dB count i i 2 multiples of B PLY When A is OFF counts on the falling edge of dB 2 phases For subtraction A Y 4 When B is ON counts on the rising edge 1 of A count JE When B is OFF counts on the falling edge of dA di EE When B is OFF counts on the rising edge 1 of A For addition When B is ON counts on the falling edge of dA count 9B fifty When A is ON counts on the rising edge 1 of GB 4 multiples of When A is OFF counts on the falling edge of dB 2 phases j When B is ON counts on the rising edge 1 of dA fifi For subtraction When B is OFF counts on the fa
122. Da 4 Command speed 50000pulse s Set the speed to be commanded Setting not required Setting value is ignored For details of setting refer to Section 4 4 Positioning Data List 9 2 Positioning Data Setting 9 2 3 Speed control O POSITIONING CONTROL MELSEC Sl 9 2 4 Current value change Current value change performs a control to change LMd 1 Current feed value to any address 0 Z E 8g Ee NZ OQ ao m Operation chart The following chart shows the operation timing of current value change Turning ON the Minor o positioning start signal Y8 to YA changes L Md 1 Current feed value to the value set to z LDa 5 Positioning address movement amount a I o ON o Positioning start signal OFF Y8 to YA l ON Positioning complete signal l X10 to X12 SEE Md 1 Current feed value 5000 10000 Z S Current feed value changes to the 3 5 positioning address specified by the xz positioning data of the current value g T change The above chart shows an example when the positioning address is 10000 m Restrictions Su The current value cannot be changed in the following cases Ee o When the linear counter is set for the counter format if the value set to as jus LDa 5 Positioning address movement amount value of current value change is out of Software stroke limit up
123. Device Device name Axis 1 Application ON details MO Initial data setting complete Initial data setting complete M1 OPR request OFF command OPR request OFF being commanded M2 OPR request OFF command pulse OPR request OFF commanded M3 OPR request OFF command storage OPR request OFF command held M4 Fast OPR control command Fast OPR control being requested M5 Fast OPR control command storage Fast OPR control command held Internal relay M6 Positioning control start command pulse Positioning control start commanded M7 Positioning control start command storage Positioning control start signal command held M8 JOG operation flag JOG operation in progress M9 Speed change command pulse Speed change commanded M10 Speed change command storage Speed change command held M11 Error reset command pulse Error reset commanded M12 Stop command pulse Stop commanded 7 2 List of Devices Used 7 6 PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT j 0 oz z 46 E E O oa QE ED OPR CONTROL SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 3 Data registers for Axis 1 MELSEC TE eries
124. E um 9 l 7 9 Actual ACC DEC time 9 Actual ACC DEC time 1 When 1 Target speed is 100000pps 2 Speed at start is 100pps 3 ACC DEC time is 990ms and pulse unit is 25 4 Speed limit value LPr 4 1 is 100000pps 9 Actual ACC DEC time is calculated by the following formula gt z co fe do xZ 225 tu 1 Target speed 2 Speed at start x 8 100000 100 x 8 e 5 Acceleration 32 290 3 ACC DEC time x Pulse unit 990 x 25 cz e 6 Actual acceleration 32 m 9 22 On 7 Difference difference between 5 Acceleration 6 Actual acceleration e acceleration and actual acceleration _ x 100 when using acceleration as the base 6 Actual acceleration S E 2 32 290 32 x 100 T 32 S z z 0 9 S s 7 Difference e 9 Actual ACC DEC time 3 ACC DEC time ae x 3 ACC DEC tm 2 22 0 9 ras 990 x 990 On 100 ab az 999 ms o z Set speed at start target speed and ACC DEC time to each control individually 9 For details refer to CHAPTER 4 DATA USED FOR POSITIONING CONTROL amp I a gt Parameter set as target Parameter set as speed Parameter set as ACC e Control contents B a speed at start DEC time NM Pr 15 ACC DEC time at OPR control Pr 13 OPR speed Pr 14 Creep speed OPR Positioning contro
125. ELSEC 8 Programmable controller CPU READY Signal M2 OPR request OFF command pulse M3 OPR request OFF command storage D120 OPR request flag M1 OPR request OFF command M3 OPR request OFF command storage UON G55 OPR flag OFF request Mt OPR request OFF command SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M IES 26 e LL zZ No 7 Start pattern setting program 1 Machine OPR control a X21 S s L K9000 D56 E machine Start a OPR method o control E command 2 Fast OPR control X22 UOY 403 WAD G79 H2 D29 z Fast OPR Status OPR request E control flag x command a 20 w BE oz I 10 D120 KO a M4 nO OPR Fast OPR request control flag command MOVP K9001 D56 Start method SPECIFICATIONS AND FUNCTIONS SET M5 Fast OPR control command a storage 9 9 3 E iis In 3 1 axis linear control e o X23 E E MOVP KO D56 amp o amp 1 axi qO Tapia Start method 8g control start command aw Zo TP H0 K90 D90 K8 m Operation uj WwW mz pattern E ao Position aor control uz 2 OF wi WQ 4 Speed control Loo MOVP KO D56 Speed Start method control start D E command S S c 23 Qa TOP HO K90 D100 K8 gt 5 Operation EO 3 pattern x Speed 59 control 7 5 Current value change 9 MOVP KO D56 a Z Current Start method nz value 59 change zt command Ed o oa Ow o TOP HO K90 D110 K8 ou Operation patter
126. FORE OPERATION ANIILNO LONdGOdd Connector AGCON1 assembly NOILVYENSISANOO WALSAS Cover the cables including th conductive tape with heat sh SNOLLONfI3 ANY SNOILVOIJIO3dS IOH LNOO SNINOILISOd nii X04 aasn viva NOILVH3dO El eEEI SONILLAS Ld 10y amp 1n8gu02 X9 3OvMOVd ALITILA SNINOLLISOd HOS qasn WvdS0ud 3oNanoas IOH LNOO HdO o wu 5 4 Wiring 5 4 1 Wiring precautions 5 PROCEDURES AND SETTINGS BEFORE o PE RATIO N M ELSEG Q series 9 Be sure to place the cables connected to the QD72P3C3 in a duct or clamp them Failure to do so may cause not only damage to the QD72P3C3 drive unit and or cables by pulling unfixed cables carelessly but also a malfunction due to poor cable connection 10 To conform the wiring to the EMC and Low Voltage Directives ground the shielded cables to a control panel using the AD75CK cable clamp manufactured by Mitsubishi Electric Corporation In a control panel Grounding shielded twisted pair cable with the AD75CK Shield Se ue e g l Ca E M E eeu terminal M 99 i Ground terminal installation screw M4 8 screw Installation screw to control box M4 screw Maximum four shielded cables whose external dimension is around 7mm 0 28inch can be grounded using the AD75CK For details refer to the AD75CK type Cable Clamping Inst
127. HG2 SPCHG3 00000000000000000000000000000000000000000000000000000000000000000000000000000009 E 12 CHAPTER15 TROUBLESHOOTING 15 1 to 15 22 15 1 Troubleshooting Flow 0 0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 15 1 15 1 1 15 1 2 15 1 3 15 1 4 15 1 5 15 1 6 When the RUN LED turns OFF eeeeeccecceeceeeee eee eoe oso eo eese eoe ee esee es esessecsssssscsssssssesssseo 15 2 When the ERR LED turns ON eeeeeeccceeceseeoeoo eo eoeeeeo eoe ee eoeseeeeseseesessssecessssessssssssssessee 15 2 When the AX LED flashes after the ERR LED flasheseeseseeeeeeeeee ee eee ooo eoe o eoo eo eoeoeooeoeoesoee 15 2 When the axis CH warning occurrence signal X4 to X6 turns ON eeeeee eee eee eee eee eee 15 2 When the count operation is not executed or not executed normally e ee eee eee ee 9 15 3 When the coincidence detection interrupt does not OCCUr eeeseee esee eee eee eee eese eeeceeessseees 15 4 15 2 Error and Warning Descriptions eeee ee eee eee ee eee eee eee eroe eee ee eee ee esos eee esseeesse esos secco seceeeesceeeooe 15 5 15 2 1 15 2 2 Error code list 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 15 7 List of warnings 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 1 5 19 15 3 Checking Errors with the LED Display Function 00000000000000000
128. ILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
129. JOG 2 JOG ACC DEC time 4 The workpiece stops when it decelerates to the speed set in Pr5 Bias speed at start At this time the BUSY signal X8 to XA turns from ON to OFF gt Zz ro XE zo xz 393 i lr o6 1 J0G speed Acceleration by Goc 2 M Deceleration by 70G 2 JOG ACC DEC time JOG ACC DEC time Serene P Bias speed at start Bi d at start xs RO Reverse run JOG E 2 operation z 9 Be Programmable z controller READY o signal YO E o 5 Module READY L signal X0 z E Forward run JOG z start signal S YC YE Y10 Reverse run JOG start signal YD YF Y11 2 BUSY signal X8 to XA 2 ES Xx Take 2 5ms from the BUSY signal X8 to XA OFF to the next JOG start signal YC to Y11 ON g e uz Figure 10 1 JOG operation start timing chart o Z o o T 0 Lu e ta 2 o r2 x a Zz Lu a a lt 10 1 Outline of JOG Operation 10 2 1 Q JOG OPERATION MELSEC LAY ceries mJOG operation monitor When using GX Developer to directly monitor the buffer memory refer to Section 4 5 Monitor Data List When using the monitor function of GX Configurator PT to monitor refer to Section 6 6 Monitoring Test mPrecautions during operation Before starting JOG operation grasp the following points a Set the JOG data before starting JOG The settings cannot be changed during JOG operation b Setting a great value to YOG 1 JOG speed from the beginning is dangerous For safety
130. JOG ACC DEC time 42 142 242 m m eee a Che writing of the addresses not indicated on the list are disabled If the unlisted address is used E the system may not operate normally x fa Z W a a Eq Appendix 9 List of Buffer Memory Addresses App 20 INDEX A Absolute system 0 0000000000000000000000000000000000000000 9 4 ACC DEC process functioneseseeeee ee eese eee eecececes 3 2 AD75CK 909090000000000000000000000000000000000000000000000 5 1 0 C Coincidence detection function eseeee eee eee eee eee 3 3 Connection check eecececcccccccccccccccccscccccscscscee 5 12 Control data essccccccc00000000000000000000000000000000 AG Count enable function ercccccccccccccccccccccccccvcececs 3 3 Count value selection function at OPR ssseseseseeses 3 2 Counting ange eeeeeee eese eee ee eee oe esos esos ecce ooseoeeooe 3 1 Counting speed 0000000000000000000000000000000000c0c0c0cc 3 1 Current feed value count value simultaneous change function eee ececeeeeeeceeeeeeceeceececececccccecee 3 3 Current value change 0000000000000000000000000000000 c 9 3 2 CW CQOW e eccccceeccceeeeeecccocceccccececcessesss 5 15 5 16 D Da 1 Operation pattern ccccecccccccccsccccccsccccccccecs 4 5 Da 2 Control method e ece eee esee e eee eee eese ceececec 4 5 Da 3 ACC DEC time eeeceeeceee eee ee eee eee eee e eoe eoeooe 4 5 Da 4 Command Speedeeeeeee eee eee eee eese ee eee esee ee 4 5 Da 5 Positioning addre
131. JOG speed If setting a value that does not satisfy the condition the value is dropped so that it can be multiples of 25 4 4 Positioning Data List 4 26 PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS A 9 z S Sg EE NZ OQ ao PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 DATA USED FOR POSITIONING CONTROL Da oa 4 27 MELSEC 8 Positioning address movement amount Setting contents Set an address or movement amount which is to be a set point for positioning control The settable range depends on Da2 Control method refer to a and b below a 1 axis linear control ABS current value change Set a value positioning address for 1 axis linear control ABS or current value change using the absolute address address from the OP Stop position positioning control start address 1000 1000 3000 X Movement Movement amount 2000 amount 2000 b 1 axis linear control INC Set a signed movement amount as the setting value movement amount for 1 axis linear control INC When the movement amount is positive The axis moves in the positive direction address increase direction When the movement amount is negative The axis moves in the negative direction address decrease direction Stop position po
132. Ko OPR method PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT j 0 QZ z 46 2 Zg O oa QE ED OPR CONTROL 7 4 Positioning Control Program Examples 7 14 T 15 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No 3 Counter parameter data setting program SM402 _ A WA rv i scan ON after RUN 7 4 Positioning Control Program Examples MELSEC TE cries KO D30 Ring counter upper limit value Ko D32 Positioning range upper limit value KI D34 Coincidence detection setting Kt D35 Count value at OPR D30 K6 Ring counter upper limit value K2500 D60 Preset value setting K1000 D62 Coincidence detection point setting K4 Preset value setting SET MO Initial data setting complete SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M als 26 e LL Zz No 4 Positioning data setting program fa 1 1 axis linear control setting 2 58402 147 MOYP KO D90 E 4 scan ON Operation a after RUN pattern O a a Position o control MOVP KI D91 Control z method o Position pra control a 20 i fre MOVP K1000 D92 2 ACC DEC nO time Position control an DMOVP K30000 D94 Command iE es speed o Position i E control ok ua az nxt DMOVP K250000 D96 Positioning address movement amount Position a 2 Speed control setting control a 9 SM402 uz a 195 MOP KO D100 Zor l1
133. LESHOOTING APPENDIX 1 2 COUNTER FUNCTION MELSEC Aries POINT The current feed value count value simultaneous change function can be executed regardless of the ON OFF status of the count enable command Y1C to Y1E 1 2 14 12 7 Current Feed Value Count Value Simultaneous Change Function 1 3 COMMON FUNCTION WISLSSC Sl CHAPTER13 COMMON FUNCTION This chapter describes details of the common function of the QD72P3C3 13 1 Outline of Common Function Common function is the generic term for functions operable as necessary regardless of the control method These common functions can be executed using GX Developer For details of GX Developer refer to the GX Developer Operating Manual The following table shows the details of common function Common function External I O signal logic switching External I O signal monitor Description This function changes the external I O signal logic to match the device connected to the QD72P3C3 This function monitors the external I O signal status Operating method Set the switches on the I O assignment tab in the Qn H Parameter screen of GX Developer Intelligent function module switch Monitors the external I O signal information on the Module s Detailed Information screen which can be displayed from the System Monitor screen of GX Developer 13 1 Outline of Common Function 1 3 1 POSITIONING CONTROL JOG OPERATION
134. Machine OPR control command Machine OPR control being commanded X22 Fast OPR control command Fast OPR control being commanded X23 1 axis linear control start command 1 axis linear control start being commanded X24 Speed control start command Speed control start being commanded X25 Current value change command Current value change being commanded E Positioning control start signal being X26 Positioning control start signal command commanded X27 Forward run JOG command Forward run JOG operation being commanded pisi X28 Reverse run JOG command Reverse run JOG operation being commanded X29 Speed change command Speed change being commanded X2A Error reset command Error reset being commanded X2B Stop command Stop being commanded X2C Count operation start command Count operation start being commanded X2D Count operation stop command Count operation stop being commanded X2E Count value read command Count value read being commanded Count value coincidence clear being X2F Count value coincidence clear command commanded X30 Preset command Preset being commanded External Y40 Coincidence confirmation LED signal Counter coincidence being detected output Overflow occurrence confirmation LED YA1 Overflow occurring check signal 7 2 List of Devices Used SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M als 26 e 2 Internal relays of the QD72P3C3
135. NGS BEFORE 2 PE RATI 2 N M ELSEG Q series 5 7 Simple Reciprocating Operation Before operating the system check the operation of the drive unit Operation must be checked after confirming that the installation wiring intelligent function module switch setting and connection of the QD72P3C3 are normal For details of the drive unit refer to the manual of the drive unit used The following describes the method of simple reciprocating operation 1 Operation method Using a sequence program perform forward run reserve run of JOG operation For details of JOG operation refer to CHAPTER 10 2 Setting item Set JOG data in the sequence program Default values can be used for the other data such as parameters positioning data Change the JOG data setting values according to the machine specifications Buffer memory Setting value address NIej cm E Setting contents example Axis Axis Axis 1 2 3 40 140 240 JOG 1 JOG speed 5000pulse s Set the speed for JOG operation 41 141 241 JOG 2 JOG ACC DEC time 1000ms Set the ACC DEC time for JOG operation 42 142 242 for details of the setting contents refer to Section 4 3 List of JOG Data 3 Reciprocating operation program using JOG operation The following is a program example for Axis 1 When the QD72P3C3 is installed in slot O of the main base unit Used device Device name Device Application ON det
136. No in interrupt setting Setting range 0 to 15 e oO 2 The following shows a setting example where SI 0 to 2 of the QD72P3C3 in the slot of start I O No 20 are assigned to interrupt pointers 150 to 155 Intelligent function module interrupt pointer setting PLC side ree NN Intelli module side Interrupt pointer Interrupt pointer Start No EM of modde EM 120 No oo 12 5 Coincidence Detection Function 1 2 9 POSITIONING CONTROL JOG OPERATION MEW AUXILIARY ING FUNCTION z ti O m FAT 52 o Ow COMMON FUNCTION DEDICATED INSTRUCTIONS TROUBLESHOOTING APPENDIX 1 2 COUNTER FUNCTION 12 10 MELSEC TE eries d The following two methods are available for using particular SI numbers only 1 X POINT Using the interrupt pointer setting with parameters Only the interrupt factors starting from the Start SI No for the number set at Interrupt pointer No of module in the Intelligent function module interrupt pointer setting screen are used For example when the Start SI No and Interrupt pointer No of module are set to 1 and 2 respectively only SI 1 and 2 can be used The interrupt function is not used if the interrupt pointer setting with parameters has not been made Using the IMASK instruction from the sequence program With the IMASK instruction whether to enable or disable interrupt mask the interrupt program execut
137. OGRAM USED FOR POSITIONING OPR CONTROL 3 SPECIFICATIONS AND FUNCTIONS M ELSEG Q series 2 Output specifications a Input specifications of external input device for positioning Operating Max load Leakage Rated load Max voltage s Signal name load voltage current inrush current Response time voltage drop at ON range current at OFF 50mA point 4 75 to 0 1mA 5 to 24VDC 200mA 10ms or 5VDC TYP 30VDC i or less ess Set pulse output mode and pulse output logic selection with Intelligent function module switch setting refer to Section 5 6 The following table shows the relationship of Pulse output mode and Pulse output logic selection with pulse output Pulse output logic selection Pulse output F PUSE F Positive logic Negative logic CWIPULSE Forward run Reverserun Fomwardrun Reverse run LIT Le LI LIU CW CCW Pulse output R PUSE R FL Lt LJ LJ LI CCW SIGN PULSE der ded dee e ETE UUU UUU SIGN High Low Low High The rise fall time and duty ratio are as the table on the next page ON OFF tro ls 2ms or less T 0 1A point Deviation counter clear 4 75 to 1VDC TYP 0 1mA resistanceload 5 to 24VDC 0 4A 10ms or nu CLEAR 30VDC 2 5VDC MAX orless pulse width is ess from 1 to 20ms 3 14 3 5 Specifications of I O Interfaces with External Device 3 5 1 Electrical specifications of I O signals 3 SPECIFICATIONS
138. OGRAM USED FOR POSITIONING CONTROL 7 1 to 7 31 Memo 1 PRODUCT OUTLINE MELSEC Sl CHAPTER1 PRODUCT OUTLINE This User s Manual describes the specifications handling and programming methods for the type QD72P3C3 positioning module with built in counter function used together with the MELSEC Q series CPU module When applying any of the program examples introduced in this manual to the actual W z E 2 Oo E o 2 a O fad o system verify the applicability and confirm that no problem occurs in the system control LE x a 1 1 Features of QD72P3C3 uf oz 50 The following describes the features of the QD72P3C3 1 Space saving The QD72P3C3 provides 3 axes of positioning control and 3 channels of counter function per slot SPECIFICATIONS AND FUNCTIONS 2 Positioning control a The QD72P3C3 is an open collector output type module which can output pulses at a maximum rate of 100kpps b The pulse output mode is selectable The pulse output mode can be selected from PULSE SIGN and CW CCW DATA USED FOR POSITIONING CONTROL c Easy positioning control with only a few parameter settings is possible With only a few parameter settings such as Command speed ACC DEC time and Positioning address movement amount positioning control can be performed d 3 axes concurrent start is possible PROCEDURES AND SETTINGS BEFORE OPERATION e Speed change duri
139. ON Explanation of items 1 Activation of other screens a Initial setting screen c E ki Sg ej S 2 e e O x 9 Lu lt a gt E 2 Start I O No Module type gt Module model name Initial setting b Auto refresh setting screen Start I O No Module type Module model name Auto refresh c Monitor test module selection screen Online Monitor Test Enter the start I O No in hexadecimal SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 6 3 Utility Package Operation 6 10 6 3 3 Starting the Intelligent function module utility 6 UTILITY PACKAGE GX Configurator PT M ELSEG Q series 2 Command buttons Delete Deletes the initial setting and auto refresh setting of the selected module End Closes this screen 3 Menu bar a File menu i Intelligent function module parameters of the project opened by GX Developer 4 Intelligent function module utility D Bes Meee Online Toc are handled Open parameters Ctri o Close parameters Open parameters Reads a parameter file ae 7 Close parameters Closes the parameter file If any data are modified a n dialog asking for file saving will appear Save parameters Saves the parameter file Delete parameters Deletes the parameter file Exit Closes the current screen b Online menu wen Monitor Test Activates the
140. ONS TROUBLESHOOTING APPENDIX 9 1 Outline of Positioning Control 9 3 9 1 2 Positioning control operation patterns 9 4 POSITIONING CONTROL MELSEG Fl caries 9 1 3 Specifying the positioning address The following two methods are available for commanding a position in control using positioning data mAbsolute system A position based on the OP absolute address is specified and positioning control is performed This address is regarded as the positioning address The start point can be anywhere l 1 i i Address 100 E Address 100 Address 150 i Address 300 Address 150 Address100 Address 150 OP 100 150 reference point Point B Point C Within stroke limit range Figure 9 1 Absolute system positioning control mincremental system The position where the workpiece is currently stopped is regarded as the start point and positioning control is performed by specifying movement direction and movement amount Movement amount Movement amount 100 Movement amount 100 rs 1 Movement amount 100 i Movement amdunt 150 Movement amount 100 Movement amount 50 sn s j 1 OP 100 150 reference point Point A Point B Point C Within stroke limit range Figure 9 2 Incremental system positioning control 9 1 Outline of Positioning Control 9 1 3 Specifying the positioning address O POSITIONING CONTROL MELSEC Sl 9 1 4 Checking th
141. OO run JOG run JOG operation ess command command flag 5 X27 M8 YOD wW MQ w 5 a Forward JOG Reverse Forward ra run operation run JOG irun JOG flag start start o signal signal OF g z z X28 M8 Yoc Eu aw gt mp Reverse JOG Forward Reverse noO run JOG operation irun JOG run JOG command flag start start signal signal END UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 5 7 Simple Reciprocating Operation 5 19 5 PROCEDURES AND SETTINGS BEFORE OPERATION MELSEC 8 4 Checking operation status a Checking using GX Developer Read the following monitor data using the monitor function Buffer memory batch Buffer memory address Axis monitor data Monitor contents Axis Axis Axis 1 2 3 CH1 CH2 CH3 70 170 270 Md 1 Current feed value Monitors the current position a 474 274 72 172 272 Md 2 Current speed Monitors the current speed 72 73 O94 Md 4 Axis operation status Monitors the operation status 2 JOG operation of the axis 76 176 276 Md 5 Axis CH error code Monitors details of the error occurrence 77 177 277 For details of the monitor contents refer to Section 4 5 List of Monitor Data Example Operation status of Axis 1 GX Developer screen Module start address 0 Hex Buffer memory address 70 DEC C HEX Monitor format Bit amp W
142. OTING APPENDIX 1 2 COUNTER FUNCTION 12 2 MELSEC 8 IMPORTANT 1 The module may not be able to operate normally if each I O signal logic is set incorrectly Pay special attention when changing the setting from the default value 2 When using the input method of either 1 multiple of 2 phases or 2 multiples of 2 phases be sure to input 2 phase pulses With these input methods pulses are counted according to the changes between phase A and phase B 12 1 2 Reading count values Count operation starts when the count enable command Y1 to Y1E is turned ON Count values are stored to LMd 3 Count value in 31 bit signed binary Since the contents of 1 Md 3 Count value are automatically updated by count operation the latest count value can be read from Md 3 Count value For details of count operation refer to Section 12 4 Buffer memory address Item 74 174 274 Count value 75 476 235 12 1 3 Selecting counter format Select the linear counter or ring counter in the intelligent function module switch setting of GX Developer For setting details of counter format refer to Section 5 6 For details of linear counter refer to Section 12 2 For details of ring counter refer to Section 12 3 12 1 Outline of Counter Function 12 1 2 Reading count values 1 2 COUNTER FUNCTION MELSEGC Sl 12 2 Linear Counter Function o z z
143. P switch of the CPU module STOP RUN gt STOP gt RUN 2 With the RUN STOP switch set to RUN turn off and then on the power or reset the CPU module If the initialization settings have been written by a sequence program the initialization settings will be executed during the STOP RUN of the CPU module Arrange so that the initial settings written by the sequence program are re executed during the STOP RUN of the CPU module PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION E ki Sg ej 2 z e x 9 WW z a gt E zi E SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 6 4 Initial Setting 6 14 6 UTILITY PACKAGE GX Configurator PT M ELSEG Q series 6 5 Auto Refresh Setting Purpose Configure the QD72P3C3 s buffer memory for automatic refresh There are the following setting items as the auto refresh setting parameters Current feed value Current speed Count value Axis operation status Axis CH error code Axis CH warning code This auto refresh setting eliminates the need for reading by sequence programs Operating procedure Start O No gt Module type Module model name Auto refresh Enter the start I O No in hexadecimal Setting screen Auto refresh setting Module information Module ty
144. Pr 13 0PR speed Pr 14 Creep speed 1 lt 8000 Pr 15 ACC DEC time at OPR x Pulse unit Refer to 1 x 0 125 Example When Pr 13 OPR speed 8000 Pr 14 Creep speed 1 and Pr4 Speed limit value 8000 1 pulse unit the setting range of Pr15 ACC DEC time at OPR is from 8 to 5000 ms PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 2 Parameter List 4 8 4 DATA USED FOR POSITIONING CONTROL M ELSEG Q series Pr 1_ Software stroke limit upper limit value L Pr2 Software stroke limit lower limit value Setting contents Pr 1_ Set the upper limit for the machine movement range Pr2 Set the lower limit for the machine movement range Software stroke Software stroke limit Lower limit limit upper limit Machine movement range sube SP 1 Generally the OP is set at the lower limit or upper limit of the stroke limit 2 By setting the upper limit value or lower limit value of the software stroke limit overrun in the software can be prevented Also an emergency stop limit switch must be attached nearby the side of outside the range Pr3 JCurrent feed value during speed control Setting contents Set whether to update Md 1
145. QD72P3C3 Type Positioning Module with Built in Counter Function MITSUBISHI User s Manual 1 C erar 2 gt series Mitsubishi Programmable Controller QD72P3C3 GX Configurator PT MELSEG Q S W1D5C QPTU E Q SAFETY PRECAUTIONS Read these precautions before use 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 precautions given in this manual are concerned with this product For the safety precautions of the programmable controller system please read the User s Manual for the CPU module In this section the safety precautions are ranked as DANGER and CAUTION d DANGER Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury A Indicates that incorrect handling may cause hazardous conditions CAUTION resulting in medium or slight personal injury or physical damage we Note N that the CAUTION level may lead to a serious consequence according to the circumstances Always follow the precautions of both levels because they are important to personal safety Please save this manual to make it accessible when required and always forward it to the end user DESIGN PRECAUTIONS Provide a safety circuit outside the programmable controller so that the entire system will operate safely even when an external power
146. RI 3 DOGI COMI 3 F COMI 3 gt xm s nN A E lu 4iccw Lo y 4 PULSE COM1 3 A C P P P PULSE RI PULSE COMI e Connect these as necessary A A A A 3 2 1 as ss a sy ooo COMI 3 a9 u isi fas Upper Temi coma A7 RLST Lower limit o o o e i i bi ee m 24VDC 1 The logic of each I O terminal can be changed by the intelligent function module switch setting refer to Section 5 6 The above example assumes that all terminals are set to the negative logic In addition the above example is for connecting to Axis 1 For the pin layout when connecting to Axes 2 or 3 refer to Section 3 5 2 Signal layout for external device connector 2 For wiring or shield of each signal line of the stepping motor drive side other than mentioned above refer to the manual for stepping motor drive 3 This indicates the distance between the QD72P3C3 and RK series App 11 Appendix 4 Connection Examples with Stepping Motors Manufactured by ORIENTAL MOTOR CO LTD APPENDICES MELSEC TE eries 2 Connection example of QD72P3C3 and STEP series Within 2m 3 QD72P3C3 a STEP series 2 1 Near point dog Oy Upper limit Lower limit e e i i Eos EMEN 24VDC 1 The logic of each I O terminal can be chang
147. Select monitor test module screen Read from PLC Reads intelligent function module parameters from the MoritorjTest CPU module iei Write to PLC Writes intelligent function module parameters to the CPU S module POINT 1 Saving intelligent function module parameters in a file Since intelligent function module parameters cannot be saved in a file by the project saving operation of GX Developer save them on the shown module selection screen 2 Reading writing intelligent function module parameters from to a programmable controller CPU using GX Developer Intelligent function module parameters can be read from and written into a programmable controller after having been saved in a file Set a target programmable controller CPU in GX Developer Online Transfer setup When the QD72P3C3 is mounted to the remote I O station use Read from PLC and Write to PLC of GX Developer Checking the required utility While the start I O is displayed on the Intelligent function module utility setting screen may be displayed for the model name This means that the required utility has not been installed or the utility cannot be started from GX Developer Check the required utility selecting Tools Intelligent function utility Utility list in GX Developer 3 lt 6 11 6 3 Utility Package Operation 6 3 3 Starting the Intelligent function module utility 6 UTILITY PACKAGE GX Configurator PT
148. TER4 DATA USED FOR POSITIONING CONTROL This chapter describes the specifications of the data to be set to the QD72P3C3 4 1 Data Types 4 1 1 Parameters and data required for control The parameters and data required to perform control with the QD72P3C3 include the following three types of data setting data monitor data and control data Setting data H Parameter Set parameters for positioning OPR and counter function according to the mechanical appliances and applications J Storage location QD72P3C3 buffer memory iIPr 1 jto IPr 19 RN H JOG data A Set values required to perform JOG operation JOG 1 and JOG 2 Storage location QD72P3C3 buffer memory E Positioning data Set values required to perform positioning control such as speed and movement amount Storage location QD72P3C3 buffer memory Da 1 to Da 5 Set the logics of the external I O signal pulse output mode and pulse input mode Switches 1 to 5 Storage location I O assignment in PLC parameter for QCPU Intelligent function module switches The parameters become valid when the programmable controller CPU READY signal YO is turned from OFF to ON The JOG data and positioning data become valid when JOG operation and positioning control starts respectively Use GX Developer to set the intelligent function module switches F
149. UBLESHOOTING APPENDIX 14 14 14 DEDICATED INSTRUCTIONS MELSEG Fl caries END processing END processing END processing END processing Sequence program Completion of the SPCHG ON instruction execution instruction Completion device Completion status display device i 1 completion One scan 4 Error At error completion of the SPCHGnui instruction the error completion signal D 1 turns ON and the error code is stored in the completion status S 1 Refer to the error code list in Section 15 2 1 check the error and take corrective action 5 Precautions a The SPCHGz instruction can be executed only at the constant speed section which is in JOG operation during speed control In other cases the speed cannot be changed and the error completion signal D 1 turns ON b If the New speed value of S 2 S 3 exceeds the speed limit value an operation is performed with the speed limit value If the command speed is lower than the bias speed an operation is performed with the bias speed c When the remote I O station Q corresponding MELSECNET H network remote O module is used this dedicated instruction SPCHGr cannot be used d In the following cases Dedicated instruction error error code 804 occurs when the SPCHGni instruction is executed and the speed cannot be changed The v
150. When the count operation is not executed or not executed normally 1 5 TROUBLESHOOTING MELSEC TE eries 15 1 6 When the coincidence detection interrupt does not occur Check item Action Is the Q00J Q00 Q01CPU function version A used as the programmable controller CPU Change the CPU module to the one which supports the intelligent function module event interrupt refer to Section 2 3 Is the module configured as a network module remote I O station Configure the module as the programmable controller CPU refer to Section 2 3 Is the setting made on Interrupt pointer setting of Intelligent function module setting in PLC parameter correct Check the intelligent function module interrupt pointer setting Is the way to use the program execution control instruction such as the IMASK correct Check the sequence program Does the count value coincidence X15 X19 X1D remain ON Reset OFF the count value coincidence X15 X19 X1D by the coincidence signal reset command Y14 to Y16 15 1 Troubleshooting Flow 1 5 4 15 1 6 When the coincidence detection interrupt does not occur POSITIONING CONTROL JOG OPERATION AUXILIARY FUNCTION COUNTER FUNCTION COMMON FUNCTION MEW DEDICATED PER INSTRUCTIONS TROUBLESHOOTING APPENDIX 1 5 TROUBLESHOOTING MELSEC Kel ries 15 2 Error and Warning Descriptions 1 Errors i Types of errors Error
151. Y signal YO is turned ON after power ON the count value coincidence X15 X19 and X1D turns ON since Cd 7 Coincidence detection point setting is set to zero Therefore write any value other than zero to _Cd 7 Coincidence detection point setting and change the count enable command Y1C to Y1E from OFF to ON and again to OFF Note that the ON time must be 2 5ms or longer The QD72P3C3 internal processing of coincidence detection may cause the count value large X14 X18 and X1C or the count value small X16 X1A and X1E to turn ON when the count value coincidence X15 X19 and X1D status changes from OFF to ON 2 Coincidence detection interrupt function This function generates an interrupt request to the programmable controller CPU during coincidence detection This interrupt request enables the start of interrupt processing programs When using this function with the Q00JCPU Q00CPU QO01 CPU select the CPU of function version B or later a Up to 16 point interrupt factors SI are allowed for a single MELSECNET Q series intelligent function module As shown in the table below the QD72P3C3 has 3 point interrupt factors SI for coincidence detection SI No Interrupt factor 0 Channel 1 Coincidence detection of coincidence detection point 1 Channel 2 Coincidence detection of coincidence detection point 2 Channel 3 Coincidence detection of coincidence detection poi
152. a 1 Linear counter operation em When the linear counter is selected counting is operated in a range between 35 1073741824 lower limit value and 1073741823 upper limit value Present counter value t Overflow F 1073741823 E ra d o lt o Subtraction Addition Q ER E 1073741824 v 2 Overflow x2 zi a When the linear counter is selected for the counter format if the present value 12 falls below 1073741824 lower limit value in subtraction or exceeds 1073741823 upper limit value in addition an Overflow warning warning code 27 occurs b If an overflow occurs 1 is stored in the overflow detection flag LMd 7 Status b3 e of the buffer memory and counting is stopped Even if a pulse is input in that 29 e condition LMd 3 Count value does not change from 1073741824 or OU 1073741823 Z o c An overflow can be cancelled by presetting the Md 3 Count value to the value S in the range between 1073741824 and 1073741823 ni z Executing preset stores 0 in the overflow detection flag LMd 7 Status b3 of the 9 buffer memory allowing restart of counting 8 Note that the values stored in the Md 6 Axis CH Warning code and the ON status of the Axis CH warning occurrence signal X4 to X6 are not reset until the error is reset Reset the error by turning ON the Axis CH error reset signal Y1 to D Y3 after counting is restarted by the
153. a2 CHIA 24V A20 E B a6 CHIA BV A19 N Ti LA xz CH1 ACOM A18 T H LAR 16 CHIB 24V A17 B N lt CHIB 5V A16 H l i LB CH1 BCOM A15 T EE IGNES CENE T LBR 17 LG 1 sD Plate Near point dog External emergency CNIB DOG1 A10 dlo Servo ON Upper limit Commercially Proportional control pie B Torque limit computer E 55 2z 04 Cp O 24VDC o e RAI Zero speed detection Rag During torque limit te t k Max 1mA total 5 RT Bi directional z 10k Q measurement n Analog torque limit 10V max current Within 2m S Gp eeeeeeeceoeoe ees eeoeeeeeeeeeeseoeeeeeeoeeeeeoeeeeeeoeeee eee N Z o 1 The logic of each I O terminal can be changed by the intelligent function DE s module switch setting refer to Section 5 6 The above example assumes E that all terminals are set to the negative logic 13 In addition the above example is for connecting to Axis 1 For the pin layout when connecting to Axes 2 or 3 refer to Section 3 5 2 Signal layout for 9 external device connector E A e 2 These are limit switches for servo amplifier for stop E ue Lu 3 For details of connection refer to the MR J2S series Servo Amplifier z E Instruction Manual 2 4 This indicates the distance between the QD72P3C3 and servo amplifier APPENDIX Appendix 3 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation App 8 APPENDICES MELSEC S1 3 Connect
154. ails Remarks Special relay SM403 One scan OFF after RUN mes X0 Module READY signal QD72P3C3 Normal i X8 Axis 1 BUSY signal Axis 1 In operation YO Programmable controller Programmable controller QD72P3C3 CPU READY signal CPU Normal VO Axis 1 forward run JOG Axis 1 Forward run JOG Output YC S start signal starting YD Axis 1 reverse run JOG Axis 1 Reverse run JOG start signal starting Forward run JOG Forward run JOG operation NM X27 JOG operation is disabled if External input command Being commanded X27 and X28 are both ON or command Reverse run JOG Reverse run JOG operation X28 both OFF command Being commanded Internal relay M8 JOG operation flag JOG operation 5 18 5 7 Simple Reciprocating Operation PROCEDURES AND SETTINGS BEFORE OPERATION en eee w Program example z 5 SM403 XI o Cro X kK One scan Axis CH1 Programm E OFF after Jerror oc able a RUN currence controller o signal CPU E READY Xo signal Module READY signal E M8 UON J a Mr DMOVP K5000 G40 z amp JoG JOG S i operation speed oO S flag A O UoV 4 MoVP K1000 G42 JOG ACC DEC time NN zz oo Ko X27 Xo X8 I 2 Z IF SET MB bu Forward Module Axis 1 JOG wa run JOG READY BUSY operation amp 2 command signal signal flag X28 everse run JOG a command Lo az Li a 060 X27 X28 EI Mt RST M8 faz Forward Reverse JOG L
155. al after near point dog OFF the pulse output from the QD72P3C3 stops immediately and 4 the deviation counter clear output is output to the drive unit Set deviation counter clear signal output time to L Pr7 1 After the deviation counter clear output is output the OPR complete flag LMd 8 Status b2 turns from OFF to ON and the OPR request flag M amp 8 Status b1 turns from ON to OFF SPECIFICATIONS AND FUNCTIONS Deceleration at the near point dog ON OPR speed DATA USED FOR POSITIONING CONTROL Creep speed t Adjust the near point dog OFF position as close as Near point possible to the center of dog t 1 the zero signal HIGH level i If the near point dog OFF PROCEDURES AND SETTINGS BEFORE OPERATION position coincides with the zero signal Zero signal one moror tolerance may occur at the rotauon machine OPR control stop position by one rotation OPR control start Positioning start signal Y8 to YA o OPR request flag Md 7 Status b1 UTILITY PACKAGE GX Configurator PT OPR complete flag Md 7 Status b2 Deviation counter clear output Deviation counter clear output time Axis operation status StandbyX During OPR M Standby Current feed value Unfixed X Moved value is stored Xa OP address SEQUENCE PROGRAM USED FOR POSITIONING e e Figure 8 2 Machine OPR control in n
156. al can be changed by the intelligent function module switch setting refer to Section 5 6 The above example assumes that all terminals are set to the negative logic In addition the above example is for connecting to Axis 1 For the pin layout when connecting to Axes 2 or 3 refer to Section 3 5 2 Signal layout for external device connector 2 For wiring or shield of each signal line of the servo amplifier side other than mentioned above refer to the manual for servo amplifier 3 This indicates the distance between the QD72P3C3 and MINAS A4 series Ap p 13 Appendix 5 Connection Examples with Servo Amplifiers Manufactured by Matsushita Electric Industrial Co Ltd APPENDICES MELSEC Sl 2 Connection example of QD72P2C3 and MINAS E series Within 2m 3 QD72P3C3 MINAS E series 2 1 Lo PGO1 PGO1COM fp POSITIONING CONTROL JOG OPERATION sid CLRI CLR1COM e l ore eit 22 1 2W 2kQ 1 2W AUXILIARY FUNCTION pce spol x Near pnt oO EE COMI 3 A9 imi az Esi fas eimi 82 Lower limit Rsi A6 S O z m Z o o 1 The logic of each I O terminal can be changed by the intelligent function z a module switch setting refer to Section 5 6 The above example assumes E9 that all terminals are set to the negative logic SE
157. alue JOG 1 JOG speed Pr 5 Bias speed at start If JOG speed exceeds Speed limit value it is limited within value Pr 4 Speed limit If JOG speed is less than Bias speed at start it is limited within Pr5 Bias speed at start Precautions Setting unit pulse unit changes according to the value set to Pr 4 value as the table below Setting value of Pr4 Speed limit value pulse s Pulse unit Speed limit 1 to 8000 8001 to 32000 32001 to 64000 64001 to 100000 1 pulse unit 4 pulse unit 8 pulse unit 25 pulse unit When setting Pr4 Speed limit value to 100000 pulse s when pulse unit is 25 pulse unit set a value which is multiples of 25 to JOG 1 JOG speed If setting a value that does not satisfy the condition the value is dropped so that it can be multiples of 25 4 21 4 3 JOG Data List 4 DATA USED FOR POSITIONING CONTROL MELSEC Sl JOG 2 JOG ACC DEC time z Setting contents 3 Set the ACC DEC time for JOG operation 5 This ACC DEC time is used for both forward run JOG and reverse run JOG S a Dn Precautions Set JOG ACC DEC time within the range that the following formula is satisfied If the condition is not satisfied Dut of ACC DEC time setting valid range warning warning code 26 occurs an
158. alue other than 1 to 100000 is set for New speed value device S 2 S 3 of the control data The value outside of the range between 1 and 5000 is set for ACC DEC time at speed change device S 4 of the control data 14 5 SPCHG1 SPCHG2 SPCHG3 MELSEC Sl 1 4 DEDICATED INSTRUCTIONS Memo lOHLNOO ONINOILISOd NOILVH3dO Sor NOILONNA ASWVIEIIXOV NOILONNA S3 NIOO NOILONN 4 NOWINOO st SNILOOHS3 Ig8f1OH L XIaNaddav 14 15 14 5 SPCHG1 SPCHG2 SPCHG3 5 TROUBLESHOOTING MELSEC Kel aries CHAPTER15 TROUBLESHOOTING This chapter describes the description of errors regarding the QD72P3C3 and troubleshooting for it 15 1 Troubleshooting Flow C Error occurrence D Yes RUN LED turns OFF No Refer to Section 15 1 1 When the RUN LED turns OFF Yes ERR LED turns ON No Refer to Section 15 1 2 When the ERR LED turns ON AX LED flashes after Yes ERR LED flashes No Refer to Section 15 1 3 When the AX LED flashes after the ERR LED flashes The axis CH warning occurrence Yes ignal Y4 to Y6 is turned ON No Refer to Section 15 1 hen the axis CH warning occurrence signal X4 to X6 turns ON Md 3 Count value Yes is not normal No efer to Section 15 1 5 When the count operation is not executed or not executed normally oincidence detection Yes interrupt does not occur No
159. an extension base unit from GX Developer Connect a personal computer with a communication path indicated below Zz lel c 2 o I pa e 9 z W r 5 gt N SPECIFICATIONS AND FUNCTIONS Main base unit Extension base unit DATA USED FOR POSITIONING CONTROL GX Configurator PT cannot be used e Direct connection to the CPU Connection through an intelligent function module on the main base unit Through Ethernet module MELSECNET H module or CC Link module PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 2 4 About Use of the QD72P3C3 with the Q12PRH Q25PRHCPU 2 6 2 SYSTEM CONFIGURATION MELSEC 8 2 5 About Use of the QD72P3C3 with the MELSECNET H Remote I O Station This section describes when using the QD72P3C3 in the MELSECNET H remote I O station 1 The number of mountable QD72P3C3 modules when using the MELSECNETI H remote I O station For the number of mountable modules refer to Section 2 3 1 b 2 Restrictions on using the MELSECNET H remote I O station a When using the QD72P3C3 in the MELSECNET H remote I O station since delay time due to link scan time occurs fully assure that the target system is controlled normally Example Depending on the duration while the positioning complete signal X10 to X12 is ON the ON status cannot be detected due t
160. and Section 7 4 Positioning Control Program Examples and create an operation program E according to the positioning control system The following programs are numbered Create programs in order of the numbers is recommended P Oo z c 2S nO P Set using the sequence program TO instruction Parame er and data are Parameter and data SOE C ECCT CECE RE CEC ORTH BCC COC OC Ore rer dS Eus setting program a Set using the GX Contigurator PT Parameter setting program SPECIFICATIONS AND FUNCTIONS E No 2 When not carry Qo ing out OPR i EN OPR parameter setting program control the OPR uzo data do not need EEE to be set ED aco No 3 Parameter and data setting program for counter Positioning data setting program Gulseseneneussicdweneucmiscciad we AIAT Initialization program i Programmable controller CPU READY signal YO ON program PROCEDURES AND SETTINGS BEFORE OPERATION Required UTILITY PACKAGE GX Configurator PT Not arried out OPR request OFF program j Carried out 9 zZ pa je E le a c O mm Continued on next page OPR CONTROL 7 3 Creating a Program 7 10 7 3 2 Positioning control operation program SEQUENCE PROGRAM USED FOR POSITIONING e NIRO Mi EIS EC el series Continued from previous page guuressssasuususcssesasuuruses cuseeereee Start method saing n Programs needed to exercise OPR c
161. and signal are simultaneously turned ON When the forward run JOG start signal YC YE Y10 and reverse run JOG start signal YD YF Y11 are simultaneously turned ON in one axis the priority is given to the former In this case the reverse run JOG start signal YD YF Y11 becomes effective when the BUSY signal X8 to XA of the QD72P3C3 turns OFF However if the forward run JOG operation is stopped by the axis stop signal Y4 to Y6 or axis error the reverse run JOG operation is not performed even though the reverse run JOG start signal YD YF Y11 is ON Note if the forward run JOG command signal is turned ON during reverse operation the reverse run JOG operation is taken precedence Forward run JOG operation Reverse run JOG operation Forward run JOG start signal YC YE Y10 Reverse run JOG start signal YD YF Y11 Reverse run JOG sta 1 Signal YD YF Y11 i BUSY signal X8 to XA run JOG Figure 10 3 Operation when the reverse run JOG start signal YD YF Y11 is turned ON during forward run JOG operation 10 3 JOG Operation Example 10 6 NRW POSITIONING an CONTROL AUXILIARY FUNCTION COUNTER DEDICATED pa je E lt fra W Q O o e Q FUNCTION COMMON FUNCTION INSTRUCTIONS TROUBLESHOOTING APPENDIX 1 Q JOG OPERATION MELSEC S1 3 When the JOG start signal YC to Y11 is turned ON again during deceleration caused by turning th
162. ange 1073741824 to 1073741823 o az mE z wee ozk San ooo i Oo a LE z O S oc n 4 6 Control Data List 4 30 4 6 1 Axis control data 4 DATA USED FOR POSITIONING CONTROL 4 31 MELSEC TE eries 1 Setting unit pulse unit changes according to the value set to Pr4 Speed limit value as the table below Setting value of LPr4 Speed limit 1 to 8000 8001 to 32000 32001 to 64000 64001 to 100000 value pulse s Pulse unit 1 pulse unit 4 pulse unit 8 pulse unit 25 pulse unit When setting Pr4 Speed limit value to 100000 pulse s when pulse unit is 25 pulse unit set a value which is multiples of 25 to cd 1 Speed change value If setting a value that does not satisfy the condition the value is dropped so that it can be multiples of 25 2 Set cd2 JACC DEC time at speed change within the range that the following formula is satisfied If the condition is not satisfied Dut of ACC DEC time setting valid range warning warning code 26 occurs and control is performed in the time between the maximum value and the minimum value calculated by the following formula Refer to Example below Cd 1 New speed value Pr 5 Bias speed at start 1s lt 8000 Cd 2 ACC DEC time at speed change x Pulse unit x 0 125 Example When a 1 Speed change value 8000 Pr 14 Creep speed 1 and Speed limit value 8000 1 pulse unit
163. art complete signal X8 to XA do not turn ON Check the positioning control operation status with the PSTRTXO start command and the BUSY signal X8 to XA b After the control has been started with the PSTRTQ instruction if the stop command is entered without completing positioning the completion device D turns ON for one scan and the PSTRTUu instruction execution ends c The PSTRTQ instruction can be executed while the module READY signal XO is ON Even though the PSTRTT instruction execution is requested while the module READY signal X0 is OFF the instruction is not executed Before executing the PSTRTO instruction turn ON the programmable controller CPU READY signal YO and the module READY signal X0 d When the remote I O station Q corresponding MELSECNET H network remote O module is used this dedicated instruction PSTRTO cannot be used e When the PSTRTT instruction is executed with other than 0 9000 and 9001 set for Start number device S 2 of the control data Dedicated instruction error error code 804 occurs and the positioning control cannot be started 14 3 PSTRT1 PSTRT2 PSTRT3 14 5 POSITIONING CONTROL JOG OPERATION AUXILIARY FUNCTION COUNTER FUNCTION A COMMON FUNCTION o Z a9 We EO 25 Sg Bo az TROUBLESHOOTING APPENDIX 4 DEDICATED INSTRUCTIONS 6 Program example MELSEC 8 The program which starts the positioning control wh
164. atisfied If the condition is not satisfied Dut of ACC DEC time setting valid range warning warning code 26 occurs and control is performed in the time between the maximum value and the minimum value calculated by the following formula Refer to Example below Da 4 Command speed Pr 5 Bias speed at start 1 f lt 8000 Da 3 ACC DEC time x Pulse unitx 0 125 Example When Da4 Command speed 8000 Pr5 Bias speed at start 1 and Pr4 JSpeed limit value 8000 1 pulse unit the setting range of Da 3 JACC DEC time is from 8 to 5000 ms 4 25 4 4 Positioning Data List 4 DATA USED FOR POSITIONING CONTROL Da 4 Command speed eG Q series Setting contents Set the speed during positioning control Precautions If the set command speed exceeds LPr 4 Speed limit value positioning control is performed at the speed limit value Setting unit pulse unit changes according to the value set to Pr 4 value as the table below Pr4 Setting value of Speed limit Speed limit value 1 to 8000 8001 to 32000 32001 to 64000 64001 to 100000 pulse s Pulse unit 1 pulse unit 4 pulse unit 8 pulse unit 25 pulse unit When setting Pr4 Speed limit value to 100000 pulse s when pulse unit is 25 pulse unit set a value which is multiples of 25 to JJOG 1
165. cccccccccocooooooooe 3 4 3 8 Axis CH error occurrence Signal eseeseesseeee9e3 4 3 6 Axis CH error reset Signal sessessesseseeseeseese03_4 3 8 Axis CH warning occurrence signal 3 4 3 6 BUSY signal eecccccsssscssssssscscescccececeeceeeee 3 4 3 6 Coincidence signal reset command seeseese99 3 4 3 9 Count enable command cccccccccccccccccccccceee 3 4 3 9 Count value coincidence eeseeseseeeeeeeeee00003 4 3 7 Count value large eoccccccccccccccccccccccccooooooe 3 4 3 7 Count value SMallececcecccccccccccccccccccccccceee 3 4 3 7 Forward run JOG start signalesssssesessesseee003_ 4 3 8 Module READY signal eccccccccccccccccssecccsece 3 4 3 6 Positioning complete signalesssssssssessesse00003 4 3 6 Positioning start Signal eeeeceeecceccceccccccseesee3_ 4 3 8 Preset command eo ccccccccccccccccccoocoocoosooooe 3 4 3 9 Programmable controller CPU READY Signal eeee eee eee eee eee e eee eee e eee eoe e oce eoceeceess 3 4 3 8 Reverse run JOG start signal sesseseseesese0003 4 3 8 Start complete Signale eeeeeee eee eee eee ee eee ee 79 3 4 3 G Signal layout for connector eececccccccccccccccccccccce 3 16 Simple Reciprocating Operation seseeseseseeseseseee0 5 18 Software stroke limit functioneseeeeeeee ee eee e eee eee 3 2 Speed change function e e eceeeee eese eese eeeeeecececes 3 2 Speed change timing Chart e c cc 0905050909099 7 3 Speed command ecececcecceccccccccccecececcecececceccee 3 1 Speed COntrO eeecceceeeece
166. ccccccoccccecs 3 3 Pr 1 Software stroke limit upper limit value 4 3 Pr 10 OPR method ececcccccccccccccccccccccccccscscccses 4 3 Pr 11 OPR direction e ececceeee eee eese eee ec ecececccce 4 3 Pr 12 OP address ceccccccccccccccccccccccccccccvcccccecs 4 3 Pr 13 OPR speed 000000000000000000000000000000c0c000c096 Pr 14 Creep speed 00000000000000000000000000000000c0c096 Pr 15 ACC DEC time at OPR eeeeeececeeeeeeeeeeeoo eoo 4 3 Pr 16 Ring counter upper limit value seeeee ee e 4 3 Pr 17 Positioning range upper limit value 4 3 Pr 18 Coincidence detection setting ssseseesesseesees 4 3 Pr 19 Count value selection at OPR seseseeseeseesees 4 3 Pr 2 Software stroke limit lower limit value 4 3 Pr 3 Current feed value during speed control ess 4 3 Pr 4 Speed limit value eocccccccccccccccccccccccccccccses 4 3 Pr 5 Bias speed at Starteccccccccccccccccccccccccccccccse 4 3 Pr 6 Positioning complete signal output time 4 3 Pr 7 Deviation counter clear signal output time 4 3 Pr 9 Current feed value count value simultaneous change function selection eeeeeeececeeeeeeeeeeeeeeeeceee 4 3 PULSE SIGN eeeeccee ee eee ee eee eee eee eee eceeeecoecsecoeee 5 5 Q QD OP cccccececceceececceceececeeccececceccccceccceccce App 1 7 R Ring counter function 0000000000000000000000000000000000 3 3 S Signal 000000000000000000000000000000000000000000000000000 0 J Axis stop signal ecccccccccccccc
167. ce program Gro 2 Position control completion of the QD72P3C3 refers to the point when the pulse output from the QD72P3C3 is completed Thus even if the positioning complete signal X10 to X12 of the QD72P3C3 turns ON the system may continue operation PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 3 3 Specifications of I O Signals with Programmable Controller CPU 3 7 3 3 2 Details of input signal QD72P3C3 programmable controller CPU 3 SPECIFICATIONS AND FUNCTIONS 3 3 3 QD72P3C3 MELSEC TA cries Details of output signals programmable controller CPU The following table shows the details of output signals pe Signal name Description 1 This signal notifies the QD72P3C3 that the programmable controller CPU is normal It is turned ON OFF with the sequence program This signal is turned ON during positioning control OPR control and JOG OFF operation Programmable 2 When changing parameters or OPR data turn OFF this signal Programmable controller controller CPU 3 The QD72P3C3 processes the following when this signal is turned from OFF YO READY OFF CPU READY signal Bice i to ON MM LN The parameter and OPR data setting range is checked controller CPU READY ON The module READY signal X0 turns ON 4 The QD72P3C3 process
168. cecececeeecececcccecccccccececee 3 2 Speed limit FUNCTION eeeccccccccccccccccccccccccccccccccss 3 2 Start time 0000000000000000000000000000000000000000000000000 3 1 Stopper Geccccocooooooooooooo000000000000000000000000000000 8 8 T TROUBLESHOOTING eeeeecce ee eee eee eee eee eseeoeeoes 15 1 When the Axis CH warning occurrence turns ON eccccc00000000000000000000000000090002099 15 2 When the coincidence detection interrupt does not OCCULeececececcccccccccccccccccccccccsoccccee 15 4 When the count operation is not executed or not executed normally 00000000000000000000000000000000009 5 When the RUN LED turns OFF eee 7 4 15 2 When the AX LED flashes after the ERR LED flashes 0 000000000000000000000000000000000000000000000000 1 5 2 When the ERR LED turns OFF eeseee eene 15 2 U UTILITY PACKAGE 000000000000000000000000000000000000 6 1 IW Weight 0000000000000000000000000000000000000000000000000000 3 1 Numerics 1 multiple of 2 phases eccccccccccccccccccececccececcccecce 5 16 1 axis linear control ABS eecccccccccccccccccccecccecee O98 1 axis linear control INC eee eee ee eee ere eee eroe ouo 9 9 2 multiples of 2 phases eccccccccccccccccececececececece 5 16 4 multiples of 2 phases eecccccccccccccccccccececececece 5 1G Index 2 INDEX Memo Index 3 Warranty Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gra
169. ch program cannot be used for setting data 14 8 14 4 DSTRT1 DSTRT2 DSTRT3 1 4 DEDICATED INSTRUCTIONS MELSEC Sl 2 Control data Device Item Setting data Setting range Set by POSITIONING CONTROL S 0 System area Stores the status at completion S 1 Completion status 0 Normal completion System Other than 0 Error completion Error code Specifies the control method to start the control with the DSTRTT instruction 1 axis linear control ABS 1 S 2 Control method 1 axis linear control INC 2 1 to 5 User Speed control Forward run 3 JOG OPERATION Speed control Reverse run 4 Current value change 5 Specifies the ACC DEC time to perform positioning S 3 ACC DEC time 1 to 5000 ms User control with the DSTRTO instruction AUXILIARY FUNCTION S 4 Specifies the command speed to perform 1 to 100000 _ Command speed M n User S 5 positioning control with the DSTRTO instruction pulse s us ui O S 6 m Specifies the positioning address movement 25 Positioning MM a4 amount to perform positioning control with the m address i 1073741824 to DSTRTO instruction User movement 1073741823 Specifies the change value when performing current amount S 7 value change COMMON FUNCTION 1 The setting side indicates the following User Data stored by the user at dedicated instruction execution
170. change program X2 9 JAAS Speed change command Mo XB M Am er Speed Axis 1 BUSY change signal command pulse MIO K2000 Speed change command storage K1000 KI D50 Speed change value UOY G54 KO kK ST Speed change request No 11 Error reset program Xl UO 728 TWoNP G77 Axis CH1 Axis CH error error code occurrence signal XDA J PLS Error reset command 750 M 11 Xi mH J_ pe __ ce Error reset Axis CH1 command error pulse occurrence signal Yl Xl 756 E 9A IRST Axis1 CH1 Axis CH1 error reset error signal occurrence signal T 21 7 4 Positioning Control Program Examples MELSEC 8 Mg Speed change command pulse M10 Speed change command storage D50 Speed change value DA ACC DEC time at speed change D54 Speed change request K5 M10 Speed change command storage D77 Axis CH error code Mt Error reset command pulse Yi Axis1 CH1 error reset signal Yi Axis1 CH1 error reset signal SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No 12 Stop program Stop pulse X2B 718 Stop command Signal XB M EM FT Axis 1 BUSY command signal RST Axis 1 BUSY No 13 Count operation
171. d Count Operation 1 9 1 2 4 Communicating signals between QD72P3C3 and each module 1 PRODUCT OUTLINE MELSEC TE cries 1 QD72P3C3 Programmable controller CPU The QD72P3C3 and programmable controller CPU communicate the following data via the base unit Direction Communication Control signal QD72P3C3 Programmable controller CPU Signals indicate the QD72P3C3 status Module READY signal X0 Axis CH error occurrence signal X1 to X3 Axis CH warning occurrence signal X4 to X6 BUSY signal X8 to XA Start complete signal XC to XE Positioning complete signal X10 to X12 Count value large X14 X18 and X1C Count value coincidence X15 X19 and X1D Count value small X16 X1A and X1E Programmable controller CPU QD72P3C3 Signals related to commands Programmable controller CPU READY signal YO Axis CH error reset signal Y1 to Y3 Axis stop signal Y4 to Y6 Positioning start signal Y8 to YA Forward run JOG start signal YC YE and Y10 Reverse run JOG start signal YD YF and Y11 Coincidence signal reset command Y14 to Y16 Preset command Y18 to Y1A Count enable command Y1C to Y1E Data read write 2 QCPU Peripheral GX Configurator PT Parameter JOG data Positioning data Control data Monitor data Parameter JOG data Positioning data Control data The QCPU and peripheral communicates the following data For details
172. d control is performed in the time between the maximum value and the minimum value calculated by the following formula Refer to Example Bo oz below s JOG 1 JOG speed Pr 5 Bias speed at start 1 lt lt 8000 22 JOG 2 JOG ACC DEC time x Pulse unit x 0 125 o0 Ko oz mz m Oo rm Example uo nt When JOG 1 JOG speed 8000 Pr5 Bias speed at start 1 and LPr4_ Speed limit value 8000 1 pulse unit the setting range of JOG 2 JOG ACC DEC time is from 8 to 5000 ms A 9 z S Sg EE NZ OQ ao PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 3 JOG Data List 4 22 4 DATA USED FOR POSITIONING CONTROL MELSEC TE cries 4 4 Positioning Data List Buffer memory address for setting Axis Axis 1 2 Factory default value Setting value setting range 0 Positioning start independent Da1 Operation pattern 5000 Positioning start continuous 9 90 1139 299 0 No control method 1 1 axis linear control ABS 2 1 axis linear control INC De Control method 3 Speed control Forward run 0 oa 1941291 4 Speed control Reverse run 5 Current value change Da 3 JACC DEC time 1 to 5000 ms 1000 92 192 292 1 to 100000 pulse 1 3E Bud 2t Da4 Command speed to pulse s 95 195 205 Da
173. d from the current stop position starting address to the address set in address r Example 0 r 1000 Da 5 When the starting address current stop position is 1000 and the end address positioning address is 8000 position control is performed in the positive direction by a movement amount of 7000 1000 to 8000 Starting address current stop position pe Positioning address movement amount end End address positioning address r 8000 Poston control movement amount r000 mPositioning data setting example The following table shows a setting example when 1 axis linear control ABS is set in positioning data of axis 1 Setting item Operation pa ttern Setting example Positioning start independent Setting contents Set positioning start independent assuming position control whose movement amount is within 268435455pulses is performed 1 axis linear control movement amount Da 2 Control method ABS Set 1 axis linear control in absolute system Set the acceleration deceleration time for position Da 3 ACC DEC time 1000ms control Set the speed during movement to the positioning Da 4 Command speed 50000pulse s address Da 5 itioni EET Peeing Eces 8000pulse Set the positioning address For details of setting refer to Section 4 4 Positioning Data List 9 2 2 1 axis linear control
174. data to be set differ depending on Da 2 Control method The following table shows the positioning data setting items of each control For operation details and settings of each control refer to Section 9 2 2 or the subsequent sections z DE a Current 2 Positioning control Position Speed i value Positioning data control control change Da 1 Operation pattern Da 2 Control method a xO Da 3 ACC DEC time 35 Xz Da 4 Command speed 7 ig Da 5 Positioning address movement amount 9 Setting is required Setting not required Setting value is invalid If setting use the defalut value or a value within the range where no error occurs COUNTER FUNCTION COMMON FUNCTION DEDICATED INSTRUCTIONS TROUBLESHOOTING APPENDIX 9 2 Positioning Data Setting 9 7 9 2 1 Relation between each control and positioning data 9 8 O POSITIONING CONTROL 9 2 2 1 axis linear control MELSEC 8 Axis 1 positioning data In 1 axis linear control Da 2 Control method 1 axis linear control ABS 1 axis linear control INC one motor is used to perform position control in set axis direction 1 1 axis linear control ABS mOperation chart In 1 axis linear control of absolute system addresses established by a machine OPR control are used Position control is performe
175. de can be checked by M47 Axis CH warning code for each axis each CH x8 pone 1 This signal turns ON at the start of positioning control OPR control or xi sm Fue BUSY OFF Not BUSY JOG operation It turns OFF after positioning control stops This signal xi XA dois signal ON BUSY remains ON during positioning control 2 This signal turns OFF at error or stop 1 This signal turns ON when the positioning start signal Y8 to YA is turned ON and the QD72P3C3 starts the positioning control process The signal turns ON during OPR control The signal does not turn ON XC Axis 1 Start during JOG operation OFF Start incomplete XD Axis 2 complete ON ON Start complete XE Axis 3 signal Positioning start signal OFF Y8 to YA Start lete signal ON art complete signa XC to XE OFF M 1 This signal turns ON for a time set in Pr6 Positioning complete signal output time after position control is completed for each axis X10 Axis 1 Positioning OFF Positioning The signal does not turn ON when Pr Positioning complete signal output incomplete time is 0 X11 Axis 2 complete 2 ime is 0 X12 Axis3 signal ON Positioning 2 While this signal is ON starting positioning control including OPR complete 3 6 3 4 control or JOG operation causes the signal to be OFF This signal does not turn ON at the completion of JOG operation This signal does not turn ON if the position control is sto
176. ding to LCd 3 Speed change request z The acceleration deceleration time at speed change and deceleration stop time to stop control after speed change are the values set in d 2 ACC DEC time at speed change a g 1 Control contents 1 The following shows the operation during speed change Speed change during speed control amp 6 v Ea A Axis stop by turning ON the ao By turning ON the speed change request axis stop signal Y4 to Y6 xz the speed is changed at the speed preset The axis decelerates at the E T to iai New speed value v3 acceleration same with at f iN speed change from V2 to V3 Command i i speed 1 i i Speed control start T i z i i i uo i 25 1 1 1 1 a z i i i DaSIACC DEC time Cd On 1 i 1 Positioning start signal ON r Y8 to YA OFF 4 E o 2 Axis stop signal Y4 to Y6 OFF tm z ON ON e 3 Speed change exact 0 0 TL a 2 o Cd 1 New speed value V2 X V3 Speed change during JOG operation v 2 A By turning ON the speed change request Axis stop by turning OFF the aQ the speed is changed at the speed preset JOG start signal YC to Y11 u 5 to Cd 1 New speed value v3 The axis decelerates at the lt 5 acceleration same with at o E N speed change from V2 to V3 T 2 JOG sped az
177. e JOG start signal YC to Y11 from ON to OFF When the JOG start signal YC to Y 11 is turned ON again during deceleration caused by turning the JOG start signal YC to Y11 from ON to OFF the JOG start signal YC to Y11 is ignored JOG operation 1 r i t The JOG start signal YC to Y11 is ignored Forward run JOG DN d i start signal ON if YC YE Y10 or reverse run JOG OFF start signal YD YE Y11 BUSY signal X8to XA OFF Figure 10 4 Operation when the JOG start signal YC to Y11 is turned ON during deceleration 4 When the axis stop signal Y4 to Y6 is turned OFF after a stop caused by turning ON the axis stop signal Y4 to Y6 with the JOG start signal YC to Y11 ON When the axis stop signal Y4 to Y6 is turned OFF after a stop caused by turning ON the axis stop signal Y4 to Y6 with the JOG start signal YC to Y11 ON JOG operation is not performed JOG operation can be started by turning the JOG start signal YC to Y11 from OFF to ON again Forward run JOG start signal YC YE Y10 or 7 a T I H 1 I I i AE reverse run JOG i start signal OFF i i YD YF Y11 1 4 i i JOG is not started even if the axis Axis stop signal i asi stop signal is Y4 to Y6 turned OFF Y4 to Y6 OFF BUSY signal f X8 to XA Figure 10 5 Operation when the axis stop signal Y4 to Y6 is turned from ON to OFF wit
178. e and the Md 3 Count Section g S simultaneous change value to the same value at presetting or current value change 12 7 2 function Changes the external I O signal logic to match the externally External I O signal logic Section Ee PME i connected device o Common switching function f 13 2 Lo eee It can be changed by making the intelligent function module setting a Z m External I O signal f Section 5 2 SA A j Monitors the external I O signal status by using GX Developer 1o monitor function 13 3 o0 a amp o aw Za Be n yz 282 O G Inr no UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 3 2 Function List 3 3 3 SPECIFICATIONS AND FUNCTIONS Mi ELSEG el series 3 3 Specifications of I O Signals with Programmable Controller CPU 3 3 1 List of I O signals with programmable controller CPU The QD72P3C3 uses 32 input points and 32 output points for exchanging data with the programmable controller CPU The I O signals when the QD72PC3 is mounted in slot 0 of the main base unit are shown below Device X refers to the signals input from the QD72P3C3 to the programmable controller CPU and device Y refers to the signals output from the programmable controller CPU to the QD72P3C3 Signal direction QD72P3C3 programmable Signal direction Programmable controller CPU gt controller CPU QD72P3C3
179. e module READY signal X0 is OFF the instruction is not executed Before executing the DSTRTQ instruction turn ON the programmable controller CPU READY signal YO and the module READY signal XO POSITIONING CONTROL d When the remote I O station Q corresponding MELSECNET H network remote l O module is used this dedicated instruction DSTRTQ cannot be used e In the following cases Dedicated instruction error error code 804 occurs when the DSTRTGO instruction is executed and the positioning control cannot be started The value other than 1 to 5 is set for Control method device S 2 of the control data The value outside of the range between 1 and 5000 is set for ACC DEC time device S 3 of the control data The value outside of the range between 1073741824 and 1073741823 is set for Positioning address movement amount device S 6 S 7 of the control data JOG OPERATION AUXILIARY FUNCTION COUNTER FUNCTION A COMMON FUNCTION o Z a9 uc Eo 25 Sg Bo az TROUBLESHOOTING APPENDIX 14 4 DSTRT1 DSTRT2 DSTRT3 14 11 1 4 DEDICATED INSTRUCTIONS MELSEC e 14 5 SPCHG1 SPCHG2 SPCHG3 Changes the speed of the axis which is in JOG operation during speed control Applicable device Setting MELSECNET 10 Special Internal device File Index Constant CELE direct JO O module word o ster Bit Word register Zn UO GO Instruction sy
180. e 3 1 Monitor data eccccccccccccccccccccccccccccccccccccccccccccs AG Movement amount per pulse ecccccccccecccececccececcece 1 4 Multiple axes concurrent start Controlesseseseeseseee 9 15 N Number Of axes eeeeccecccccceccccccececccecccccceccccecccccece 3 7 Number of channels eeeeeeccccecececececececceeececccccce 3 7 Number of occupied I O points eseeeeee eee eee ee eee e 3 1 O OPR CONtrOleeececccccccccccccccccccccccccccceccccccce 3 2 8 1 Count value selection function at OPR 8 12 Fast OPR control ee 00000 0 0 5cccc cccc 3 10 Fast OPR control start timing Chartessssseesseesess 7 28 Machine OPR control start timing chart 7 27 Near point dog method eccccccccccccccccccccccccccece B 5 Processing time of fast OPR control App 3 Processing time of machine OPR control App 2 P Parameter e ssccccccocoooo0000000000000000000000000000000 4 3 Part Names esseccccccoooo0000000000000000000000000000000 5A Performance Specifications cocooooooooooooooooo0000000 3 1 Position control e eseseeceeeeeoo0000000000000000000000000 3 2 Positioning COntrO eeccccccccccccccccccccccccccscccccccccs 3 2 Positioning control start timing chart e sessessesss 7 28 Processing time of positioning control App 4 Positioning control ange eeeeeeeee eee eee eos eoeeeoceoeee 3 1 Positioning data eccccccccccccccccccccccccccccccccccccccces 4 5 Preset FUNCTION eeccccccccccccccccccccccccccc
181. e EMC and Low Voltage Directives refer to CHAPTER 5 PROCEDURES AND SETTINGS BEFORE OPERATION Section 5 4 1 Wiring precautions GENERIC TERMS AND ABBREVIATIONS Generic term and abbreviation Programmable controller CPU Unless otherwise specified this manual uses the following generic terms and abbreviations Description Generic term for the programmable controller CPU to which the QD72P3C3 can be mounted QD72P3C3 Abbreviation for the QD72P3C3 type positioning module with built in counter function Peripheral Generic term for IBM PC AT compatible personal computer in which GX Configurator PT and GX Developer below have been installed GX Configurator PT Abbreviation for utility package GX Configurator PT SW1D5C QPTU E for the QD72P3C3 type positioning module GX Developer Generic product name for the SWnD5C GPPW E SWnD5C GPPW EA SWnD5C GPPW EV and SWnD5C GPPW EVA n is 4 or greater A and V denote volume license product and upgraded product respectively Personal computer Generic term for IBM PC AT compatible personal computer Workpiece Generic term for mobile object and controlled object such as workpiece and industrial tool Windows Vista Generic term for the following Microsoft Windows Vista Home Basic Operating System Microsoft Windows Vista Home Premium Operating System Microsoft Windows Vista Business Operating System Microsoft Windows Vista U
182. e a sequence program that turns ON z je T a the JOG start signal YC to Y11 a 9 9 9 STEP 2 Write the sequence program created in Write the sequence program to the STEP 1 to the programmable controller CPU programmable controller CPU using GX Developer Turn ON the JOG start signal YC to Y 11 JoG STEP 3 AE gt z operation Turn ON the JOG start signal YC to Y11 Axis t start of the axis to be started Xi x2 d Monitoring STEP 4 The following two methods are available of JOG Monitor the JOG operation status operation Method 1 Monitor using GX Configurator PT wee uo Method 2 25 Monitor using GX Developer a Z Ow z JOG STEP 5 End the JOG operation when the JOG start E operation Turn OFF the JOG start signal YC to Y11 that is ON signal YC to Y11 is turned OFF using the z end sequence program in STEP 1 gt Z z z e o Control end For details of JOG operation start program refer to Section 5 7 Simple Reciprocating Operation 2 a9 uL HO S at uc Remark Sooo ooo ooo oreo az It is assumed that machinery such as an external safety circuit has gt already been installed e Preset the external I O signal logic pulse output mode and pulse rotation 3 direction with the intelligent function module switches For details refer it to Section 5 6 Intelligent Function Module Switch Setting 2 Set parameters such as speed limit value and bias speed at start as E nec
183. e current value m Values representing the current value In the QD72P3C3 the following address is used as a value representing the position This address current feed value is stored in the monitor data area and is used in monitoring such as current value display 0 Z E 8g Ee NZ eMe ao Value stored in Md 1 Current feed value Current feed value The value is based on an address established with machine OPR control However the address can be changed by current value change Update timing 2 5ms JOG OPERATION Current value is changed to 20000 by current value change AUXILIARY FUNCTION gt t Address after current value change is stored Current feed value 20000 COUNTER FUNCTION Figure 9 3 Current feed value mCurrent value when using the ring counter z When the counter format is set to ring counter in intelligent function module switch E ag z setting the current value is repeatedly updated between 0 and LPr 17 Positioning range gt NM A Zz upper limit value 1 during speed control when L Pr3 Current feed value during speed 9 control is set to 1 Update or JOG operation 5 A 1 Current feed value Positioning range upper limit value o Z a9 uL Eo a BZ Subtraction Addition 0 o z o E Figure 9 4 Current feed value when using the ring counter m a E o
184. e g the axis collides with the stopper without decelerating at the near point dog during machine OPR control may occur Be sure to perform connection check not only when the positioning control system is configured but also when any modification such as module change or rewiring has been made oO Ww a 9 LG Ww mz Ie 25 Eu Ww No UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 5 5 Wiring Check 5 13 5 5 1 Check items at wiring completion 5 6 Switch No PROCEDURES AND SETTINGS BEFORE o a3 RAT 2 x M ELSEG Q series Intelligent Function Module Switch Setting Pulse I O mode external I O signal logic and counter format can be set to the QD72P3C3 with intelligent function module switch setting of GX Developer The switch setting is made on the I O assignment tab in the PLC Parameter screen of GX Developer The switch has five switches and is set at 16 bit data The switch settings become effective after power ON or the programmable controller CPU reset The settings cannot be changed during operation 1 Setting item Setting item Pulse output mode For details refer to 1 a in this section Pulse output logic selection Setting contents bit assignment b15 b14 b12 b11 b9 b8 b7 b6 b4 b3 b2 Em Zero signal input logic Ep Deviation counter clear Pulse output logic selection Pulse output mode selection output logic
185. ear point dog method OPR CONTROL 8 2 Machine OPR Control 8 5 8 2 3 OPR method 1 Near point dog method 8 OPR CONTROL MELSEC S1 2 Restrictions A pulse generator with a zero signal is required When using a pulse generator without a zero signal provide a zero signal outside 3 Precautions during operation a In OPR control if a zero signal is ON when the near point dog turns from ON to OFF an error occurs b The near point dog must be ON during deceleration from Pr 13 J OPR speed to Pr 14 Creep speed The following chart describes the operation when the near point dog turns OFF before deceleration to LPr 14 Creep speed Deceleration at the near point dog ON Pr 13 OPR speed Creep speed After deceleration to the creep speed the axis returns Near point e to the near point dog ON area dog lon and OPR is performed again Zero signal OPR control start Positioning start signal Y8 to YA OF OPR request flag Md 7 Status b1 OPR complete flag Md 7 Status b2 Deviation counter clear output i 1 ae Deviation counter clear output time Axis operation status Standby During OPR Standby Current feed value Unfixed X Moved value is stored MERA OP address Figure 8 3 Operation when the near point dog turns OFF before the axis reaches to the creep speed 8 6 8 2 Machine OPR Control 8 2 3 OPR method
186. ecautions during software stroke limit check A machine OPR control must be performed beforehand for the software stroke limit function to work properly e Due to processing inside of the QD72P3C3 the software stroke limit check may delay by 2 5ms at maximum 5 Setting the software stroke limit function To use the software stroke limit function set the required values in the parameters shown in the following table and write them to the QD72P3C3 The setting contents are enabled when the programmable controller CPU READY signal YO is turned from OFF to ON DOES Setting Factory default Setting item Setting contents value value Pri imi LL hee ttware stroke Tribu pper Set the upper limit value of the movable region 1073741823 limit value Pr2 imi L2 Softwore SuoksTimitiower Set the lower limit value of the movable region 1073741824 limit value For details of the setting contents refer to Section 4 2 Parameter List y Set the values so that the formula 1_ Software stroke limit upper limit value gt Le2 Software stroke limit lower limit value is satisfied If this formula is not satisfied Software stroke limit upper lower limit value error error code 901 occurs N 11 4 Software Stroke Limit Function 1 1 AUXILIARY FUNCTION MELSEGC Sl 11 5 Hardware Stroke Limit Function o zZ za o d 28 4 DANGER 8 When wiring
187. ecifications of I O Interfaces with External Device 3 15 3 5 1 Electrical specifications of I O signals 3 SPECIFICATIONS AND FUNCTIONS M ELSEG Q series 3 5 2 Signal layout for external device connector The specifications of the connector section which is the I O interface for the QD72P3C3 and external device are shown below QD72P3C3 CH3 CH2 CH QD72P3C3 CON CON2 for axis 3 CON1 for axes 1 and 2 Pin layout Signal name Signal name Signal name Signal name B20 A20 CH3A_24V B20 CH2A_24V A20 CH1A_24V B19 NC A19 CH3A 5V B19 CH2A 5V A19 CH1A 5V B18 NC A18 CH3A COM B18 CH2A COM A18 CH1A COM B17 NC A17 CH3B 24V B17 CH2B 24V A17 CH1B 24V B16 NC A16 CH3B_5V B16 CH2B 5V A16 CH1B_5V B15 NC A15 CH3B COM B15 CH2B COM A15 CH1B COM B14 NC A14 PG03 B14 PGO2 A14 PGO1 B13 NC A13 PG03 COM B13 PG02 COM A13 PGo1 COM B12 NC A12 CLEAR3 B12 CLEAR2 A12 CLEAR1 B11 NC A11 CLEAR3 COM B11 CLEAR2 CoM A11 CLEAR1 COM B10 NC A10 DOG3 B10 DOG2 A10 DOG1 B9 NC A9 COM1 3 B9 com1 3 A9 COM1 3 B8 NC A8 FLS3 B8 FLS2 A8 FLS1 B7 NC A7 COM1 3 B7 com1 3 A7 COM1 3 B6 NC A6 RLS3 B6 RLS2 A6 RLS1 B5 NC A5 COM1 3 B5 com1 3 A5 COM1 3 B4 NC A4 PULSE F3 B4 PULSE F2 A4 PULSE F1 B3 NC A3 PULSE COM1 39 B3 PULSE COM1 39 A3 PULSE COM1 38 B2 NC
188. ection Pr12 OP address Pr13 OPR speed Pr14 Creep speed Pr15 ACC DEC time at OPR Ring counter upper limit Pr 16 x s oO value Section 90 90 0 0 Oo6 0 0 0 0100 Positioning range upper 12 3 eL limit value Coincidence detection Section setting 12 5 Pr19 Count value selection at Section OPR i M i i i i 8 4 Setting is required O Make setting as necessary If unnecessary the field is represented with Setting not required This is an irrelevant item so the set value will be ignored If the value is the default value or within the setting range there is no problem x Setting items of machine OPR control near point dog method or count 3 are used for those of fast OPR control 4 1 Data Types 4 1 2 Parameter setting items 4 DATA USED FOR POSITIONING CONTROL MELSEC Sl mChecking the parameters Setting ranges of Pr 1 to Pr 19 are checked when the programmable controller CPU READY signal YO output from the programmable controller CPU to the QD72P3C3 is changed from OFF to ON At this time an error occurs in the parameter whose setting value is outside the range For details refer to CHAPTER 15 TROUBLESHOOTING PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS A 9 z S Sg EE NZ OQ ao PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY P
189. ection setting range range The setting value of the Out of coincidence Pr 18 Coincidence detection setting is 924 detection setting out of the setting range range Ring counter is set for the counter format of the intelligent function module switch setting which is set by GX Developer Goincidencg When ring counter is set for the counter detection function 2 925 ring counter format the Pr 18 Coincidence detection function setting setting is set to 1 Coincidence detection RE requested 1 5 15 15 2 Error and Warning Descriptions 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC TE eries 9 z z oO EE Related buffer memory 8 Error amp o address g code Setting range Axis Axis Axis decimal CH 1 CH2 CH 3 z LE i Set the value within the setting range and lower than the Q 26 126 226 pita Creep speed m 914 Pr 13 OPR speed and turn OFF and then ON the o 27 127 227 1 to 100000 pulse s S programmable controller CPU READY signal YO 915 28 128 228 Pr 15 ACC DEC time at OPR 29 129 229 1 to 5000 ms 36 xz Pr9 Current feed value zm count value simultaneous change function selection 0 Values not changed simultaneously 923 43 413 213 1 ied value nba a Z io d ee ais ane Set the value within the setting range and turn OFF and then z 5
190. ed by the intelligent function module switch setting refer to Section 5 6 The above example assumes that all terminals are set to the negative logic In addition the above example is for connecting to Axis 1 For the pin layout when connecting to Axes 2 or 3 refer to Section 3 5 2 Signal layout for external device connector 2 For wiring or shield of each signal line of the stepping motor drive side other than mentioned above refer to the manual for stepping motor drive 3 This indicates the distance between the QD72P3C3 and STEP series Appendix 4 Connection Examples with Stepping Motors Manufactured by ORIENTAL MOTOR CO LTD App 12 POSITIONING CONTROL JOG OPERATION AUXILIARY FUNCTION COUNTER FUNCTION COMMON FUNCTION DEDICATED INSTRUCTIONS TROUBLESHOOTING APPENDIX APPENDICES MELSEC e Appendix 5 Connection Examples with Servo Amplifiers Manufactured by Matsushita Electric Industrial Co Ltd 1 Connection example of QD72P2C3 and MINAS A4 series Within 2m 3 QD72P3C3 MINAS A4 series 2 1 io NENNEN gt o 7 0B O ae RV ON CWL WL Lo L o 29 oja wo NJN A NJN N ral o Blo eo NJ T Near point dog o Db Upper limit Lower limit o e 1 I 1 I L p 24VDC 1 The logic of each I O termin
191. eee eee ee ee eee eee ee eese eeeeeseo esee es esse esee esesesssseeeeeecessecececsesssees 12 G 12 5 Coincidence Detection Function e s eeeeeeeee eee eee eese eese eese eese ee eese sees eseessssseesesssseseeesessssseeee 12 7 12 6 Preset FuncCtiOpeecececceeeceee00000000000000000000000000000000000000000000000000000000000000000000000000000000099 2 11 12 7 Current Feed Value Count Value Simultaneous Change Function ee eee ee ee eee eee eee ee 0212 12 CHAPTER13 COMMON FUNCTION 13 1to 13 4 13 1 Outline of Common Function 0000000000000000000000000000000000000000000000000000000000000000000000000000000000 13 1 13 2 External I O Signal Logic Switching Function 00000000000000000000000000000000000000000000000000000000000000 13 2 13 3 External I O Signal Monitor Functione essecccccccoo00000000000000000000000000000000000000000000000000000000000 13 3 CHAPTER14 DEDICATED INSTRUCTIONS 14 1 to 14 15 14 1 Dedicated Instruction List and Applicable Devices ecccccccocoooooo0000000000000000000000000000000000000000 14 1 14 2 Interlock for Dedicated Instruction Execution e eececceccocooo000000000000000000000000000000000000000000000 14 2 A 8 14 3 PSTRT1 PSTRT2 PSTRT3 0000000000000000000000000000000000000000000000000000000000000000000000000000000000 14 3 14 4 DSTRT1 DSTRT2 DSTRT3 0000000000000000000000000000000000000000000000000000000000000000000000000000000000 14 s 8 14 5 SPCHG1 SPC
192. eeee eee eee ee ee eee eo o o ene e esee eese eese eese eese eee eese eee eeseseeseeeeseseeo 11 3 11 4 Software Stroke Limit FUnctioneeeseeeee eese eee eee ee ee ee esee eee ee eeeeeee eese eeecseeeeeececeseesecececseeceeese 11 G 11 5 Hardware Stroke Limit FUnctioneseeeeeeeeeee eese eee eee e eee ee eese eese esee eossssesesecsssssececcscsssecececesesee Q 1 1 6 ACC DEC Process Function 00000000000000000000000000000000000000000000000000000000000000000000000000000000000 1 m 1 1 11 6 1 Calculating the actual ACC DEC liu eeeeeeeeeeeeeeeeeeceeeeeeceeceecececececec00000000000000000ccc0cc m 13 CHAPTER12 COUNTER FUNCTION 12 1 to 12 14 12 1 Outline of Counter Function e sececcccocooo000000000000000000000000000000000000000000000000000000000000000000000 12 1 12 1 1 Types of pulse input method 00000000000000000000000000000000000000000000000000000000000000000000000000000 12 1 12 1 2 Reading count values 0 0000000000000000000000000000000000000000000000000000000000000000000000000000000000000 12 2 12 1 3 Selecting counter format eeeeccccccooooooooooooo0000000000000000000000000000000000000000000000000000000000 12 2 12 2 Linear Counter Function e e eeeeeeeee eese eese eese ee eese eese ee eoosseesesessssesesesessssscsesessssececececsses 12 3 12 3 Ring Counter Function e eeeeeeeeeeeeeee eee ee oe ono eo en ene eese eese eese ee eese eese ees ee ese ssesessesesessesesee 12 4 12 4 Count Enable Functioneeeeeeeeee ee ee
193. egligence by the user Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi 7 Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued 3 Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center No
194. en the X100 turns ON D30 to D32 are used for the devices that store control data and M32 and M33 are used for the completion devices Positioning start program X100 Converting the positioning start command into pulse PLS M150 H Positioning Positioning start start command command pulse M150 lt Setting the positioning start method gt MOVP KO D32 ji Positioning Start method start command pulse Storing the positioning start command SET 200 H Positioning start command strage M200 lt Executing positioning start gt ZP PSTRT1 UO D30 M3 2 E Positioning Control Completion start data for device command Re RTI strage instruction Canceling the positioning start command storage RST M200 j Positioning start command strage 14 6 14 3 PSTRT1 PSTRT2 PSTRT3 END j 1 4 DEDICATED INSTRUCTIONS MELSEC Sl The program example when a dedicated instruction is not used o r Z zc Positioning start program When a dedicated instruction is not used o 2 EE lt Converting the positioning start command into pulse 8 Y8 X8 amp o t _ 4 _ A TPS Positioning Axis 1 Axis 1 Positioning start positioning start start command command start complete pulse z o M150 lt Executing positioning start 2 ul SET Y8 o Positioning Axis 1 start positioning S command start pulse Y8 X8 DX4 lt Turnin
195. error or programmable controller failure occurs Failure to do so may cause an accident due to incorrect output or malfunction 1 Outside the programmable controller create an emergency stop circuit or interlock circuit to prevent mechanical damage due to excess of position control upper limit lower limit 2 The machine OPR control is controlled by the OPR direction and OPR speed data and deceleration starts when the near point dog turns ON Thus if the OPR direction is incorrectly set deceleration may not start and the motor continues rotating Create an interlock circuit outside the programmable controller to prevent mechanical damage 3 If the positioning module detects an error it directs the motor to decelerate and stop Make sure that the OPR data and positioning data are within the parameter setting values N CAUTION Do not install the control lines communication cables pulse input wiring and pulse output wiring together with the main circuit or power lines and also do not bring them close to each other Keep a distance of 100mm 3 94inch or more between them Failure to do so may cause a malfunction due to noise INSTALLATION PRECAUTIONS N CAUTION Use the programmable controller in the environment conditions given in the general specifications of the User s Manual for the CPU module Failure to do so may cause an electric shock fire malfunction or damage to or deterioration of the product While pres
196. es the following when this signal is turned from ON to OFF In these cases the OFF time should be set to 100ms or more The module READY signal X0 turns OFF The operating axis stops 1 When the axis CH error or the axis CH warning occurs turning ON this OFF Error reset not Y1 Axis 1 CH1 signal clears the error and Md 5 Axis CH error code and Md 7 Axis CH i Error reset requested Y2 Axis 2 CH2 warning code are cleared i signal ON Error reset Y3 Axis 3 CH3 requested 2 By turning ON this signal during error occurrence L Md4 Axis operation status changes from Error to Standby 1 When this signal is turned ON the OPR control positioning control and JOG operation stop In these cases the ON time should be set to 4ms or more Y4 Axis 1 OFF Axis stop not If ON time is less than 4ms the OPR control positioning control and JOG Y5 Axis 2 bis stop equested operation may not stop Y6 Axis 3 signal ON Axis stop 2 Turning ON this signal during operation decelerates the axis to a stop At requested this time Md 4 Axis operation status changes from Deceleration Axis stop signal Y4 to Y6 ON to Stopped m 1 OPR control and positioning control are started OFF Positioning EA m P Y8 Axis 1 mm 2 The positioning start becomes valid at the rising edge and the operation is i Positioning start not requested Y9 Axis 2 NM started start signal ON Positioning XE YA Axis
197. essary v 0 0606 0000000000000000000000000000000000000000000000000909 x a z Lu n n 10 2 JOG Operation Execution Procedure 1 0 4 1 Q JOG OPERATION MELSEC S1 10 3 JOG Operation Example 1 When the axis stop signal Y4 to Y6 is turned ON during JOG operation When the axis stop signal Y4 to Y6 is turned ON during JOG operation JOG operation results in a deceleration stop If turning ON the JOG start signal YC to Y11 while the axis stop signal Y4 to Y6 is ON Stop signal ON at start error error code 102 occurs and JOG does not start It can be started by resetting the axis error turning OFF the axis stop signal Y4 to Y6 and turning the JOG start signal YC to Y11 from OFF to ON again An error occurs if the JOG start signal YC to Y11 is turned from OFF to ON while the axis stop signal Y4 to Y6 is ON Programmable controller READY signal YO Module READY T signal X0 Axis error reset Axis CH error occurrence signal X1 to X3 OFF Forward run JOG start signal YC YE Y10 or reverse run JOG start signal YD YF Y11 Axis stop signal Y4 to Y6 BUSY signal X8 to X OFF Figure 10 2 Operation when the axis stop signal Y4 to Y6 is turned ON during JOG operation 1 0 5 10 3 JOG Operation Example 1 Q JOG OPERATION WELS eG Q series 2 When the forward run JOG command signal and the reverse run JOG comm
198. etting error error code 925 occurs Count value selection at OPR Setting contents Select whether to set OP address to the count value when OPR is completed 0 OP address not set to count valu e Sets OP address stored into Md 1 OPR is completed 1 OP address set to count value Does not set OP address stored into Md 1 Current feed value to Current feed value to Md 3 Count value when Md 3 Count value when OPR is completed Md 3 4 2 Parameter List Count value does not change 4 20 PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS A 9 z S Sg EE NZ OQ ao PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 DATA USED FOR POSITIONING CONTROL 4 3 JOG Data List ELSEG el Buffer memory address for Factory default Setting value setting range setting value Axis Axis Axis 1 2 3 1 to 100000 pulse s AD bod ete u JOG 1 JOG speed p 41 141 241 992 J0G ACC DEC i5 5000 ms 1000 42 142 242 time JOG 1 JOG speed Setting contents Set the speed for JOG operation This value is used for both forward run JOG and reverse run JOG Set the JOG speed in the following range Pr 4 Speed limit v
199. f the setting range The setting of the Pr 12 OP address is out of the positioning range when using the 912 Out of OP address ring counter setting range When the Pr 19 Count value selection at OPR is set to 1 OP address set to count value for the ring counter the setting of the Pr 12 OP address is out of the count range The setting value of the Pr13 OPR speed is out of the setting range The setting value of the Pr13 OPR 913 Out of OPR speed speed is lower than the Pr 14 Creep 15 13 setting range speed The setting value of the Pr13 OPR speed exceeds the Speed limit value 15 2 Error and Warning Descriptions 15 2 1 Error code list MELSEC 8 Operation at error The module READY signal X0 does not turn ON 1 5 TROUBLESHOOTING MELSEC TE eries z z oO EE Related buffer memo 6 Error y Ee address 7 code Setting range d Axis 2 Axis 3 decimal CH2 CH 3 Pr 7 Deviation counter clear 2 signal output time g A ol 907 10 no 210 ims ie 1 2ms 2 2 10ms 3 20ms Pr 10 OPR method 0 OPR method 1 910 20 120 220 Near point dog method 1 OPR method 2 He Stopper 3 ES 35 Pr 11 OPR direction Set the value within the setting range and turn OFF and then ar 911 21 121 221 0 Forward d
200. g OFF the positioning start signal V RST Y8 Axis1 Axis 1 Axis 1 oeil d positioning start BUSY z sta completion start E do z xoc 35 tu Axis 1 error occurrence r LEND z uo zo a z On z o O z i z o o o o Z a9 uc Eo 25 or at Bo az TROUBLESHOOTING APPENDIX 14 3 PSTRT1 PSTRT2 PSTRT3 14 7 1 4 DEDICATED INSTRUCTIONS MELSEC IA ries 14 4 DSTRT1 DSTRT2 DSTRT3 Sets the positioning data to the specified axis of the QD72P3C3 and starts the positioning control Applicable device Setting MELSECNET 10 Special Internal device File A Index Constant data direct JO O module f ECCE iid Bit Word register Zn UO GO Instruction symbol Executing condition ZP DSTRT1 ZP DSTRT1 ZP DSTRT2 ZP DSTRT2 ZP DSTRT3 ZP DSTRT3 When describing shared information for DSTRT1 DSTRT2 and DSTRT3 DSTRTD is used 1 Setting data Setting data Description Set by Data type Start O number of the QD72P3C3 p Un zu User BIN 16 bit 00 to FD First two digits when I O signals are expressed in 3 digit S Start number of the device in which control data is stored Device Start number of the bit device to be turned ON for one scan upon D completion of the instruction System Bit D 1 also turns ON at error completion Local devices and file registers for ea
201. g operation Set the upper lower limits of the workpiece movable range in Pr 1 Software stroke limit upper limit value LPr 2_ Software stroke limit lower limit value 1 Movable region The following figure shows the workpiece movable range when the software stroke limit function is used Software stroke limit Software stroke limit lower limit upper limit Emergency stop Emergency stop Machine movement range limit switch limit switch Figure 11 3 Workpiece movable range 1 1 6 11 4 Software Stroke Limit Function 1 1 AUXILIARY FUNCTION MELSEC Sl 2 Software stroke limit check details o z 2 Check details Processing at error 5 E 1 i Current feed value out of the software stroke limit range is defined as an e error An error occurs 2 Positioning address movement amount value of current value change Error code 516 517 out of the software stroke limit range is defined as an error E E 3 Relation between the software stroke limit function and each control a The following table shows the relation between the software stroke limit function and 9 each control Software Control type stroke limit Processing at check check gt z xO Machine OPR sf OPR EI T control Unchecked 35 Fast OPR control Position control
202. garded as the OP reference for positioning control The method for establishing OP by a machine OPR control depends on LPr 10 OPR method The following describes the operation when starting machine OPR control 1 The machine OPR control is started 2 The operation starts according to the direction and speed set in the OPR parameter Pr10 to Pr15 3 The OP is established by the method set in LPr 10 OPR method and the axis stops AiRefer to Section 8 2 3 and Section 8 2 4 4 If a is set as Pr 12 JOP address a will be stored as the current position in the Md Current feed value which is monitoring the position 5 The machine OPR control is completed For details of OPR parameter refer to Section 4 2 Parameter List 8 2 Machine OPR Control 8 2 1 Outline of the machine OPR operation MELSEC Sl 8 OPR CONTROL ANIILNO LONdGOdd 5 c o o c n O oO Ez o c Pr 12 OP address is a fixed value set by the user Near point dog NOILVYENSISANOO WALSAS Figure 8 1 Example of a machine OPR control SNOLLONfI3 ANY SNOILVOIJIO3dS IOH LNOO SNINOILISOd X04 aasn viva NOILVH3dO 3804338 SONILLAS QNV S348n03903d Ld 10y amp 1n8gu02 X9 3OvMOVd ALITLLO SNINOLLISOd HOS foe gasn WvdS0ud 3oNanoas TOYULNOD YdO e
203. gurator PT IBM PC AT compatible User preparation 3 Personal computer personal computer For details refer to the GX Developer Operating Manual User preparation RS 232 cable for connecting CPU module with IBM PC AT 4 RS 232 cable QC30R2 compatible personal computer For details refer to the GX Developer Operating Manual User preparation USB cable for connecting CPU module with IBM PC AT 5 USB cable compatible personal computer For details refer to the GX Developer Operating Manual User preparation 6 Drive unit 7 A For details refer to the manual for the drive unit Connection cable User preparation 7 for connection between Cable for connecting the QD72P3C3 drive unit and encoder the QD72P3C3 and drive unit Install them with reference to the manual for the connected device and Section 3 5 2 2 2 2 2 Component List 99 PRODUCT OUTLINE pa lel c 2 o I pa e 9 SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 2 SYSTEM CONFIGURATION 2 3 MELSEC 8 Applicable System This section describes the system where the QD72P3C3 can be used 1 Applicable modules and base units and No of modules a When mounted with a CPU module The table below shows the
204. h the JOG start signal YC to Y11 ON 1 0 7 10 3 JOG Operation Example 1 1 AUXILIARY FUNCTION eG Q series CHAPTER11 AUXILIARY FUNCTION 11 1 Outline of the Auxiliary Function This function limits a control and add functions when performing OPR control positioning control and JOG operation These auxiliary functions are performed by parameter setting sequence programs etc The auxiliary function has the following functions Table 11 1 Auxiliary function list Auxiliary function Description Reference If the command speed exceeds the LPr 4 Speed limit value during control this S t e ection Speed limit function function limits the command speed to within the LPr 4 Speed limit value setting 412 range This function changes the speed during the constant speed of speed control or JOG operation Section Speed change function i Set the new speed in _Cd 1 New speed value and change the speed according to 11 3 LCd 3 Speed change request D3 When a command is issued to the outside of the upper limit lower limit stroke limit Software stroke limit j A Section i setting range which are set in the parameters this function does not perform a function 11 4 control for that command Hardware stroke limit This function executes the deceleration stop by the limit switch connected to the Section function external device connector of the QD
205. hardware stroke limit is required wire it in negative logic and use normally closed contact Setting positive logic and using normally open contact may result in serious accident z E This function stops control deceleration stop by a signal input from the limit switch To B use this function install limit switches to the upper limit lower limits within physically 5 movable range Q Stopping control before the axis reaches to the upper lower limit in physically movable 1 range prevents damage to equipment Normally install the limit switches to within the stroke limit for drive unit side stroke end to stop control before the axis reaches to the stroke limit for drive unit side stroke end 1 Control contents The following shows the operation of the hardware stroke limit function gt z co fe do xZ 225 tu Lower limit Upper limit QD72P3C3 controllable range i4 gt 4 cz Machine stopper Movement Stan tan Movenient 2 Machine stopper u direction l zb5 2 25 On Deceleration stops Deceleration stops when the lower limit when the upper limit switch is detected switch is detected z o Stroke limit Lower limit switch Upper limit switch QD72P3C3 Stroke limit 2 for drive unit for drive unit 2 z o z z O Drive unit 2 z a9 ul HO a no az Figure 11 4 Operation chart of the hardware stroke limit function 9 Z Q T Hn ul e an gt O na x a z w a a lt
206. he setting in LDa 2 Control method Z ro 36 xz zu Positioning control Control Description method 1 axis linear control mo f m s Performs positioning control from the starting address Position control 1 axis linear ABS a M f z ree current stop position to the specified position using the ES control 1 axis linear control j EE specified one axis Z9 INC 92 Speed control Forward run Continuously outputs pulses corresponding to the Speed control T Speed control Da4 Command speed set in positioning data E Reverse run Current value Changes Md 1 Current feed value to the address set in Current value change g change positioning data 9 1 1 Data required for positioning control 2 The following table shows an outline of the positioning data configuration and setting ee Lu contents required to perform positioning control lt 3 atc u2 Setting item Setting contents F Select the type of operation pattern for positioning control to be performed 9 Da 1 t tt 2 T Refer to Section 9 1 2 5 Da 2 Control method Set the control method defined for positioning control Refer to Section 9 1 z indu Da 3 ACC DEC time Set the acceleration deceleration time for positioning control z ata 5 Da 4 Command speed Set speed at control execution 9 Da 5 Positioning address Set the value of set point movement amount or current value change when movement amount performing position control Refe
207. he QD72P3C3 stops the output of commanded pulse train the servomotor decelerates as the droop pulses of the deviation counter decrease and finally stops when the droop pulse count drops to zero That is the servomotor rotation speed is proportional to the pulse frequency while the servomotor rotation angle is proportional to the number of commanded pulses output from the QD72P3C3 When the movement amount per pulse is given the overall movement amount can be determined in proportion to the number of pulses in the pulse train The rotation speed feed speed of the servomotor on the other hand can be determined by the pulse frequency SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 1 2 Outline of Positioning Control and Count Operation 1 5 1 2 2 Design outline of positioning control system 1 PRODUCT OUTLINE MELSEC S1 b Output pulse from the QD72P3C3 1 As shown in Figure 1 3 the number of pulses in a pulse train is small at the start and then the number increases as the servomotor accelerates and its speed approaches the command speed 2 The pulse frequency stabilizes once the speed reaches the command speed 3 To decelerate the servomotor the QD72P3C3 decreases the number of pulses in a pulse train before it finally stops the output The servomotor actually decelerates and stops its rotation with little delay from the command pulse stop This time difference in deceleration and stop between pulse output fro
208. hod 1 Near point dog method PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING e e OPR CONTROL 8 OPR CONTROL MELSEC TE cries 8 2 4 OPR method 2 Stopper 3 The following describes an operation outline of the OPR method stopper 3 The stopper 3 is effective when a near point dog cannot be installed Note that the axis operates at LPr 14 Creep speed from the start Therefore it will take time to complete the machine OPR control 1 Operation chart By turning ON the positioning start signal Y8 to YA machine OPR control is started 1 The axis moves to the direction set in LPr 11 OPR direction at LPr 14 Creep speed At this time a torque limit to the motor is required If torque limit is not set the motor may be a failure at 2 2 The workpiece contacts against a stopper and stops After the stop the pulse output from the QD72P3C3 immediately stops on detection of a zero signal and the deviation 3 counter clear output is output to the drive unit Set deviation counter clear signal output time to Pr7 1 4 After deviation counter clear output is output the OPR complete flag Md 8 Status b1 turns from OFF to ON
209. hod For addition oa Counts on the rising edge 1 of dA count du CW CCW For subtraction OA n Counts on the rising edge 1 of dB count o3_ Lf For addition oA t When 4A is OFF counts on the falling edge of 9B 1 multiple of 2 Soun yy 2 phases For subtraction Vit When B is OFF counts on the falling edge of dA count bB For addition OR When A is ON counts on the rising edge 1 of B 2 multiples of 2 count o ALAJ When 4A is OFF counts on the falling edge of B 2 phases For subtraction A FY FY When B is ON counts on the rising edge 1 of 9A count B When B is OFF counts on the falling edge of gA When B is OFF counts on the rising edge 1 of dA For addition 4 l1 i When 4B is ON counts on the falling edge of dA count OAL AY When A is ON counts on the rising edge 1 of 9B 4 multiples of 2 When A is OFF counts on the falling edge of 6B phases When B is ON counts on the rising edge 1 of dA For subtraction A f ij Y When 4B is OFF counts on the falling edge of dA count B AVAL When A is OFF counts on the rising edge 1 of GB When A is ON counts on the falling edge of 9B 12 1 12 1 Outline of Counter Function 12 1 1 Types of pulse input method POSITIONING CONTROL JOG OPERATION MEW AUXILIARY TE FUNCTION infe FAT 33 Ou COMMON FUNCTION DEDICATED INSTRUCTIONS TROUBLESHO
210. ignal states and present buffer memory values Setting value Enter or select values to be written into the buffer memory for test operation Axis Error Reset 6 19 6 6 Monitoring Test 6 6 1 Monitoring Test screen UTILITY PACKAGE GX Configurator PT MELSEC Sl 3 Command button Current value display Displays the current value of the item selected This is used to check the text that cannot be displayed in the current value field However in this utility package all items can be displayed in the display fields PRODUCT OUTLINE Make text file Creates a file containing the screen data in text file format Start monitor Stop monitor Selects whether or not to monitor current values Execute test Performs a test on the selected items Click this button after selecting Error Reset Request in the Setting value field of Axis Error Reset on the Axis monitor test sub window CONFIGURATION SYSTEM Error reset not requested Eror ETERNI x ep E Error reset not requested 3 Error reset reauested Place cursor at o o Details Ls Error reset requested z5 Monitoring oz mt Select input e A Setting range m 2 Error reset not requested Error reset requested DATA USED FOR POSITIONING CONTROL Error reset not requested Error reset not requested STreq ested X Fe Error reset not requested
211. including the case when they are not wired 4 When not using the hardware stroke limit function When not using the hardware stroke limit function wire the terminals of the QD72P3C3 upper limit lower limit signals as the figure below When upper limit lower limit signal input logic selection in intelligent function module switch setting are default values QD72P3C3 FLS RLS 24VDC Figure 11 6 Wiring when not using the hardware stroke limit function 11 5 Hardware Stroke Limit Function 1 1 AUXILIARY FUNCTION MELSEGC Sl 11 6 ACC DEC Process Function Z This function adjusts the acceleration deceleration when OPR control positioning control 69 or JOG operation is performed 26 Adjusting the acceleration deceleration processing according to used equipment and control enables finer control Settable adjustment items regarding acceleration deceleration speed at start target speed ACC DEC time and ACC DEC method z 1 Control contents e o a Relation among speed at start ACC DEC time and target speed Target speed gt z co 1E Zo xZ 225 tu ACC DEC ACC DEC rz time time E 9 52 Set the time that the axis reaches the target speed from speed at start in ACC DEC time Og Set speed at start target speed and ACC DEC time to each control individual
212. ine preset command Cd 7 Coincidence detection point setting Enter a value to be compared with Ma 3 Count value SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 1 Data Types 4 6 4 1 5 Types and functions of monitor data 4 DATA USED FOR POSITIONING CONTROL 4 2 Parameter List Parameter Setting value setting range MELSEC TE cries Buffer memory Factory address for setting default value Axis 1 CH1 Axis Axis 2 CH2 3 CH3 4 2 Parameter List Pr1 Software stroke limit upper 0 100 200 co 1073741824 to 1073741823 pulse 1073741823 limit value 1 101 201 Pr2 Software stroke limit lower 2 102 202 s 1073741824 to 1073741823 pulse 1073741824 limit value 3 103 203 tfi lue duri 0 N dat Current feed value during o update 0 5 405 205 speed control 1 Update Speed 1 8000 Pr4 eed limit value r p 1 to 100000 pulse s 7 107 207 Pr5 Bias speed at start 1 to 100000 pulse s 1 ee r p o pulse s 9 109 209 Positioning complete signal Pr 6 0 to 65535 ms 300 10 110 210 output time 0 ims 7 Deviati ter cl 1 2 Pr 7 evia ion coun er clear ms 2 41 444 211 signal output time 2 10ms 3 20ms 0 Values not changed simultaneously 1 Count
213. ing value of Da 1 Operation pattern is out of the setting range Out of control The setting value of Da2 Control 506 method setting method is out of the setting range range The axis does not start Any of the Pr 15 ACC DEC time at OPR Out of ACC DEC JOG 2 JOG ACC DEC time 507 ima time setting range Da 3 ACC DEC time and ca 2 ACC DEC time at speed change setting values is out of the setting range Out of positioning The setting value of Da 5 Positioning address movement 509 address movement amount is out of the amount setting setting range range Positioning control was performed in a position in excess of Pr1 Software stroke limit upper limit value 516 Software stroke limit Ma1 Current feed value At start The axis does not start t Da 5 Positioning address movement At current value change Current value change is not value New current value has exceeded performed Pct Software stroke limit upper limit During speed control or JOG operation the axis value decelerates to stop as soon as the Md 1 Current feed Positioning control was carried out in a value exceeds the software stroke limit range During position in excess of Pr2 Softwa
214. ion Module type QD70 Model Module Module model name QD72P3C3 Start 1 0 No 0000 Axis 1 OPR data setting Module information Module type QD70 Model Module Module model name QD72P3C3 Axis 1 OPR data setting 0000 Start 1 0 No Setting item Software stroke limit upper limit value Setting value 1073741823 Setting item Setting value OPR method Near point dog method Software stroke limit lower limit value 1073741824 OPR direction Forward direction Current feed value during speed control No update OP address Speed limit value OPR speed Bias speed at start Creep speed Positioning complete signal output time ACC DEC time at OPR Deviation counter clear signal output time Details Decimal input Setting range 1073741824 1073741823 Cancel Make text file End setup Make text file Details Select input Setting range Near point dog method Stopper 3 End setup Cancel 6 4 Initial Setting 6 12 PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL SETTINGS BEFORE PROCEDURES AND OPERATION ez un o e E a2 gt S ES FEX E o nz Um ez mae Lr oe 236 ugo dor ui Doe o fd Lr z o x a O UTILITY PACKAGE GX Configurator PT
215. ion can be set to each interrupt pointer number For details of the IMASK instruction refer to QCPU Q Mode QnACPU Programming Manual Common Instructions A coincidence detection interrupt occurs when the count value coincidence signal rises from OFF to ON This means that unless the count value coincidence signal is turned OFF by performing coincidence signal reset the next interrupt request is not issued When the interrupt occurrence interval is within interrupt delay time approx 100 to 2004s interrupt program processing time Watch dog timer error of the CPU may occur and or an interrupt request may not be detected For details refer to QCPU Q Mode OnACPU Programming Manual Common Instructions Interrupt request a Interrupt occurrence interval 12 5 Coincidence Detection Function 1 2 COUNTER FUNCTION MELSEC Sl 12 6 Preset Function o E Z l This function replaces Md 3 Count value to an arbitrary value EE An arbitrary value to be replaced is called a preset value 8 This function is used to start counting pulses from the preset value 1 Preset function operation Z The preset function is activated by turning the preset command Y18 to Y1A ON z d O 9 Count enable command ON z Y1C to Y1E OFF Input pul
216. ion example of QD72P3C3 and MR HoA Regeneration option T Configure a sequence circuit to turn OFF the MC at alarm and emergency stop Servomotor Power supply 3phases 200VAC Within 2m 4 QD72P3C3 i i f f f f i i i Me COEPI ROG REIS CN1 3 1 PULSE FI Pe m PULSE COMI 3 SG 47 i PULSE RT PCS NP 2 i PULSE COMI 3 r1 i TE 1 i CLRI A12 T i r3 CR 37 i CLRICOM Al r1 TT SG 17 i Paor AM Ld S S i PGO1COM A13 E m LZR 9 PES CHIA 24V A20 i CHIA 5V A19 m 1 LA 4 CH1 ACOM A18 m LAR 5 CH1B 24V AU E i i CH1B 5V A16 7 LB 6 CH1 BCOM A15 O D LBR 7 i Near point dog i ccce ect i DoG1 A10 o COMI 3 A9 Upper limit FLS1 AB jt COMI 3 AT RLS1 AG o o COM1 3 A5 Analog torque d limit command 24VDC 10V max current Analog torque limit command 10V max current CN3 Monitor output 4 MO1 Co Max 1mA total 3 MO2 Toe Bi directional 1 MOG A Qh SEE J measurement Within 2m 1 The logic of each I O terminal can be changed by the intelligent function module switch setting refer to Section 5 6 The above example assumes that all terminals are set to the negative logic In addition the above example is for connecting to Axis 1 For the pin layout when connecting to
217. ion name Description Reference 7 Mechanically establishes the positioning control start point using a Section Machine OPR control near point dog or stopper 8 2 itioni Section OPR Fast OPR control Performs positioning control to the OP address Md 1 Current feed control value stored in the QD72P3C3 using machine OPR control 8 3 Count value selection Stores the OP address to Md 3 Count value when OPR is Section function at OPR completed 8 4 Position control 1 axis Performs positioning control to the position specified to the address Section linear control set in the positioning data or with the movement amount 9 2 2 tinni Continuously outputs a pulse corresponding to the Section estonino Speed control control Da 4 Command speed set in positioning data 9 2 3 Changes the i Md 1 Current feed value to the address set in the Section Current value change positioning data 9 2 4 Outputs a pulse to drive unit while the JOG start signal YC to Y11 CHAPTER JOG operation is ON 10 If the command speed exceeds the Pr4 Speed limit value during Secti ection Speed limit function control this function limits the command speed to within the 41 2 Pr4 Speed limit value setting range Changes the speed during the constant speed of speed control or Section Speed change function i JOG operation 11 3 Auxiliary FACE When a command is issued to the outside of the upper limit lower function Software stroke limit m nu 7
218. iption Reference instruction m Selects positioning control machine OPR Sect e ection Positioning start PSTRTO control and fast OPR control for the specified 45 9 axis of the QD72P3C3 and starts the control Sets the positioning data to the specified axis of Direct ADS Section UE DSTRTO the QD72P3C3 and starts the positioning positioning start 14 4 control zz e Changes the speed of the specified axis of the cach E I5 ection Ez Speed change SPCHGO QD72P3C3 by setting the speed changing 145 5 5 parameters 2 Applicable device The following table shows the devices applicable to the dedicated instructions de EE ZO Internal device a z O Word File register Constant X Y M L F V B T ST C D W R ZR Word device bit specification can be used as bit data Word device bit can be specified as word device bit number Specify the bit number in hexadecimal For example bit 10 of DO is specified as DO A Note however that timers T retentive timers ST and counters C are not subject to bit specification COMMON FUNCTION V Z a9 uc EO 25 Sp Bo az TROUBLESHOOTING APPENDIX 14 1 Dedicated Instruction List and Applicable Devices 1 4 1 1 4 DEDICATED INSTRUCTIONS MELSEC Cel ries 14 2 Interlock for Dedicated Instruction Execution Dedicated instructions cannot be executed to different axes simultaneously If that occurs the second and subsequent instructions are ignored due
219. irection ON the programmable controller CPU READY signal Y0 1 Reverse direction zo Pr 12 z 912 ae a D LETS 9 23 128 223 7 P pulse z o o z 5 LL z o O Set the value which is lower than the Pr4 Speed limit 913 24 124 224 Pr 13 OPR speed value and higher than the Pr 14 Creep speed Then turn 25 125 225 1 to 100000 pulse s OFF and then ON the programmable controller CPU READY P signal YO o EO a u2 o zZ Q le T ol W e i aay 2 le Y x a Z W Q n 15 2 Error and Warning Descriptions 1 5 14 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC TE eries Error code Error name Description Operation at error decimal The setting value of the Pr 14 Creep speed is out of the setting range re soecd The setting value of the Pr14 Creep u 914 speed is higher than the Pr13 OPR setting range p 9 speed The setting value of the Pr 14 Creep speed is less than pulse unit Out of ACC DEC 915 time at OPR setting The setting value of the Pr15 ACC DEC range time at OPR is out of the setting range Out of current feed value count value The setting value of the Pr9 Current 923 simultaneous feed value count value simultaneous change function change selection is out of the setting The module READY signal X0 does not turn ON sel
220. is 3 CH 3 Warming occurrence X06 No Enor Flash ROM setting Details Current value Monitoring display Cannot execute test Make text file Stop monitor Refer to Section 6 6 6 3 Utility Package Operation 6 3 2 Operation overview 6 UTILITY PACKAGE GX Configurator PT MELSEC KE eries 6 3 3 Starting the Intelligent function module utility z 3 Purpose o Starting the Intelligent function module utility from GX Developer activate the screen for 9 selecting a module to set parameters is From this screen the screen for configuring initial setting auto refresh of the QD72P3C3 and the screen for selecting a module to be monitored tested can be started P z Operating procedure Tools Intelligent function utility Start p 50 Setting screen Intelligent function module utility D MELSEC GPPWIPT J En X Intelligent Function module parameter Online Tools Help Select a target intelligent function module Start 1 0 No Module type pooo QD 70 Model Module SPECIFICATIONS AND FUNCTIONS Module model name ap72P3c3 Parameter setting module a Intelligent function module parameter B Z Ti Start 1 0 No Module model name g Oo S DO00 D72P3E3 Available Available x E ES rcs nil met EOZ oo ano Initial setting Auto refresh PROCEDURES AND SETTINGS BEFORE OPERATI
221. is function monitors the module information external I O signal information and intelligent function module switch setting status on the screen displayed by clicking the H W Information button on the Module s Detailed Information screen which can be displayed from the System Monitor screen of GX Developer SW7D5C GPPW E or later Setting procedure Diagnostics System monitor select QD72P3C3 Module s Detailed POSITIONING CONTROL Information JOG OPERATION H W Information Module Display format Module Name QD72P3C3 Product information 09041 0000000000 B HEX C DEC H w LED Information HAW SW Information RUN PLS OUT MOD ERR PLS OUT SIG AUXILIARY FUNCTION mY COUNTER COMMON FUNCTION A FUNCTION Stop monitor Close H W LED Information The following information is displayed at H W LED Information on the H W Information Screen Item Signal name Value RUN RUN LED of the QD72P3C3 0 The LED is OFF ERR ERR LED of the QD72P3C3 1 The LED is ON or flashing g ZERO1 Zero signal of Axis 1 Q 2 ZERO2 Zero signal of Axis 2 z 2 ZERO3 Zero signal of Axis 3 ab z DOG1 Near point dog signal of Axis 1 E DOG2 Near point dog signal of Axis 2 9 DOG3 Near point d ignal of Axis 3 z ear pom og signa i is 0 OFF 4 ON z FLS1 Upper limit signal of Axis 1 S FLS2 Upper limit signal of Axis
222. ital amp Yspe A13 Zero signal common PGO COM 1 Input O a A10 Near point dog signal DOG 1 for positioning A8 Upper limit signal FLS 1 A6 Lower limit signal RLS 1 24VDC mn 9 Common COM 1 3 I Ru ge i 1 cone pee A12 Deviation counter clear CLEAR 1 AM Deviation counter clear CLEAR Output common COM 1 for A4 a Pulse output F PULSE F 1 positioning A2 Pulse output R PULSE R 1 PULSE A3 Pulse output common NS 2 A20 Phase A pulse input 24V CH1A 24V 2 2kQ A19 zl A Ys De Phase A pulse input 5V CH1A 5V Input A18 Phase A common CH1A COM for counter 350 3000 function A17 Phase B pulse input 24V CH1B 24V A16 af amp Z D Phase B pulse input 5V CH1B_5V A15 Phase B common CH1B COM 3 18 Common terminal is available to both positive common and negative common COM 3 5 Specifications of I O Interfaces with External Device 3 5 4 Internal circuit of I O interface 3 SPECIFICATIONS AND FUNCTIONS MELSEC Sl 1 Input signal ON OFF status a Input signal ON OFF status The input signal ON OFF status is defined by the external wiring and logic setting The following shows an example of the near point dog signal DOG The other input signals also perform the same operations as the near point dog signal DOG ON OFF status of the near point Logic om a a External wiring dog signal DOG as seen from ma the QD72P3C3 Voltage not applied
223. ity 000000000000000000000000000000000000000000000000000000000 6 10 6 4 Initial Setting 0 000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 6 12 6 5 Auto Refresh Setting 0 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 0 6 15 6 6 Monitoring Test e eeee ee ee eee e eee eee ee eee eee o eee eee o eee esee eee ec sees eese oos oce esos esse osse oce sss secco ose eccesso eoee 6 17 6 6 1 Monitoring Test SCE eececcccc000000000000000000000000000000000000000000000000000000000000000000000000000 6 17 6 6 2 ACC DEC time calculation function SCTERN eecccecccccc0000000000000000000000000000000000000000000000006 6 21 CHAPTER7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7 1to7 31 7 1 Precautions for Creating Program 0000000000000000000000000000000000000000000000000000000000000000000000000000090 1 7 2 List of Devices Used 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000006 4 7 3 Creating a Programeeeeeecceeee eese ose eese esee sesso eccesso eoss oos esss esse oss s ose scse ose scse oce soss oce eoceeceeoeeoo f 9 7 3 1 General configuration of program 00000000000000000000000000000000000000000000000000000000000000000000000090 9 7 3 2 Positioning control operation program 00000000000000000000000000000000000000000000000000000000000000000 T 10 7 4 Positioning Control Progra
224. l of ree um eol ONY bO Rear b1 Axis 1 in decimal b2 Zero signal OFF b3 Near point dog signal OFF The external I O signal status can also be checked on the System monitor screen For details refer to Section 13 3 External I O Signal Monitor Function 5 12 5 5 Wiring Check 5 5 1 Check items at wiring completion 5 PROCEDURES AND SETTINGS BEFORE OPERATION Mi aL 26 lA cries LL Zz 2 Checking using GX Configurator PT 3 Monitor the external I O signal status on the Monitor Test screen iB For details refer to Section 6 6 Monitoring Test B a Dn Example Checking the external I O signals of Axis 1 Axis 1 OPR Monitor GX Configurator PT screen 6 Axis 1 OPR Monitor i Module type QD70 Model Module Start 1 0 No 0000 Bo Module model name QD72P3C3 oz 50 Setting item Status OPR request flag Status GPR complete flag Extemal O signal Upper limit signal Estemal O signal Lower limit signal Extemal O signal Zero signal Estemal O signal Meri aiaa Flash ROM setting Details Current value Monitoring display Cannot execute test SPECIFICATIONS AND FUNCTIONS Make text file Stop monitor DATA USED FOR POSITIONING CONTROL IMPORTANT If the QD72P3C3 has a failure or does not recognize necessary signals such as the near point dog signal and upper lower limit signals an unexpected accident
225. l Da4 Command speed Pr5 Bias speed at start Da 3 ACC DEC time JOG operation JOG 1 JOG speed Pr5_ Bias speed at start JOG 2 JOG ACC DEC time X z Lu n n 11 6 ACC DEC Process Function 11 15 11 6 1 Calculating the actual ACC DEC time 1 1 AUXILIARY FUNCTION MELSEC 8 Calculation example 2 9 Actual ACC DEC time is shorter than 3 ACC DEC time A 1 Target speed I D Lf i le l Kai d r Dow 2 Speed __ P ead e eee es ee ae dg N N at start l 4 4 I i ry f f 1 T gt t i 1 I ha l 3 ACC DEC i f E I 1 3 ACC DEC time l i 4 time 3 9 i _ 9 Actual ACC DEC time i i 9 Actual ACC DEC time SS se X T e When 1 Target speed is 100000pps 2 Speed at start is 100pps 3 ACC DEC time is 1000ms and pulse unit is 25 4 Speed limit value 1 Pr4 is 100000pps 9 Actual ACC DEC time is calculated by the following formula 1 Target speed 2 Speed at start x 8 100000 100 x 8 e 5 Acceleration 31 968 3 ACC DEC time x Pulse unit 1000 x 25 6 Actual acceleration 32 7 Difference difference between 5 Acceleration 6 Actual acceleration e acceleration and actual acceleration x 100 when using acceleration as the base 6 Actual acceleration 31 968 32 3100 32 Q 1 96 7 Difference 100 0 1 1000
226. l is completed 4 13 4 2 Parameter List 4 DATA USED FOR POSITIONING CONTROL MELSEC Sl W Pr 11 OPR direction z E Setting contents 2 Set the direction to start movement when starting machine OPR control 5 2 0 Forward direction Moves in the direction that the address increases Arrow 2 S r 7 n 1 Reverse direction Moves in the direction that the address decreases Arrow 1 a Normally OP is set near the lower limit switch or the upper limit switch Therefore set z Pr 11 OPR direction as shown below z When the OP is set at the lower wW o limit side the OPR direction is 5 E in the direction of arrow 1 gt 2 Set 1 for Pr 11 2 Lower limit Upper limit 1 A Address decrease Address increase On direction direction ZZ oo EE og T aS Lower limit Upper limit na A Address decrease Address increase direction direction 2j L c When the OP is set at the upper limit side the OPR direction is in the direction of arrow 2 Set 0 for Pr 11 9 z S Sg EE NZ OQ ao Pr 12 OP address Setting contents Set an address used as the reference point for position control ABS system When machine OPR control is completed the value of Md 1 Current feed value is changed to that of Pr 12 OP add
227. l method to move a workpiece by given movement amount without positioning data the pulse is kept outputting while the JOG start signal YC to Y 11 is ON This control is used to move the workpiece to within the software stroke limit range if operation has been stopped by the positioning control system connection check or by the software stroke limit function 10 4 10 1 Outline of JOG Operation 1 Q JOG OPERATION Turning ON the JOG start signal YC to Y 11 starts acceleration in the direction specified in the JOG start signal YC to Y11 and at the time set in IJOG 2 JOG ACC DEC time At this time the BUSY signal X8 to XA turns from OFF to ON MELSEC Sl mJOG operation In JOG operation while the forward run JOG start signal YC YE and Y10 or the reverse run JOG start signal YD YF and Y11 is ON the QD72P3C3 outputs pulses to the drive unit and moves the workpiece in the specified direction The following describes an example of JOG operation NEW POSITIONING an CONTROL When the workpiece during acceleration reaches the speed set in YOG 1 JOG speed it continues movement at this speed The pa 9 E lt fra W Q O o e Q 2 workpiece moves at constant speed from 2 to 3 3 Turning OFF the JOG start signal YC to Y11 starts deceleration from the speed set in YOG 1 JOG speed to the one set in
228. lerance in OPR method with near point dog method and has influence to the size of impact at collision in OPR method with the stopper 3 Precautions Set Creep speed to equal to or less than Pr 13 OPR speed If the OPR speed is exceeded Out of creep speed setting range error error code 914 occurs Machine OPR control start Pr 14 Pr 13 Creep speed OPR speed Near point dog signal OFF Zero signal Setting unit pulse unit for speed setting data changes according to the value set to Pr4 Speed limit value as the table below Setting value of LPr4 Speed limit 1 to 8000 value pulse s 8001 to 32000 32001 to 64000 64001 to 100000 Pulse unit 1 pulse unit 4 pulse unit 8 pulse unit 25 pulse unit When setting Pr4 Speed limit value to 100000 pulse s when pulse unit is 25 pulse unit set a value which is multiples of 25 to Pr 14 Creep speed If setting a value that does not satisfy the condition the value is dropped so that it can be multiples of 25 Note if setting a value under 25 corresponding to pulse unit Out of creep speed setting range error error code 914 occurs 4 2 Parameter List 4 16 PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS A 0 Z e 82 EE NZ OQ ao PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY
229. lling edge of A count B AVI When A is OFF counts on the rising edge 1 of dB When A is ON counts on the falling edge of dB IMPORTANT The module may not be able to operate normally if each I O signal logic is set incorrectly Pay special attention when changing the setting from the default value 125 When using the input mode of either 1 multiple of 2 phases or 2 multiples of 2 phases be sure to input 2 phase pulses With these input methods pulses are counted according to the changes between phase A and phase B 5 6 Intelligent Function Module Switch Setting 5 PROCEDURES AND SETTINGS BEFORE OPERATION WI SETS 2 Operating procedure Set the switches on the I O assignment tab in the PLC Parameter screen of GX Developer PRODUCT OUTLINE a I O assignment tab Set the following to the slot to which the QD72P3C3 is mounted Type Select Intelli Model name Input the model of the module Points Select 32points Start XY Input the start I O number of the QD72P3C3 CONFIGURATION SYSTEM PLE system PLC file PLC RAS Device Program Boot fie SFC 1 0 assignment 1 0 Assignment ints Switch setting o PC PLC O0 inten 0 1 QD72P3C3 Detailed setting 3 0 3 0 4 Assigning the O address is not necessary as the CPU does it automatically Leaving this setting blank will not cause an error
230. ls with Programmable Controller CPU 3 9 3 3 3 Details of output signals programmable controller CPU QD72P3C3 PRODUCT OUTLINE CONFIGURATION SYSTEM C9 nw Ze ege EE X o2 uD Ga a4 ee DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 3 SPECIFICATIONS AND FUNCTIONS 3 4 List of Buffer Memory Addresses The following is a list of buffer memory addresses In addition for the details such as a setting value of each buffer memory refer to Chapter 4 DATA USED FOR POSITIONING CONTROL Setting value setting range Factory default value M Buffer memory address for setting Axis Axis Axis 3 10 3 4 List of Buffer Memory Addresses 3 3 3 Details of output signals programmable controller CPU QD72P3C3 Pr 1 Software stroke limit upper 0 100 200 de 1073741824 to 1073741823 pulse 1073741823 limit value 1 101 201 Pr2 Software stroke limit lower 2 102 202 s 1073741824 to 1073741823 pulse 1073741824 limit value 3 103 203 Current feed value during 0 No update Pr 3 0 5 105 205 speed control 1 Update ET 6 106 206 Pr4 Speed limit val
231. ltimate Operating System Microsoft Windows Vista Enterprise Operating System Generic term for the following Windows XP Microsoft Windows XP Professional Operating System Microsoft Windows XP Home Edition Operating System PACKING LIST The following are included in the package Model Product name Quantity QD72P3C3 QD72P3C3 type positioning module with built in counter function 1 SW1D5C QPTU E GX Configurator PT Version 1 single license product CD ROM 1 SW1D5C QPTU AE GX Configurator PT Version 1 volume license product CD ROM 1 A 11 Memo PART 1 PRODUCT SPECIFICATIONS AND HANDLING PART 1 consists for the following purposes 1 to 4 1 To understand the outline of positioning control and the QD72P3C3 specifications and functions 2 To perform actual work such as installation and wiring 3 4 3 To set parameters and data required for positioning control 4 To create a sequence program required for positioning control For details of each control refer to PART 2 CHAPTERT1PRODUCT OUTLINE 00 00 0000 000022 1 1to1 13 CHAPTER2SYSTEM CONFIGURATION 0 eh 2 1to2 9 CHAPTER3SPECIFICATIONS AND FUNCTIONS 0 3 1to3 19 CHAPTERADATA USED FOR POSITIONING CONTROL 4 1to4 31 CHAPTERSPROCEDURES AND SETTINGS BEFORE OPERATION 5 1to 5 21 CHAPTER6UTILITY PACKAGE GX Configurator PT 6 1t06 22 CHAPTER7SEQUENCE PR
232. ly For details refer to CHAPTER 4 DATA USED FOR POSITIONING CONTROL E ra Parameter set as target Parameter set as speed at Parameter set as ACC DEC z Control contents E O speed start time OPR control OPR speed Creep speed ACC DEC time at OPR S Positioning control 4 Command speed 5 Bias speed at start 3 ACC DEC time JOG operation JOG speed 5 Bias speed at start JOG 2 JOG ACC DEC time e Z a9 Figure 11 7 Relation among speed at start ACC DEC time and target speed E S Or at b Handling of acceleration in the QD72P3C3 and actual ACC DEC time Dg Acceleration at acceleration deceleration operation is calculated using ACC DEC time speed at start target speed and pulse unit 9 However since acceleration is processed as integer value time actually taken to E acceleration deceleration actual ACC DEC time may differ from ACC DEC z time 2 o POINT For calculation of acceleration and time actually taken to acceleration deceleration refer to the following Section 11 6 1 Calculating the actual ACC DEC time a lt 11 6 ACC DEC Process Function 11 11 1 1 AUXILIARY FUNCTION MELSEC IA series 2 Precautions a When the target speed is 1 pulse s the set ACC DEC time is ignored b If the ACC DEC pattern which does not have the constant speed part and whose movement amount is small for the ACC DEC time the axis does not operate at the set ACC DEC time In this case review
233. m Examples 0 000000000000000000000000000000000000000000000000000000000000000000000 T 13 7 5 Program Details 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 T 23 7 5 1 Initialization program 0600000000000000000000000000000000000000000000000000000000000000000000000000000000000000 T 23 7 5 2 Start method setting program 0000000000000000000000000000000000000000000000000000000000000000000000000000 T 24 7 5 3 Start program 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 T 25 7 5 4 Auxiliary proqgraliresesssessoesesseeecoeesosesesessocesseesesesesosesooesesessosss s soseseteeeseeesettesoeeee T 30 7 6 Program Example when the Coincidence Detection Interrupt Function is Used eeeeeeeeeeeeseesesee 7 31 PART 2 CONTROL DETAILS AND SETTING 1 CHAPTER8 OPR CONTROL 8 1to 8 12 8 1 Outline of OPR Control 000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000c0 Z 1 8 1 1 Two types of OPR control 00000000000000000000000000000000000000000000000000000000000000000000000000000000c0c 1 8 2 Machine OPR Control e esecccee eee ee ee eee ee eoe eese eese eee seeeese sees ee esesesse esee esesessseeeeesessssssecececesese 2 8 2 1 Outline of the machine OPR operatione eeee eee ee ee e eee eene o e eee eese eee so osse eeeeesessesses eese 8 2 8 22 OPR method for machine OPR control
234. m the QD72P3C3 and the servomotor is called the stop settling time and necessary for ensuring stopping accuracy Droop pulse amount Pulse distribution Accele i ration c JU F F Pulse train plies lt gt Many pulses plsss Figure 1 3 Output pulse from the QD72P3C3 2 Movement amount and speed in a system using ball screw A Movement amount per pulse mm pulse Vs Command pulse frequency pulse s n Pulse encoder resolution pulse rev Ny L Feed screw lead mm rev Workpiece R Deceleration ratio Feed screw Pulse encoder PLG LC Dp D V Movable section speed mm s pR L N Rotation frequency of motor r min l4 cena K Position loop gain 1 s Servomotor P PO e Deviation counter droop pulse amount P0 OP pulse P Address pulse Figure 1 4 System using ball screw In the system shown in Figure 1 4 the movement amount per pulse command pulse frequency and deviation counter droop pulse amount are determined in the following manner 1 6 1 2 Outline of Positioning Control and Count Operation 1 2 2 Design outline of positioning control system 1 PRODUCT OUTLINE 1 Movement amount per pulse aLS eG Q series The movement amount per pulse is determined by the feed screw lead deceleration ratio and pulse encoder resolution The movement amount therefore will be Number of pulses output x Movement amount per pulse A mm pulse R
235. malfunctions personal injuries and or a fire Be sure to shut off all phases of the external power supply used by the system before mounting or removing the module Not doing so may result in a failure or malfunction of the module Do not mount remove the module onto from the base unit more than 50 times IEC 61131 2 compliant after the first use of the product Doing so may cause malfunctions Before starting test operation set the parameter speed limit value slow and prepare so that operation can be stopped immediately in case of hazardous situation Before handling the module touch a grounded metal object to discharge the static electricity from the human body Not doing so may result in a failure or malfunction of the module DISPOSAL PRECAUTIONS N CAUTION When disposing of this product treat it as industrial waste REVISIONS The manual number is given on the bottom left of the back cover Print date Manual number Revision Correction Jan 2008 SH NA 080683ENG B About the Generic Terms and Abbreviations Section 2 3 to 2 6 Section 6 2 1 Section 6 2 2 Appendix 1 This manual confers no industrial property rights or any rights of any other kind nor does it confer any licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a 2007 MITSUBISHI ELECTRIC CORPORATION INTRODUCTION Thank
236. mand 1 to 100000pulse s Acceleration deceleration Er Trapezoidal acceleration deceleration Xo processing 0 a ACC DEC time 1 to 5000ms 32 Position control 1 axis start 1ms Scu Start time oEu Speed control 3 axes concurrent start 1ms Ee Pulse output method Open collector output Maximum output pulse 100kpps ES Maximum connection 2 m 2 distance between drive units xt Counting speed max 100kPPS B o Number of channels 3 channels 5 x 31 bit signed binary 59 Counter 7 Counting range Linear counter 1073741824 to 1073741823 function Ring counter 0 to 1073741823 T External connection system 40 pin connector n 5 eer 26 Applicable wire size 0 3mm for the AGCON1 and A6CON4 AWG 24 for the AGCON2 5zE Peripheral compatible utility package GX Configurator PT sold separately c e Oor Data backup None DEO External device connector A6CON1 A6CON2 A6CON4 sold separately 5VDC internal current consumption 0 57A Number of occupied I O points 32 points I O assignment Intelligent 32 points Weight 0 16kg 9 For electrical specifications of count input signals refer to Section 3 5 1 Electrical specifications of z I O signals o a 3 1 Performance Specifications 3 1 3 SPECIFICATIONS AND FUNCTIONS 3 2 Function List The following table lists the functions of the QD72P3C3 MELSEC 8 Control method funct
237. mbol Executing condition ZP SPCHG1 ZP SPCHG1 Un S D ZP SPCHG2 I ZP SPCHG2 Un S D ZP SPCHG3 ABE ZP SPCHG3 Un S D When describing shared information for SPCHG1 SPCHG2 and SPCHG3 SPCHGD is used 1 Setting data Setting data Setting contents Set by Data type Start O number of the QD72P3C3 Un 2 2 User BIN 16 bit 00 to FD First two digits when I O signals are expressed in 3 digit S Start number of the device in which control data is stored Device Start number of the bit device to be turned ON for one scan upon D completion of the instruction System Bit D 1 also turns ON at error completion Local devices and file registers for each program cannot be used for setting data 14 12 14 5 SPCHG1 SPCHG2 SPCHG3 1 4 DEDICATED INSTRUCTIONS 2 Control data eG Q series S 0 System area Stores the status at completion S 1 Completion status 0 Normal completion System Other than 0 Error completion Error code S 2 Specifies the speed after performing speed change 1 to 100000 New speed value i User S 3 with the SPCHGO instruction pulse s Specifies the ACC DEC time and DEC STOP time ACC DEC time at S 4 to perform speed change with the SPCHGO 1 to 5000 ms User speed change 1
238. me at speed change within the setting range AUXILIARY FUNCTION 509 Set Da5 Positioning address movement amount within the E setting range z S og z o Pr 1 Software stroke limit 5 0 100 200 upper limit value 5 516 iL 1 101 201 1073741824 to 1073741823 z pulse At start Set the Current feed value within the g software stroke limit range by JOG operation S At current value change Change the new current value within the software stroke limit During operation Correct the Da 5 Positioning address 2 Software stroke limit movement amount ae P 2 102 202 lower limit value 5 9 3 103 203 1073741824 to 1073741823 SE no pulse uz o Zz ECT Positioni Set the Md 1 Current feed value within the range of the 9 T ositioning range upper 518 32 132 232 hale velie ea ee Pr 17 Positioning range upper limit value in the current E 33 133 233 0 to 1073741823 pulse vale change z Execute OPR o fad APPENDIX 15 2 Error and Warning Descriptions 1 5 10 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC TE eries Error code Error name Description Operation at error decimal The setting for the QD72P3C3 is Hold in 800 Hold error the Error time output mode parameter
239. n Current value change OPR CONTROL 7 4 Positioning Control Program Examples 7 18 T 19 488 547 626 638 645 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 6 Turning OFF fast OPR control command and fast OPR control command storage When not using fast OPR x21 RST Machine OPR control command X23 RST 1 axis linear control start command X24 Speed control start command X25 Current value change command M Positioning control start command storage No 8 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 carried out X26 a_i Positioning control start signal command M6 Y8 XOG MB M4 X0 XB SET Positioning Axis 1 Axis 1 JOG Fast OPR Module Axis 1 BUSY control positioning start operation control READY signal start start signal complete flag command signal command signal pulse M4 FastOPR Fast OPR control control command command storage M7 MOVP D56 Positioning Start control method start command storage SET RST Ya XOG x8 HS E AA JIRST Axis 1 Axis 1 Axis 1 BUSY positioning start signal start signal complete signal 7 4 Positioning Control Program Examples MELSEC TE eries M4 Fast OPR control command M5 Fast OPR control command storage
240. n the forward run feed pulse CW is output During reverse run the reverse run feed pulse CCW is output SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL Positive logic Negative logic cw fmi cw WU oO cww TU Ms Ww a 9 Tm Ww az 9o Z3 Ea Ww No Forward run Reverse run Forward run bon run ms 3 CW is output from the PULSE F external I O signal and CCW from PULSE R Refer to Section ui 3 5 3 2 z w 2 PULSE SIGN mode 25 Qg Positive logic Negative logic 8 UU Run direction forward or reverse is controlled with the ON Run direction forward or reverse is controlled with the ON E c OFF status of the direction sign SIGN OFF status of the direction sign SIGN When the SIGN is HIGH the motor runs forward When the SIGN is LOW the motor runs forward When the SIGN is LOW the motor runs reversely When the SIGN is HIGH the motor runs reversely n oO z e Puse fIFLFLFLEL_fLFLALFIN purse LARU AY 25 S SEES oor SIGN SIGN ooo Forward Reverse Forward Reverse run run fun run pt z z r Move in Move in Move in Move in direction direction direction direction PULSE is output from the PULSE F external I O signal and SIGN from PULSE R Refer to Section 3 5 3 OPR CONTROL 5 6 Intelligent Function Module Switch Setting 5 15 5 5 146 PROCE
241. nce detection function Not supported lt 3 Dno AZ POINT When 0 is set to LPr 16 Ring counter upper limit value the counting range is 9 from 0 to 1073741823 5 N W zn a o a x a z Lu n n 12 3 Ring Counter Function 12 5 1 2 COUNTER FUNCTION 12 4 Count Enable Function MELSEC 8 The following shows the relationship between the count enable command Y1C to Y1E and LMd 3 Count value Module READY signal ON X0 OFF Count enable command oN Y1C to Y1E OFF Md3 Count value No operation stop see oe ce ae N La 2 RES Y Input pulses stored to Court value i i i Count Count operation operation i stop stop Description 1 Count operation does not start yet when the module READY signal X0 turns ON 2 Count operation starts when the count enable command Y1C to Y1E is turned ON Count operation stops when the count enable command Y1C to Y1E is turned OFF 3 This time LMd 3 Count value retains the last value before counting has stopped Count operation restarts when the count enable command Y1C to Y1E is turned ON 4 LMd 3 Count value is updated from the retained value POINT When the setting value of Cd 7 Coincidence detection point setting is changed change the count enable command Y1C t
242. ng positioning control is possible by the target speed change function 3 Counter function a With this function a maximum counting speed of 100kpps is possible UTILITY PACKAGE GX Configurator PT b A counting range is from 1073741824 to 1073741823 c The pulse input mode is selectable The pulse input mode can be selected from 1 multiple of 2 phases 2 multiples of 2 phases 4 multiples of 2 phases and CW CCW d The coincidence detection function is provided The coincidence detection point preset at an arbitrary channel is compared to the current counter value and the result can be checked When the current counter value coincides with the preset detection point an interrupt program can be started using an interrupt pointer SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 1 1 Features of QD72P3C3 1 1 1 PRODUCT OUTLINE MELSEC TA eries 4 Simple settings using the utility package The utility package GX Configurator PT is sold separately The utility package enables to make initial setting and auto refresh setting on the screen which lead to load reduction of the sequence programs and simplicity in checking the setting status and operation status 1 1 Features of QD72P3C3 1 PRODUCT OUTLINE MELSEC TE eries 1 2 Outline of Positioning Control and Count Operation 1 2 1 Mechanism of positioning control w z m E 2 Oo E S 2 a O fad o Positioning contr
243. nt 3 to 15 Reserved Timing of interrupt signal generation Count value coincidence X15 X19 and X1D I O signals N Coincidence signal reset command Y14 to Y16 f D Interrupt request QD72P3C3 internal processing Interrupt request clear im Program processing in programmable controller Interrupt program processing CPU gt y 12 5 Coincidence Detection Function 1 2 COUNTER FUNCTION MELSEGC Sl b It takes approx 150us from when the QD72P3C3 detects coincidence until it makes an interrupt request to a programmable controller CPU c Set the interrupt factors SI and interrupt pointers of the programmable controller CPU on the screen displayed by selecting PLC parameter PLC system Intelligent function module setting Interrupt pointer settings 1 PLC side Interrupt pointer Start No Set the start interrupt pointer number of the programmable controller CPU Setting range 50 to 255 CPU side Interrupt pointer No of module Set the number of interrupt executing conditions set in interrupt setting Setting range 1 to 16 Intelli module side Start I O No Set the start I O number of the intelligent function module for which interrupt setting has been made Setting range 0000 to OFFO H Intelli module side Start SI No Set the interrupt pointer number of intelligent function module set to interrupt SI
244. nter format This flag turns OFF by presetting Md 7 Status b15 b12 b8 b4 b0 OCON Se Reserved n speed control flag OPR request flag OPR complete flag Overflow occurrence flag The ON OFF status of the external I O signals are stored The following items are stored Upper limit signal Lower limit signal Zero signal Near point dog signal Md oo External I O signal 0000H 80 180 280 b15 b4b3 b0 Storage item Upper limit signal Reserved Lower limit signal 0 OFF Near point dog signal 4 29 4 5 Monitor Data List 4 DATA USED FOR POSITIONING CONTROL MELSEC Sl Lu 4 6 Control Data List z 5 Oo o 4 6 1 Axis control data 2 Oo fr Dn Buffer memory E address for 2 acto y setting z Stored data default 5 Axis Axis Axis Zo value pu 2l 3 2 5 CH2 CH3 we Set the new speed for JOG operation or speed control By turning ON ca 3 Speed change request the axis operates at the 50 150 250 NN speed set to this buffer memory E Cd 1 1 EE New eped veire Set a value equal to or less than Pr4 Speed limit value z 5 OZ Set a value equal to or more than Pr5 Bias speed at start 51 151 251 5 mi ua Setting range 1 to 100000pulse s 1 Ra i Set the time taken the current speed to shift to the speed after change Cd 2 JACC DE
245. o Y1E from ON to OFF and again to ON 1 2 6 12 4 Count Enable Function 1 2 COUNTER FUNCTION 12 5 Coincidence Detection Function This function compares Md 3 outputs signals when the values coincide The coincidence detection can be set for each channel in units of one points 1 Operation of coincidence detection To use the coincidence detection function set Pr 18 to 1 Coincidence detection requested Count enable command Th starts when the count enable command is turned ON Input pulse point setting Count value small X16 X1A X1E Cd 7 Coincidence output ON 2 ON e coincidence detection function orr D Q series o z 9 Count value with a count value set in advance and E oz 3 Fa o Coincidence detection setting z a o o o c x x x M x EY x x A A x x x zz lt 2 i i ao 1 100 SS 0 J or Pf fy dj jd Count value coincidence ON l l l 3 l l l l l x X15 X19 X1D OFF o 0 de 1 NONE u S S 9 Coincidence singal reset 4 B Ti AA QE LO e 1L d d gll La IJ43 id T AHE i Count value large N 5
246. o link scan time delay b The coincidence detection interrupt function is not supported c The dedicated instructions are not supported 2 5 About Use of the QD72P3C3 with the MELSECNET H Remote I O Station 2 SYSTEM CONFIGURATION MELSEC Sl 2 6 How to Check the Function Version Software Version This section describes where to check the function version of the QD72P3C3 and software version of GX Configurator PT Ise PRODUCT OUTLINE 1 Checking the function version of the QD72P3C3 a Checking the rating plate on the module side Check the version by the last character of SERIAL z O X ra 2 o LL Z Q O Lu f n gt 2 MITSUBISHI MODEL Serial No first 5 digits Function version Relevant regulation standards SPECIFICATIONS AND FUNCTIONS wa MITSUBISHI ELECTRIC MADE IN JAPAN b Checking using a peripheral x Check the version by the last character displayed at Production information field 52 of Module s Detailed Information on the System Monitor screen of GX B59 Developer z z ano GX Developer operation Select Diagnostics System Monitor QD72P3C3 Module s Detailed Information GX Developer screen PROCEDURES AND SETTINGS BEFORE OPERATION Module s Detailed Information Module Module Name QD72P3C3 Product information 090410000000000 85 1 0 Address Implementation Position Main Base
247. o may cause failure malfunctions personal injuries and or a fire Be sure to shut off all phases of the external power supply used by the system before mounting or removing the module Not doing so may result in a failure or malfunction of the module While pressing the installation lever located at the bottom of the module fully insert the module fixing projection into the fixing hole in the base unit and press the module using the hole as a fulcrum Incorrect module mounting may cause a malfunction failure or drop of the module In an environment of frequent vibrations secure the module with screws The screws must be tightened within the specified torque range If the screw is too loose it may cause a drop short circuit or malfunction Excessive tightening may damage the screw and or the module resulting in a drop short circuit or malfunction UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 5 1 Handling Precautions 5 1 5 PROCEDURES AND SETTINGS BEFORE o a3 XE 2 x M ELSEG Q series 1 Main body The main body case is made of plastic Do not drop nor apply strong impact onto the case Do not remove the printed circuit board of the QD72P3C3 from the case Doing so may cause a failure 2 Cable Do not press on the cable with a sharp object Do not twist the cable with force Do not forcibly pull the cable Do not step on the cable Do not place
248. objects on the cable Do not damage the cable coatings 3 Installation environment Do not install the module in the following environment Where the ambient temperature exceeds the 0 to 55 C range Where the ambient humidity exceeds the 5 to 95 RH range Where condensation occurs due to sudden temperature change Where corrosive gas or flammable gas exists Where high levels of dust conductive powder such as iron chips oil mist salt or organic solvent exists Where the module is subjected to direct sunlight Where intense electric fields or magnetic fields are created Where vibration or impact could be directly applied onto the main body 5 1 Handling Precautions PROCEDURES AND SETTINGS BEFORE OPERATION MWELSEC HY cence 5 2 Procedures Before Operation The following flowchart shows the procedures for operating the QD72P3C3 y PRODUCT OUTLINE Module installation Install the QD72P3C3 in the specified slot x Wiring Wire external devices to the QD72P3C3 Refer to Section 5 4 Y Intelligent function module switch setting CONFIGURATION SYSTEM Set the switches using GX Developer Refer to Section 5 6 Connection check Check connection using GX Developer or GX Configurator PT Refer to Section 5 5 SPECIFICATIONS AND FUNCTIONS Drive unit operation check Check operation using a simple program in the factory set status Refer to Section 5 7
249. od Da 3 ACC DEC time Da 4 Command speed Da 5 Positioning address movement amount 9 Setting is required Setting not required This is an irrelevant item so the set value will be ignored If the value is the default value or within the setting range there is no problem mChecking the positioning data Setting ranges of Da 1 to Da 5 are checked when the positioning control starts At this time an error occurs in the positioning data whose setting value is outside the range For details refer to CHAPTER 15 TROUBLESHOOTING 4 5 4 1 Data Types 4 1 3 JOG data setting items 4 DATA USED FOR POSITIONING CONTROL MELSEC S 4 1 5 Types and functions of monitor data z 5 The monitor data area in the buffer memory stores the data showing the status of the S positioning control system To operate the positioning control system monitor these data 9 as necessary E The following data are available for monitoring For details of monitor data refer to Section 4 5 Monitor Data List 6 E Monitor data Monitor details E Md 1 Current feed value The current feed value is monitored E n n Md 2 Current speed The current speed is monitored c Md 3 Count value The count value of input pulse is stored Md4 Axis operation status The axis operation status is monito
250. odel Module Module model name QD72P3C3 5 Parameter setting module uo Inteligent module parameter n Z Si Start 1 0 No Module modelname Initial setting Auto refresh go P 00000072303 e LE EOZ oo anao aw Zo lt 0 Initial seting Autoretresh Qu 22 age WZ z oe LE 1 ano Initial setting screen Initial setting Module information Module type QD70 Model Module Module model name QD72P3C3 Start 1 0 No 0000 Setting item Axis 1 Parameter setting Setting value Axis 1 Parameter setting Axis 1 OPR data setting Axis 1 OPR data setting Axis 2 Parameter setting Axis 2 Parameter setting Axis 2 OPR data setting Axis 3 Parameter setting Axis 3 OPR data setting Axis 1 Positioning data setting Axis 2 OPR data setting Axis 3 Parameter setting Axis 3 OPR data setting Axis 1 Positioning data setting Details Move to sub window Make text file Refer to End setup Section 6 4 Auto refresh Auto refresh setting screen Auto refresh setting Module information QD70 Model Module QD72P3C3 Module type Start 1 0 No 0000 Module model name Module side Module side Buffersize Transfer word count PLC side Transfer E Device direction Setling item Axis 1 Current feed value Axis 1 Current speed CH1 Count value Axis 1 Axis operation
251. of The axis does not start the CPU module PSTRTT instruction was executed when the start method was other than 0 9000 or 9001 DSTRTLI instruction was executed when the control method was other than 1 to 5 804 Dedicated MERC MER At start The axis does not start instruction error During operation The axis decelerates to stop the ACC DEC time was other than 1 to 5000 SPCHGLI instruction was executed when the ACC DEC time was other than 1 to 5000 Programmable At start The axis does not start 820 I O reset occurred controller CPU error During operation The axis decelerates to stop Watchdog timer 830 error of Watchdog timer error of programmable At start The axis does not start programmable controller CPU occurred During operation The axis decelerates to stop controller CPU Software stroke limit Upper limit value Lower limit value is 901 upper lower limit satisfied in the software stroke limit upper value error lower limit values Out of current feed value during speed The setting value of the Pr3 Current 904 control setting feed value during speed control is out of The module READY signal X0 does not tum ON range the setting range 905 Out of speed limit The setting value of the Pr4 Speed limit value range value is out of the setting range The setting value of Pr5 Bias speed at start is out of the setting range The setting value of the Pr5 Bias 906 Out of bias speed
252. ol using the QD72P3C3 is performed using pulse signals The QD72P3C3 is a module that outputs pulses In a positioning control system using the QD72P3C3 a variety of software and external 5 devices are used to play their roles as shown below z The QD72P3C3 realizes complex positioning control by importing and controlling various zo Eu signals parameters and data with the programmable controller CPU DE nO Stores the created program Outputs the positioning start signal Y8 to YA and axis stop signal i Y4 to Y6 to the QD72P3C3 according to the stored program SPECIFICATIONS AND FUNCTIONS Peripheral pi rogrammable GX Developer controller CPU GX Configurator PT x e N Oo f Inputs the near point dog signal and B 9 f is 4 i ee limit signal to the QD72P3C3 uz a Using GX Developer creates 2 2 Z i control sequence and conditions faz i as a Sequence program l d a2 8 Mechanical system QD72P3C3 inputs switches positioning module i Adding in GX Configurator PT i enables initial setting of i parameters and data t F Stores the parameters and data PROCEDURES AND SETTINGS BEFORE OPERATION Outputs pulses to the drive unit according to the i commands from the programmable controller CPU Drive unit fb Drives the motor upon reception of i command pulses from the QD72P3C3 UTILITY PACKAGE GX Configurator PT to commands from the drive unit f
253. ommand speed 30000pulse s D95 control D96 T Da 5 Positioning address movement amount 250000pulse D100 Da 1 JOperation pattern 0 Positioning start independent Positioning D101 Da2 Control method 3 Speed control Forward run ata D102 for speed Da 3 JACC DEC time 1000ms D104 control Da4 Command speed 40000pulse s D105 D110 Positioning Da 1 JOperation pattern 0 Positioning start independent D111 data Da2 Control method 5 current value change D 6 for current pis value Da5 Positioning address movement amount 300000pulse change 7 2 List of Devices Used Continued to the next page Device name Data resister SEQUENCE PROGRAM USED FOR POSITIONING CONTROL SIS eG Q series Device Stored data Setting value D120 OPR request flag Ma 7 Status bit1 D56 Cd 5 Start method Varies depending on the operation D50 D51 Cd 1 New speed value 2000pulse s D52 Cd 2 ACC DEC time at speed change 1000ms D54 Cd 3 Speed change request 7 D77 Md 5 Axis CH error code i D74 D75 Md 3 Count value D121 Overflow occurrence flag Md 7 Status bit3 7 2 List of Devices Used 7 8 PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT j 0 QZ z
254. ompleted normally SEQUENCE PROGRAM USED FOR POSITIONING oe OPR CONTROL 8 1 Outline of OPR Control 8 1 8 1 1 Two types of OPR control 8 OPR CONTROL MELSEC TE cries 8 2 Machine OPR Control 8 2 1 Outline of the machine OPR operation IMPORTANT 1 S 3 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 Correctly set the OPR direction so that it can be the same direction with the workpiece traveling direction to the OP When the following two conditions are satisfied the axis continues operating at the OPR speed since near point dog is not detected at machine OPR control start Machine OPR control is started at the position where the near point dog is OFF The near point dog does not exist in the OPR direction as seen from the machine OPR control start position In this case perform JOG operation to move the axis to the position where the near point dog exists in the OPR direction and the near point dog is OFF For details of JOG operation refer to Chapter 10 m Machine OPR control operation In machine OP OPR control near point dog and zero signal are used to establish a machine None of the address information stored in the QD72P3C3 programmable controller CPU or drive unit is used at this time After the machine OPR control mechanically established position is re
255. on 4 2 Parameter List Set Pr15 ACC DEC time at OPR JOG 2 JOG 15 26 Refer to Section 4 3 JOG Data List ACC DEC time Da 3 ACC DEC time and Z Refer to Section 4 4 Positioning Data List ca2 ACC DEC time at speed change within e Refer to Section 4 6 Control Data List the setting valid range 5 a gt g 27 Execute preset E Set the Md 3 Count value within the range of 31 30 130 230 Pr 16 Ring counter upper limit value the EA f init vaig in 31 131 281 0 to 1073741823 pulse e Pr 16 ring counter upper limit value by the preset x a z Lu Q n 15 2 Error and Warning Descriptions 1 5 20 15 2 2 List of warnings 1 5 TROUBLESHOOTING MELSEC TE cries 15 3 Checking Errors with the LED Display Function The status of the QD72P3C3 and control status of each axis CH can be checked by the LEDs located on the front of the QD72P3C3 QD72P3C3 CH3 CH2 CH1 RUM X P IIAX rl tl 119A ERR T6B Each axis can be monitored by the status of the LEDs The operation and displays are as shown below Operation Display content
256. oni lete signal output lt ie ioning complete signal outpu 40 410 210 p i Md 2 Current speed Deviation counter clear signal 73 173 273 Pr 7 11 111 211 output time Current feed value count value rz pe simultaneous change function 13 113 213 Md 3 Count value s bis ad we imu u uncti unt valu E i g 75 175 275 26 selection as Pr 10 OPR method 20 120 220 Md4 Axis operation status 76 176 276 Pr 11 OPR direction 21 121 221 Md 5 Axis CH error code 7T 177 277 Oo 22 122 222 Md 7 Axis CH warning code 78 178 278 E Pr 12 OP address 2 23 123 223 Md 7 Status 79 179 279 z 24 124 224 Md 8 External I O signal 80 180 280 Oo Pr 13 OPR speed EE v E 25 125 225 50 150 250 Cd 1 N d val 8 26 126 226 E eee 51 151 251 2 Pr 14 Creep speed 27 127 227 Cd 2 ACC DEC time at speed change 52 152 252 Pr 15 ACC DEC time at OPR 28 128 228 Cd 3 Speed change request 54 154 254 77 30 130 230 Cd 4 OPR request flag OFF request 55 155 255 Pr 16 Ring counter upper limit value n 31 131 231 Cd 5 Start method 56 156 256 ES O Pr 17 Positioning range er limit value 32 i n Cd 6 Preset value settin ie 160 200 5 r itioni u imit valu i valu i ce aaa 33 133 233 61 161 261 E Pr 18 Coincidence detection setting 34 134 234 62 162 262 Cd 7 Coincidence detection point setting o Pr19 Count value selection at OPR 35 135 235 63 163 263 Z 40 140 240 S JOG 1 JOG speed 9 41 141 241 m JOG 2
257. onitor of GX Developer 1 5 22 APPENDICES MELSEC S1 APPENDICES Appendix 1 External Dimensions GD72P3C3 CH3 CH2 CH1 RNO O D ox O Gea RO O O 048 GD72P3C3 136 5 35 27 4 1 08 Unit mm inch App 1 Appendix 1 External Dimensions APPENDICES MELSEC Sl Appendix 2 Operation Timing and Processing Time in Each Control eo z z a 1 Operation timing and processing time of machine OPR control em HZ 2S Positioning start signal Y8 to ve 1 tt E l L Pulse output to outside p PULSE i ES Q 1 t2 3 Q i BUSY signal X8 to XA i 1 1 Md 4 JAxis operation status Standby X OPR X Standby 1 i Start complete signal XC to XE AUXILIARY FUNCTION OPR request flag Vid 7 Status b1 COUNTER FUNCTION z e E a E 2 1ms 0 2ms 0to 2 5ms Oto 2 5ms 0 to 2 5ms ni Zz o A delay may occur in the t1 depending on the operating conditions of the other axes O e Z a9 uL T a BZ o z E o o E e Lu a o qe E APPENDIX Appendix 2 Operation Timing and Processing Time in Each Control App 2 APPENDICES M 2 Operation timing and processing time of fast OPR control Positioning start signal Y8 to YF T E L ELSEG e Pulse output to outside PULSE t2 lt gt BUSY signal X8 to XA Start complete signal XC to XE
258. ontrol and Positioning control No7 Start method setting program No 8 2 Positioning control start program Program needed to exercise z el JOG operation No 9 BEEN M ee eee Programs added according to the control exercised No 10 Create as necessary No 11 re ES Stop program Program designed to stop control Na 12 Stop program Continued on next page 7 11 7 3 Creating a Program 7 3 2 Positioning control operation program SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M IES 26 e uw cE z From previous page E o E eee su s IONS 3 Oo hd Dn z o E 2 zo Program needed when using the B m coincidence detection function gt 8 Program needed when using the preset SPECIFICATIONS AND FUNCTIONS Program needed when using the counter function with linear counter Completion of program creation DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT j 9 zZ pa je E le a c O mm OPR CONTROL 7 3 Creating a Program 7 12 7 3 2 Positioning control operation program 7 4 T 13 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Positioning Control Program Examples MELSEC 8 This section describes the examples of positioning control program for Axis 1 p No 1 to No 4 parameter and data
259. ontrol was performed 3 The fast OPR control is completed 8 10 OPR speed Position established by machine OPR Control OP Creep speed Fast OPR control Positionig start signal Y8 to YA i i During fast OPR X Standby Axis operation Standby status Position control to OP Figure 8 9 Fast OPR control 8 3 Fast OPR Control 8 3 1 Outline of the fast OPR control operation 8 OPR CONTROL MELSEC TE eries mPrecautions during operation Z a Perform fast OPR control after performing machine OPR control and the machine o OP is established o If fast OPR control is started without performing machine OPR control Machine 9 OPR not performed error error code 203 occurs b In fast OPR control OPR complete flag LMd 7 Status b2 and OPR request flag LMd 7 Status b1 do not change q a c On completion of fast OPR control LPr 12 OP address is not stored into Md 1 zo Current feed value p d If movement amount to the OP exceeds 268435455pulses position control to the OP is performed in every 268435455pulses with alternating between stop and start Movement SPECIFICATIONS AND FUNCTIONS Maximum Maximum amount 2 5ms 2 5ms 63129090 pulse Movement amount Movement amount 268435455pulse 268435455pulse O 99999999 0 Lo Address at start OP address fa 7 uso 282 Figure 8 10 Fast
260. open collector Pulse output R A2 B2 PULSER compatible unit CW CCW mode CCW PULSE SIGN mode SIGN UTILITY PACKAGE GX Configurator PT A3 B3 PULSE Pulse output common Common for pulse output F and pulse output R A1 B1 COM Phase A pulse input i A20 B20 CHA 24V Phase A pulse input for 24V SEQUENCE PROGRAM USED FOR POSITIONING 24V Phase A pulse input 5V A19 B19 CHA 5V Phase A pulse input for 5V Phase A common A18 B18 CHA COM Common for phase A pulse Phase B pulse input A17 B17 CHB 24V Phase B pulse input for 24V n 24V Phase B pulse input 5V A16 B16 CHB 5V Phase B pulse input for 5V E Phase B common A15 B15 CHB COM Common for phase B pulse o n 3 5 Specifications of I O Interfaces with External Device 3 17 3 5 3 List of I O signal details SPECIFICATIONS AND FUNCTIONS 3 5 4 Internal circuit of I O interface MELSEC 8 The following shows the schematic diagram of the internal circuit of the interface for external device connection of the QD72P3C3 for axis 1 1 0 T Pin Tu Es External wiring Internal circuit Signal name classification No A14 e nans i Zero signal PGO 1
261. or details refer to Section 5 6 Intelligent Function Module Switch Setting 4 1 4 1 Data Types 4 1 1 Parameters and data required for control 4 DATA USED FOR POSITIONING CONTROL MELSEC Sl LL z Monitor data E e Data related to the operations of the running S axes e g the current positions speeds 9 Monitor data error status and warning status are monitored a for each axis Md 1 to Md 8 Storage location QD72P3C3 buffer memory Zz amp Control data zo DO Operation related settings are made and control Axis control data such as speed change during operation is performed Storage location QD72P3C3 buffer memory 990 1 Cd 1 to Cd 7 oo ZG oz T uo az Hx mHow to set setting data 4 Sequence program GX Configurator PT GX Developer Setting item 9 Parameter O O Initial setting x 3 JOG data O x x Be 8 Positioning data Oo O Initial setting x Intelligent function module switch x O Initial setting is made to the intelligent function module parameters of the QCPU O Can be set x Cannot be set PROCEDURES AND SETTINGS BEFORE OPERATION POINT 1 Create setting data for each axis 2 The setting data parameters have determined default values and have been set to the default values before shipment from the factory Leave the parameters for unu
262. ord Display 16bit integer Value DEC C Bit 32bit integer C HEX Stop monitor C Word Real number single precision ERE Real number double precision C ASCII character Option setup Address FEDC 48498 7654 3210 as 00071 0000 0000 0000 0000 Device test 00072 0001 0011 1000 1000 5000 00073 0000 0000 0000 0000 00074 0000 0000 0000 0000 n Close 00075 0000 0000 0000 0000 00076 0000 0000 0000 0010 7 5 20 5 7 Simple Reciprocating Operation PROCEDURES AND SETTINGS BEFORE OPERATION en eee b Checking using GX Configurator PT Monitor the current feed value current speed axis operation status and axis error code on the Monitor Test screen For details refer to Section 6 6 Monitoring Test PRODUCT OUTLINE Example Operation monitor of Axis 1 Axis 1 Monitor Test GX Configurator PT screen Axis 1 Monitor Test Module information Module type QD70 Model Module Start 1 0 No 0000 CONFIGURATION SYSTEM Module model name QD72P3C3 Setting item Current value Setting value Current feed value Current speed Axis operation status JOG Operation Axis 1 CH1 Error code Axis 1 CH1 Warning code Status OFF In speed control flag External 0 signal ON Upper limit signal External 0 signal DN Lower limit signal SPECIFICATIONS AND FUNCTIONS Flash ROM
263. ount value Out of preset simultaneous change function is set to 2 24 value setting Current feed value changed together at preset or range 8 Values changed both at current value change and at preset the setting value of the LCd 6 Preset setting value exceeds the Software stroke limit upper lower limit value Coincidence m t E 25 MAR The setting value of the Cd 7 Coincidence Coincidence detection is not executed and operation i detection point setting is out of the setting range or count operation is continued disabled Out of ACC Any of the ACC DEC time at OPR 26 DEC time JOG ACC DEC time ACC DEC time and The operation is carried out at the maximum value or setting valid a2 ACC DEC time at speed change setting the minimum value of the setting valid range range values is out of the setting valid range Count value exceeded 1073741824 lower limit 27 Overflow value or 1073741824 upper limit value when the linear counter is selected Count operation is stopped Positioning operation is continued Out of count The M43 Count value exceeds the Pr 16 Ring 31 Count is executed with an invalid value value range counter upper limit value 1 5 19 15 2 Error and Warning Descriptions 15 2 2 List of warnings 1 5 TROUBLESHOOTING MELSEC TE eries
264. pe QD70 Model Module Start 170 No Module model name QD72P3C3 MS Module side Module side eerte PLC side Setting item Buffer size Transfer DIMUS Device word count Axis 1 Current feed value Make text file End setup Cancel Explanation of items 1 Setting item list Setting item Axis Current feed value Axis Current speed CH Count value Axis operation status Axis CH Error code Axis CH Warning code 6 15 6 5 Auto Refresh Setting 6 UTILITY PACKAGE GX Configurator PT MELSEC TE eries 2 Items Module side Buffer size Displays the buffer memory size of the setting item Module side Transfer word count Displays the number of words to be transferred Transfer direction indicates that data are written from the programmable controller CPU to the buffer memory gt indicates that data are loaded from the buffer memory to the programmable controller CPU PLC side Device Enter a CPU module side device that is to be automatically refreshed Applicable devices are X Y M L B T C ST D W R and ZR When using bit devices X Y M L or B set a number that can be divided by 16 points examples X10 Y120 M16 etc Also buffer memory data are stored in a 16 point area starting from the specified device number For example if X10 is entered data are stored in X10 to X1F PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS
265. peed of the speed control and JOG operation Set the new speed in LCd 1 New speed value The speed is changed according to LCd 3 Speed change request The ACC DEC time when the speed is changed is the value set in LCd 2 JACC DEC time at speed change For details of the speed change function refer to Section 11 3 Speed Change Function mData requires setting Set the following data Buffer memory ae address Setting item Setting value Axis Axis Axis 1 2 3 Cd 1 2000pulse ee ka ulse s New speed value p 51 451 251 Cd 2 JACC DEC time at speed change 1000ms 52 152 252 Cd 3 Speed change request 1 Speed change requested 54 154 254 For details of the setting contents refer to Section 4 6 Control Data List mSpeed changing timing chart Positioning start signal Y8 to YA Programmable controller CPU READY signal YO Module READY signal X0 Start complete signal XC to XE BUSY signal X8 to XA Positioning complete signal X10 to X12 Axis CH error occurrence signal X1 to X3 Axis stop signal Y4 to Y6 1 New speed value 3 Speed change request Figure 7 7 Speed changing timing chart 7 5 Program Details 7 30 7 5 4 Auxiliary program PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL
266. per lower limit value LPr 1 Pr2 setting S range Software stroke limit error error code 516 517 occurs and the S current value cannot be changed m When the ring counter is set for the counter format if the value set to 6 LDa 5 Positioning address movement amount value of current value change is 8 out of 0 to Pr 17 Positioning range upper limit value 1 range Out of positioning address movement amount setting range error error code 509 occurs and the current value cannot be changed d n ui o Z E o o as i a o E x Q A lt 9 2 Positioning Data Setting 9 13 9 2 4 Current value change O POSITIONING CONTROL 9 14 Axis 1 positioning data mPositioning data setting example The following table shows a setting example when current value change is set in positioning data of axis 1 Setting item Operation pattern Setting example Positioning start independent MELSEC 8 Setting contents Set positioning start independent assuming position control whose movement amount is within 268435455pulses is performed movement amount 10000pulse Da 2 Control method Current value change Set the current value change Da 3 ACC DEC time Setting not required Setting value is ignored Da 4 Command speed Setting not required Setting value is ignored Da 5 Positioning address
267. pleted mWiring of signals required for each OPR method OPR method Near point dog method Stopper 3 Zero signal PGO O O Near point dog signal DOG O Deviation counter clear CLEAR O O O Wiring required Wiring not required Creep speed The speed is quite slow The stopping accuracy is poor when the axis is suddenly stopped from high speed Therefore the axis must be switched to low speed Set this speed to LPr 14 Creep speed e 06 000000006000000000000000000000000000000000000000000009 8 2 Machine OPR Control 8 2 2 OPR method for machine OPR control 8 OPR CONTROL MELSEC TE eries 8 2 3 OPR method 1 Near point dog method z 5 The following describes an operation outline of the OPR method near point dog method S 2 1 Operation chart By turning ON the positioning start signal Y8 to YA machine OPR control is started 1 Acceleration starts in the direction set in LPr 11 OPR direction and at the time set in LPr 15 ACC DEC time at OPR z and the axis moves at LPr 13 OPR speed z 2 Near point dog ON is detected and deceleration starts at the time set in LPr 15 ACC DEC time at OPR o oz The motor decelerates until it reaches to Pr 14 Creep speed and then starts moving at the creep speed ao During deceleration the near point dog must be ON On detection of the first zero sign
268. power line even inside the control panel Do the LEDs of A and B turn ON by applying voltage to pulse input terminals of pA and B using Such as stabilize power supply If the LEDs turn ON check the external wiring and the wiring of the pulse generator side If the LEDs do not turn ON the module may be at failure Please consult your local Mitsubishi representative to explain a detailed description of the problem Are the pulse input method and pulse input mode set with the intelligent function module switch setting the same Match the pulse input method with the pulse input mode made on the intelligent function module switch setting Is the maximum speed of input pulse within the range of the counting speed setting Set the maximum speed of the input pulse within the range of the counting speed Does the input pulse waveform match with the performance specifications Check the pulse waveform with synchronoscope When the input pulse does not meet the performance specifications input the pulse which meets the performance specifications Is the count enable command Y1C to Y1E ON Turn the count enable command Y1C to Y1E ON with the sequence program Is the overflow occurring Is the 32bits in the sequence program Md 3 Count value read in units of 2 words 15 1 Troubleshooting Flow Execute the preset to clear the overflow Read with a batch of 2 words 15 1 5
269. pped midway 3 3 Specifications of I O Signals with Programmable Controller CPU 3 3 2 Details of input signal QD72P3C3 programmable controller CPU 3 SPECIFICATIONS AND FUNCTIONS MELSEC Sl uw z i E 2 pare Signal name Description E i ipti No g P 9 a OFF Count value lt 9 Coincidence detection p X14 CH1 X18 CH2 Count value point setting 1 This signal turns ON when Wd3 Count value gt C 7 Coincidence X1C CH3 large ON Count value gt detection point setting Coincidence detection point setting z ES X15 CH1 OFF Count value not 1 This signal latches at ON when ma 3 Count value a o Eu x19 CH2 Countvalue coincided ca7 Coincidence detection point setting 2S X1D CH3 coincidence ON Count value 2 This signal turns OFF when the coincidence signal reset request is En coincided turned ON 3 OFF Count value idi Coincidence detection X16 CH1 e XIA CH2 Count value point setting 1 This signal turns ON when Wd3 Count value lt C 7 Coincidence lt 6 i i ina z X1E CH3 small ON Count value detection point setting z 5 Coincidence detection wo point setting o lt IMPORTANT So 1 The BUSY signal X8 to XA turns ON even when position control of B23 movement amount 0 is performed However since the ON time is short the EE ON status may not be detected in the sequen
270. program Xo X26 781 HK A SET Module Count READY operation signal start command XO X2D 800 rS Rest Module Count READY _ operation signal stop command XO XE 803 R A HO K74 D74 Module Count Count READY Value value signal read command No 14 Count value coincidence process program XQ 810 Module READY signal X15 CH1 count CH1 value coincidence coincidence Signal reset i command signal X15 XF H aa SET CH1 count Count value value coincidence coincidence Clear i command signal X15 Y 14 M nst CH1 count CH1 value coincidence coincidence Signal reset i command signal No 15 Preset execution program SIS eG e series M12 Stop command pulse Y4 i Axis 1 H stop signal Y4 Axis 1 H stop signal Y1C Count enable command signal Y1C Count enable command signal Kt t _3 SA Coincidence detection LED Y14 CH1 coincidence signal reset command Yt4 CH1 coincidence signal reset command CH1 preset Xo X30 841 tPI SPO ii HB Module Preset READY command signal No 16 Overflow detection process program 862 Module IREADY signal 872 UON G79 H8 Status WAND command D121 Overflow occurrence flag o D121 KO ke ht Overflow Overflow occurrence occurrence flag confirmation LED 7 4 Posi
271. program Make the settings while referring to UHAPTER 4 DATA USED FOR POSITIONING CONTROL In addition when creating a sequence program required for each control refer to CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL and consider the entire control program configuration CHAPTER8OPR CONTROL ssssssese es 8 1to8 12 CHAPTER9POSITIONING CONTROL 0 0 00000002 cee eee eee 9 1to9 4 CHAPTER10JOG OPERATION 0 000000000 ee 10 1to 10 7 CHAPTER11AUXILIARY FUNCTION ssssse en 11 1to 11 16 CHAPTER12COUNTER FUNCTION sssessee e 12 1to 12 14 CHAPTER13COMMON FUNCTION 0 eh 13 1to 13 4 CHAPTER14DEDICATED INSTRUCTIONS 0 2 14 1 to 14 15 CHAPTER15TROUBLESHOOTING ssssesse elles 15 1to 15 22 Memo 8 OPR CONTROL MELSEC TE eries Lu CHAPTER8 OPR CONTROL Z 3 o This chapter describes details of the QD72P3C3 OPR control B a Dn 8 1 X Outline of OPR Control 8 1 1 Two types of OPR control 5 Z0 OPR control is control to establish a position OP which is to be a reference when oZ nO performing positioning control This control is used to return a mechanical system at any position other than the OP to the OP when the QD72P3C3 issues OPR request such as at power ON or after positioning control stop The QD72P3C3 defines the following two control types as OPR control in the sequence of OPR operation These OPR
272. r 9001 at Start number of S 2 c Completion status of the PSTRTd instruction can be checked by the completion device D 0 and D 1 1 Completion device D 0 Turns ON at END processing in the scan where the PSTRT1 instruction is completed and turns OFF at the next END processing 2 Completion status display device D 1 Turns ON OFF according to the status when the PSTRTT instruction is completed Normal completion Remains OFF Error completion Turns ON at END processing in the scan where the PSTRTUu instruction is completed and turns OFF at the next END processing Same ON OFF operation as a completion device 14 4 14 3 PSTRT1 PSTRT2 PSTRT3 1 4 DEDICATED INSTRUCTIONS MELSEC TE eries END processing END processing END processing END processing Sequence program Completion of the PSTRT ON instruction execution PSTRTL instruction ed Completion device Completion status display device i 1 completion One scan 4 Error At error completion of the PSTRTT instruction the error completion signal D 1 turns ON and the error code is stored in the completion status S 1 Refer to the error code list in Section 15 2 1 check the error and take corrective action 5 Precautions a When the positioning control is started with the PSTRTQ instruction the positioning start signal Y8 to YA and the st
273. r Test 6 Avis tI3 CH 3 Warning occurrence No warring Avis 3 OPR Monitor Avie 3 OPR Monitor X8 Asis 1 BUSY Not BUSY Counter function Moritor Test Counter function Monitor Test Select it X Avis 2 BUSY Not BUSY X Y Monitor Test X Y Monitor Test elect tems XAcAxis 3 BUSY Not BUSY ACC DEC time calculation function ADC DEC time calculation function XC Axis ff Start completed Start incomplete x Flash ROM setting Details to be moved Flash ROM setting Details Monitoing to sub window CENE Morin display E Move to sub window Cannot execute test Make tent fle Make text fie Stop monitor Close Stop monitor Explanation of items 1 Setting item list Module READY Programmable controller CPU READY Axis 1 Operation status Axis 2 Operation status Axis 3 Operation status Axis 1 CH 1 Error occurrence X01 Axis 2 CH 2 Error occurrence X02 Axis 3 CH 3 Error occurrence X03 Axis 1 CH 1 Warning occurrence X04 Axis 2 CH 2 Warning occurrence X05 Axis 3 CH 3 Warning occurrence X06 Axis 1 BUSY X08 Axis 2 BUSY X09 Axis 3 BUSY X0A Axis 1 Monitor Test Axis 1 OPR Monitor Axis 2 Monitor Test Axis 2 OPR Monitor Axis 3 Monitor Test Axis 3 OPR Monitor Counter function Monitor Test X Y Monitor ACC DEC time calculation function 2 Items Setting item Displays I O signals and buffer memory names Current value Monitors the I O s
274. r Test Axis 1 OPR Monitor k Module information Module information O u Module type QD70 Model Module Stat 0No 0000 Module type D70 Model Module Start ONo 0000 B 9 Module model name QD72P3C3 Module model name QD72P3C3 wuz 253 Setting item Current value Setting value Setting item Current value Setting value lt EE Current feed value Current feed value EQ Curent speed Curent speed B Q O Axis operation status Axis operation status Avis 8170H1 Enor code Status Avis 17CH1 Warning code OPR request flag Status Status In speed control flag OPR complete flag Ewtemal 70 signal Extemall O signal EN Upper limit signal Upper limit signal Zn Extemal O signal Estemal 70 signal E Lower limit signal Lower limit signal Q n Flash ROM setting Details Flash ROM setting Details w u Curent value Monitoring Curent value Monitoring a display display 200 Cannot execute test Cannot execute test a Q Make text file Make text fle 5 z a OF wi u a ano Stop monitor Counter function Monitor Test Module information Module type QD70 Model Module Module model name QD72P3C3 Stop monitor Counter function Monitor Test v Start 1 0 No 0000 Setting item Curent value Setting value CH1 Preset value setting CH1 Coincidence output point setting CH1 Count value Axis 1 CH1 Error code Axis 1 CH1 Waming code Axis 1 CHT Status Overflow occurrence flag CH2 P
275. r to Section 9 1 3 Setting contents from Da 1 to Da 5 differ in setting requirement and description depending on Da2 Control method Refer to Section 9 2Positioning Data Setting x a z Lu n n lt 9 1 Outline of Positioning Control 9 1 9 1 1 Data required for positioning control O POSITIONING CONTROL MELSEC Kel ries 9 1 2 Positioning control operation patterns Depending on movement amount positioning control has two operation patterns positioning start independent and positioning start continuous Select the operation pattern at L Da Operation pattern _Da 1 Operation pattern setting contents y Operation pattern setting Setting contents Select this item when performing positioning control whose movement 0 Positioning start independent amount is within 268435455pulses regardless whether the system is the absolute system or incremental system Select this item when performing positioning control whose movement 5000 Positioning start continuous amount is over 268435455pulses regardless whether the system is the absolute system or incremental system Example 1 Performing positioning control whose movement amount is within 268435455pulses When performing position control from 99999999 address at start to 150000000 address at end in absolute system since the movement amount is 250000000pulses select 0 Positioning start independent
276. ration of Positioning Control 1 13 1 3 2 Outline of control stop 2 SYSTEM CONFIGURATION CHAPTER2 SYSTEM CONFIGURATION This chapter describes the system configuration of the QD72P3C3 2 1 General Image of System ELSEG el The following is the general configuration including the QD72P3C3 programmable controller CPU and peripheral etc Numbers in the figure correspond to the ones in the table in Section 2 2 Component List on the next page Peripheral GX Developer GX Configurator PT RS 232 cable USB cable 1 CPU module 2 Main base unit Power supply switches module Positioning module Connection QD72P3C3 cable Mechanical system input Near point dog signal Upper lower limit signal Extension cable Encoder 1 Foravailable CPU modules refer to Section 2 3 Applicable System 2 Foravailable base units and power supply modules refer to the User s Manual for the CPU module 2 1 2 1 General Image of System 2 SYSTEM CONFIGURATION No 2 2 Component List WISLSSC Sl A positioning system using the QD72P3C3 consists of the following components Product name Positioning module Model QD72P3C3 Remarks GX Developer SWOD5C GPPW E For details refer to the GX Developer Operating Manual and 2 GX Configurator PT SWOD5C QPTU E CHAPTER 6 UTILITY PACKAGE GX Confi
277. re positioning control the axis decelerates to stop as soon stroke limit lower limit value as the Ma1 Current feed value or Da5 Positioning 517 Software stroke limit Ma 1 Current feed value address movement amout exceeds the software stroke 7 Da 5 Positioning address movement limit range value New current value has exceeded Pr 2_ Software stroke limit lower limit value The Md 1 Current feed value exceeds 518 eee the Pr 17 Positioning range upper limit The axis does not start value range value 1 5 9 15 2 Error and Warning Descriptions 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC TE eries 9 z z oO EE Related buffer memory o Error amp o address g code Setting range i Axis Axis Axis decimal CH 1 CH2 CH 3 z Cd 5 Start method 2 0 Positioning control 501 56 156 256 M Set the ca 5 Start method within the setting range E 9000 Machine OPR control g 9001 Fast OPR control 9 504 Set the Da 1 Operation pattern within the setting range 506 Set the Da2 Start method within the setting range Refer to Section 4 2 Parameter List Refer to Section 4 3 JOG Data List Set IPXISl ACC DEC ti VOPR 0621 JOG ACC DEC e T mea Refer to Section 4 4 Positioning Data List i 507 Refer to Section 4 6 Control Data List time Da3 ACC DEC time and Cd2 ACC DEC ti
278. red p The latest code of the error which occurred in the axis is z z Md 5 Axis CH error code EI monitored lt 9 EX C The latest code of the warning which occurred in the axis is m Md 6 Axis CH warning code na monitored a2 Md 8 Status The flag is monitored 4 Md 8 External I O signal The external I O signal is monitored 4 1 6 Types and functions of control data 9 Z ES 8g EE NZ OQ ao To operate the positioning control system perform controls as necessary Defalut value is stored to data to be used for controls at power ON However the value can be set with the sequence program as necessary The following items can be controlled For details of control data refer to Section 4 6 Control Data List Control data Description Cd 1 New speed value Set speed to be changed during operation PROCEDURES AND SETTINGS BEFORE OPERATION Set the time until the speed reaches to the one after change from Cd 2 ACC DEC time at speed change the speed before change UTILITY PACKAGE GX Configurator PT Cd 3 Speed change request Issues a command to change speed in operation to Cd 1 value Cd 4 OPR request flag OFF request Switches the OPR request flag from ON to OFF Cd 5 Start method Set a control to be performed start method Set a value to be stored in Md 3 Count value by turning ON Cd 6 Preset value setting
279. refer to CHAPTER 6 Direction Communication Data QCPU Peripheral Peripheral QCPU Initial setting Auto refresh setting Operation monitor Monitor data QD72P3C3 buffer memory XY devices 3 QD72P3C3 Drive unit The QD72P3C3 and drive unit communicate the following data via the external device connector Direction Communication QD72P3C3 Drive unit Drive unit QD72P3C3 Control signal Signals related to commands Deviation counter clear signal CLEAR Signals indicate OP Zero signal PGO Pulse train 1 10 Pulse train output PULSE F PULSE R 1 2 Outline of Positioning Control and Count Operation 1 2 4 Communicating signals between QD72P3C3 and each module 1 PRODUCT OUTLINE MELSEC Sl 4 Encoder QD72P3C3 The input signals from the encoder are input to the QD72P3C3 via the external device connector Encoder Pulse train input CH A CH B W z m E 2 Oo E o 2 a O fad o 5 Mechanical system inputs switches QD72P3C3 The input signals from the mechanical system inputs switches are input to the QD72P3C3 via the external device connector CONFIGURATION SYSTEM Mechanical system input Near point dog signal DOG switch Upper lower limit signal FLS RLS SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX
280. reset value setting CH2 Coincidence output point setting Flash ROM setting CH2 Count value Axis 2 CH2 Error code Details Monitoring Decimal input Selling range 1073741824 1073741823 6 6 Monitoring Test 6 6 1 Monitoring Test screen 6 18 SEQUENCE eo e un o e E a2 gt S ES FEX E PROGRAM USED FOR POSITIONING OPR CONTROL UTILITY PACKAGE GX Configurator PT Module information X Y Monitor X Y Monitor Test Module information MELSEC 8 Module type QD70 Model Module Statl ONo 0000 Module ype QD70 Model Module Stat QNo 0000 Module modelname QD72P303 Move to sub Module model name QD72P3C3 window Setting tem Current value Setting value B Setting tem Current value Setting value Avis 2 BUSYIXOS Nar BUSY XOModule READY Prepared Avis 3 BUSYIXOA Not BUSY XT Asis NT CH 1 Error occurrence No eror Axis 81 Monitor Test Avis W Monitor Test X Y Monitor X2 Asis N2 CH 2 Error occurrence No enor Avie 81 OPR Monitor Avis tl OPR Monitor X3 Avis 3 CH 3 Error occurrence No error Axio 2 Monitor Test Axis 2 Monitor Test X4 Asie 8T CH 1 Warring occurrence No warning Avis 82 OPR Monitor Asis 2 OPR Monitor X5 Ais I2 CH 2 Warring occurrence No warning Avis 3 Monilor Test Avis t3 Monilo
281. ress PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 2 Parameter List 4 14 4 DATA USED FOR POSITIONING CONTROL Pr 13 4 15 OPR speed MELSEC 8 Setting contents Set the speed for OPR control Precautions Set OPR speed to equal to or less than Pr4 Speed limit value If the Speed limit value is exceeded Out of OPR speed setting range error error code 913 occurs Setting unit pulse unit for speed setting data changes according to the value set to LPr 4 Speed limit value as the table below Setting value of LPr4 Speed limit 1 to 8000 8001 to 32000 32001 to 64000 64001 to 100000 value pulse s Pulse unit 1 pulse unit 4 pulse unit 8 pulse unit 25 pulse unit When setting Pr4 Speed limit value to 100000 pulse s when pulse unit is 25 pulse unit set a value which is multiples of 25 to LPr 13 OPR speed If setting a value that does not satisfy the condition the value is dropped so that it can be multiples of 25 4 2 Parameter List 4 DATA USED FOR POSITIONING CONTROL Pr 14 Creep speed Setting contents eG Q series Set the creep speed low speed immediately before stop after deceleration from OPR speed The creep speed has influence to detection to
282. rom System monitor of GX Developer Version 6 or later Refer to the GX Developer Operating Manual for details 6 17 6 6 Monitoring Test 6 6 1 Monitoring Test screen UTILITY PACKAGE GX Configurator PT MELSEC Sl LL Setting screen z zy r Axis Monitor Test OPR Monitor Counter function Monitor Test 5 o e o onito Q o Module information E Module type QD70 Model Module Start 1 0 No 0000 Module model name GD72P3C3 Setting tem Curent value Asis H2 BUSY OA NorBUSY Axis 3 BUSVIXDA Not BUSY z Avis 1 Moritor Test Avis 1 Monitor Test o Avis 1 OPR Monitor Axis 1 OPR Monitor E Avis I2 Moritor Test Axis 2 Moritor Test s z Avis 2 OPR Monitor Avis 2 OPR Monitor Select items to be Avis 3 Manitor Test Axis 3 Monitor Test E Avis 3 OPA Monitor Avis 3 OPR Monitor moved to sub window a 0 Counter function Monitor T est Counter function Monitor Test E LL XZY Monitor Test X Y Monitor Test oz ACC DEC time calculation function ACC DEC tine calculation function 0 Flach ROM setting Detaile nO Curent value Monitoring display Cannot execute test Make text file an zz 5 Clo Qe E top monitor se E 5 oz ES o wa az nx Axis 1 Monitor Test Axis 1 OPR Monitor Axis 1 Monito
283. ror codes The error code stored in the Md 5 Axis error code is displayed in the Present Error field One of the axes from 1 to 3 By clicking the Errorlog button the error code of the error that has occurred for each axis is displayed in order of axis 1 to 3 Note that this display does not give a history AUXILIARY FUNCTION Module s Detailed Information Module Module Name QD72P3C3 Product information 09041 0000000000 B 170 Address 0 Implementation Position Main Base OSlot Module Information COUNTER FUNCTION Module access Possible 1 0 Clear Hold Settings Status of External Power Supply Noise Filter Setting Fuse Status Input Type Status of 1 0 Address Verify Agree Remote password setting status z o Error Display 5 Display format Zz Sees Present Ener 507 e 1 1507 QUA C HEX DEC Display format n EE ess Select DEC E The error codes indicated in z The display sequenck of the error history is from the oldest error Section 15 2 1 Error code list The latest error is displayed in the line as under i O are in decimal O e Z a9 uL ES Se Ao H WwW Information az M Present Error Error display descriptions The number means the error code 507 O Out of ACC DEC time setting range Error code of Axis n Axis n 1nS3 TROUBLESHOOTING APPENDIX 15 4 Checking Error Description Using System M
284. rrent feed value Error display Error LED Error LED History data storage i No No Start error warning No No Data storage destination Backup invalid Backup invalid Peripheral software GX Configurator PT GX Configurator PT A6CON1 soldering type A6CON1 soldering type A6CONZ crimp type A6CON2Z crimp type Connector crimp type crimp type A6CON1 soldering type usable for both straight out and diagonal out A6CON1 soldering type usable for both straight out and diagonal out Applicable wire size A6CON1 A6CONA4 0 3mm A6CON1 A6CON4 0 3mm A6CON2 AWG 24 A6CON2 AWG 24 Output type of command pulse Open collector Open collector Maximum output pulse 100kpps 200kpps Counter function O x Maximum connection distance to 2m 2m servo Internal current consumption 5VDC 0 57A 0 55A Number of occupied I O points 32points 32points Number of slots occupied by module 1 1 Weight 0 16kg 0 17kg Appendix 8 Comparison with QD70P type positioning module App 18 POSITIONING CONTROL JOG OPERATION AUXILIARY FUNCTION COUNTER FUNCTION COMMON FUNCTION DEDICATED INSTRUCTIONS TROUBLESHOOTING APPENDIX APPENDICES MELSEC S1 1 Start method of positioning data differs according to the model QD70P4 Positioning data can be started from No 1 only It cannot be started from No 2 to No 10 2 Added into GX Developer
285. rrent feed value and Md 3 Count value depend on the operation pattern Refer to the table below Stored value Current feed value Count value Setting value of Operating condition 1 Count value changed Current value change execution Da 5 Positioning address Da 5 Positioning address together at current value Positioning start ON movement amount movement amount change Preset command ON Cd 6 Preset value setting Current value change execution Da 5 Positioning address 2 Current feed value changed Positioning start ON movementamo nt together at preset Preset command ON Cd 6 Preset value setting Cd 6 Preset value setting 3 Values changed both at Current value change execution Da 5 Positioning address Da 5 Positioning address current value change and at Positioning start ON movement amount movement amount preset Preset command ON Cd 6 Preset value setting LCd 6 Preset value setting a Count value changed together at current value change Setting value of LPr 9 1 5 Positioning address movement amount Cd 6 Preset value setting Current value change execution Positioning start signal Y8 to YA Preset command Y18 to Y1A Md4 Current feed value Indefinite 3000 5 Count value indents E 3m 1 1 When the current value
286. rror and Warning Descriptions 1 5 18 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC IA ries 15 2 2 List of warnings The following table shows the warning descriptions and measures to be taken when a warning occurs Warning code Warning name Description Operation at warning decimal 000 Normal Start during a 10 The start is requested during the axis is BUSY The operation is continued operation Da4 Command speed and a 1 New speed Out of speed Control the speed with the Pr5 Bias speed at start 20 value are less than the Pr5 Bias speed at range or Pr4 Speed limit value start or exceed the Pr4 Speed limit value Speed change Speed change was requested for other than speed e 22 The operation is continued disabled control and JOG operation Preset command Y18 to Y1A is executed during operation when the Pr9 currrent feed value 23 Preset count value simultaneous change function is set to disabled 2 Current feed value changed together at preset or 3 Values changed both at current value change and at preset The setting value of the C 6 Preset value p Preset is not executed and operation or count setting is out of the setting range moo operation is continued When the Pr9 currrent feed value c
287. ruction Manual IB 68682 5 40 5 4 Wiring 5 4 1 Wiring precautions 5 PROCEDURES AND SETTINGS BEFORE OPERATION 4 MELSEC Sl Wiring examples using duct improper example and improved example Relay Drive Drive unit unit Control panel Noise source Power system etc E Control panel Relay Noise source Power system etc Wiring duct Relay M Relay Programmable QD7 controller CPU P3C The drive units are placed near the noise source The connection cable between the QD72P3C3 and drive units is too long Modified Wiring duct Relay d Relay Programmable QD72 The QD72P3C3 and drive controller CPU P3C units are placed closely The connection cable between them is located separately from the power line and as short as possible In this example the cable is connected without using the duct 5 4 Wiring 5 41 5 4 1 Wiring precautions PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL oO Ww ao 9 LG Ww az Ie 25 Fu Ww No UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM
288. s 0 72 172 272 OES u M2 i 73 173 273 4 Range 0 to 100000pulses The count value of input pulse is stored This value can be rewritten to Cd 6 Preset value setting with the preset 74 174 274 command Y18 to Y1A 75 175 275 Range 1073741824 to 1073741823pulses The axis operation status is stored 1 Error Standby Stopped JOG operation OPR 0 76 176 276 Position control Speed control Deceleration axis stop ON Deceleration JOG start OFF Fast OPR At axis CH error occurrence the error code corresponding to the error description is stored elf another error occurs during axis CH error occurrence the latest error code is ignored However if an error which affects the system error code 800 to 830 occurs the old error code is overwritten and the latest error code is stored Md 3 Count value 9 Z S 8g EE NZ OQ ao Md4 Axis operation status SETTINGS BEFORE PROCEDURES AND OPERATION ONOaRWNAO UTILITY PACKAGE GX Configurator PT Md 5 Axis CH error code 0 77 177 277 The error codes 800 to 830 are stored into LMd 5 for all axes When the axis CH error reset signal Y1 to Y3 of each axis is turned ON the error code is cleared becomes zero For details of error code refer to Section 15 2 1 At axis CH warning occurrence the warning code corresponding
289. s detected by the QD72P3C3 include errors out of the parameter settings and errors at the operation start or during operation a Parameter setting range errors The parameters are checked at the rising edge OFF ON of the programmable controller CPU READY signal Y0 An error occurs when the parameter setting details are incorrect When this kind of error occurs the module READY signal X0 does not turn ON To cancel the error set the correct value in the parameter which the error occurred and then turn ON the programmable controller CPU READY signal YO b Erros at the operation start or during operation These are errros that occur at the operation start or during operation when the OPR control positioning control or JOG operation is used If any error occurs on any axis at a start the axis does not start and Md 4 JAxis operation status changes to Error If any error occurs on any axis during operation the axis decelerates to stop and LMd 4 Axis operation status changes to Error mError storage When an error occurs the axis CH error occurrence signal X1 to X3 turns ON and the error code corresponding to the error description is stored in Md 5 Axis CH error code Axis CH Axis CH error occurrence signal i Axis CH error code number X1 to X3 buffer memory address 1 X1 77 2 x2 177 3 X3 277 For setting contents refer to Section 4 5 Monitor Da
290. s of I O signals 1 Input specifications a Input specifications of external input device for positioning Rated input Operating ON voltage OFF voltage Input Response Signal name voltage P voltage range current current resistance time current 2 7VDC or more 1 0VDC or less Approx 0 1ms or 5VDC 18mA 4 5 to 5 5VDC 5 5mA or more 0 5mA or less 3900 less The minimum pulse width is as follows Zero signal PGO ON B u 3us or less gt lt 4 3us or less _0 1ms or more OFF rn Near point dog signal n eS 7 0VDC or DOG 19 2 to 17 5VDC or more Approx EA 24VDC 5mA less 0 9mA or 1ms or less Upper limit signal FLS 26 4VDC 3 0mA or more i 6 8kQ ess Lower limit signal RLS 3 12 3 5 Specifications of I O Interfaces with External Device 3 5 1 Electrical specifications of I O signals 3 SPECIFICATIONS AND FUNCTIONS MELSEC el b Input specifications for the counter function Rated input Operating ON voltage OFF voltage Input Response Signal name voltage voltage current current resistance time current range 1 0VDC or 2 7VDC or more Approx 5VDC 5VDC 18mA 4 5 to 5 5V less 0 5mA or 14s or less 5 5mA or more 3909 less Approx 24VDC 2 to 21 6VDC or more 5VDC or less 24VDC 21 6 to 26 4V 3900 14s or less 6mA 2mA or more 0 1mA or less n T Phase A pulse input CH A 5V CH A 24V Phase B pulse input CH B 5V CH B 24V
291. s tat Description Display contents Operation status Description status CH1 CH2 CH3 RUN LED i CH1 CH2 CH3 RUN AX OFF RUN B MAX oA The stslus of Hardware oA AX_CH1 LED is e status o ERR B Failure ERR B ON Axis In ERR LED Module Same for other operation AX1 to AX3 Error axes are undefined AX_CH1 LED is CH1 CH2 CH3 i CH1 CH2 CH3 RUN B AX RUN LED is RUN B x flashing oA ON Module oA Same for other Axis CH ERR vB ERR LED is Normal ERR oB axes Error OFF ERR LED is flashing RUN LED is A GHATEDI CH1 CH2 CH3 CH1 CH2 CH3 RUN B AX ON ERR Syst RUN B AX i is Phase A stem LEDis ON E moa motor otner Ya rror ERR m B ERR LED is ERB 28 Pede or oter Applying ON i AX CH1 to Axes 6B CH1 LED is CH1 CH2 CH3 CH1 CH2 CH3 Phase B RUN W AX AX CH3 Stopped RUN B AX ON voltage 9A LEDs are Axes E Same for other lvi applyin ERR B OFF Standby ERR B CHs pplying 1 5 21 15 3 Checking Errors with the LED Display Function 1 5 TROUBLESHOOTING M IS D 1 15 4 Checking Error Description Using System Monitor of GX Developer g z og pz Error codes for axis errors can be checked by selecting Module s Detailed Information 98 on the System Monitor screen of GX Developer 1 GX Developer operation amp Select Diagnostics System Monitor QD72P3C3 z W Module s Detailed Information 5 o 2 Checking er
292. sed axes at the default values 3 The setting data set in the QD72P3C3 buffer memory are not backed up All data are initialized at power ON of the system or reset of the programmable controller CPU UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 1 Data Types 4 2 4 1 1 Parameters and data required for control 4 DATA USED FOR POSITIONING CONTROL Ml EIS EC Q series 4 1 2 Parameter setting items The following table shows the parameter setting items Set parameters to each axis for all controls using the QD72P3C3 For details of each control refer to Chapter 8 to Chapter 10 For details of each setting item refer to Section 4 2 Parameter List Control OPR control Positioning control Near Related Fast Current JOG point Stopper Position Speed sub OPR value operation i fe oye 3 control control function control change Parameter method P1 Software stroke limit upper limit value Section Pr2 Software stroke limit lower 11 4 limit value Current feed value during ES speed control g g g g Pr4 Speed limit value X Lers Bias speed at start O Pre Positioning complete signal output time Pr Deviation counter clear signal output time Current feed value count Section Le value simultaneous 5 O 12 7 O O 0 O change function selection Pr10 OPR method P1 OPR dir
293. seesesecesesesscseeesesseeee ADD 16 Comparison with QD70P type positioning module e eeeeeeeeeeee eee ee ee ee ee ee eee eee eeeeee App 17 List of Buffer Memory Addresses eeeeeee eese eee ee ee ee eee esee ee ose eese eese eee eeesesecseeeeeeee e ADD 20 Index 1 to Index 3 HOW TO READ THIS MANUAL 1 The symbols used in this manual are shown below 2 Pr _ Indicates parameter item JOG Indicates JOG data item Da Indicates positioning data item Md Indicates monitor data item Ced Indicates control data item Serial No is displayed at the Numeric values used in this manual The buffer memory addresses error codes and warning codes are represented in decimal The X Y devices are represented in hexadecimal The setting data and monitor data are represented in either decimal or hexadecimal The data whose name is ended by H are represented in hexadecimal Example 10 Decimal 10 Hexadecimal Compliance with the EMC and Low Voltage Directives A 10 When incorporating the Mitsubishi programmable controller into other machinery or system and ensuring compliance with the EMC and Low Voltage Directives refer to Chapter 3 EMC and Low Voltage Directive in the User s Manual Hardware of the CPU module The CE logo is printed on the rating plate of the programmable controller indicating compliance with the EMC and Low Voltage Directives To conform this product to th
294. selection Pulse output mode b2 Axis No 3 b1 Axis No 2 b0 Axis No 1 0 CW CCW mode 1 PULSE SIGN mode Pulse output logic selection b6 Axis No 3 b5 Axis No 2 b4 Axis No 1 Factory default value Switch 1 0 Negative logic 0000H Deviation 1 Positive logic counter clear Deviation counter clear output logic selection b10 Axis No 3 b9 Axis No 2 b8 Axis No 1 0 Negative logic output logic 1 Positive logic selection Zero signal input logic selection b14 Axis No 3 b13 Axis No 2 b12 Axis No 1 Zero signal 0 Negative logic input logic 1 Positive logic selection Near point dog signal input be DT DB d ce PE IBI IWEES Near point dog signal input logic selection b2 Axis No 3 b1 Axis No 2 b0 Axis No 1 Lower limit 0 Negative logic 1 n 1 Positive logic Switch2 signal input 0000H logic selection Lower limit signal input logic selection b6 Axis No 3 b5 Axis No 2 b4 Axis No 1 0 Negative logic Upper limit 1 Positive logic signal input Upper limit signal input logic selection b10 Axis No 3 b9 Axis No 2 b8 Axis No 1 logic selection 0 Negative logic 1 Positive logic Pulse input b15 b11 b10 b8 b7 b6 b5 bo em po Qomtrfomat Puseiputmode details referto Pulse input mode b5 to 4 CH3 b3 to2 CH2 b1 to 0 CH1 1 b in this 00 CW CCW section 01 1 multiple of 2 phases Switch 3 10 2 multiples of 2 phases 00004 1
295. ses for counting i fif i j i C 1f 19 E NE NENNEN a6 Cd 6 Preset value setting o 100 55 Preset command ON 2 N Y18 to Y1A OFF e j FoF FP a a a VO SO DO DO SO DO rZ Md 3 Count value 0j14 2 9 6 66 67 10 101 402 103 1 105 p i i i i i i i i i i i i i i S 9 Oi No Description amp 1 Write an arbitrary value to LCd6 Preset value setting 9 When the preset command Y18 to Y1A rises from OFFtoON a value in m 2 z Cd 6 Preset value setting is preset to Md 3 Count value g 5 POINT The preset function can be executed regardless of the ON OFF status of the 9 count enable command Y1C to Y1E a 2 HO o z Q fe E e Lu a E na x a z Lu n n 12 6 Preset Function 1 2 11 1 2 COUNTER FUNCTION MELSEC S1 12 7 Current Feed Value Count Value Simultaneous Change Function This function stores the same value in Md Current feed value and LMd 3 Count value by performing current value change or preset function For details of current value change refer to Section 9 2 4 Current value change For details of preset function refer to Section 12 6 Preset Function 1 Operation pattern To use this function an operation pattern needs to be set for Pr9 Current feed value count value simultaneous change function selection The operating conditions and value stored to both 4 1 Cu
296. sesesesssesesesesssssssesesessssscscccscssssssecececesecece 7 4 3 JOG Data Listeeeeeeeeeeeeeeeeeeeeeeeoeeeeeeee eese eese eeesses esos esesesesesesesesesssseeeeessssesesececeeesesesese A 21 44 Positioning Data Listeeeeeeeeeeeeeeeeeeeeeeeee eee ooo e o oco o eese eese eese sees esee ee eee eese eee eeseseeeseeeeesese 4 23 4 5 Monitor Data List eeeeeeeeeeeceeeee esee eese eese esee eo eosseesesosssessesesosesssesesesessssesecsescosssesececeeeee 28 4 6 Control Data List eeeeceeeeeeeeeeeeeee eese eese ee ee eese sese esesesessososeesesesssseesesessssosecseseesesesececeeeese A 3 4 6 1 Axis control data eeeeeeeeeeee eee ee eee esee eee ee eese eeeeeseeesesesssss esee es eseseeeeeeeeecesessececececccesese A 3 CHAPTERS PROCEDURES AND SETTINGS BEFORE OPERATION 5 1to5 21 5 1 Handling Precautions 0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000c0c0c P 1 5 2 Procedures Before Operation 000000000000000000000000000000000000000000000000000000000000000000000000000000000cc 3 5 3 Part Names 0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000c0c0c H 4 5 4 Wiring 000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000c0c0c H 7 5 4 1 Wiring precautions 0000000000000000000000000000000000000000000000000000000000000000000000000000000000000c0ccccc D A 7 5 5 Wiring Check sscscccocoooooo000
297. set a small value at first and check the movement After that gradually increase the value and adjust the speed optimal for control c WOG 1 JOG speed is higher than the speed set in L Pr4 ISpeed limit value the axis operates d at Pr4 Speed limit value and Out of speed range warning warning code 20 occurs d JOG 1 JOG speed is lower than L Pr5 Bias speed at start operation starts at Pr5 Bias speed at start and Out of speed range warning warning code 20 occurs e Even if a warning occurs JOG operation is continued mError during operation If operation is stopped by the software stroke limit function JOG operation can be performed within the software stroke limit range after an axis error reset For details refer to Section 11 4 V JOG operation JOG operation possible JOG operation not possible t gt Within software stroke limit range e Out of software stroke limit range 10 3 10 1 Outline of JOG Operation Q JOG OPERATION M SIS EO Eseries 10 2 JOG Operation Execution Procedure The following shows the procedures for JOG operation NEW POSITIONING an CONTROL Using GX Developer set the JOG data and create a sequence program for executing the Set the JOG data JOG 1 and JOG 2 JOG operation goe 1 poc 2 Set the JOG data in the QD72P3C3 buffer memory using the TO instruction Preparation Creat
298. sing the installation lever located at the bottom of the module fully insert the module fixing projection into the fixing hole in the base unit and press the module using the hole as a fulcrum Incorrect module mounting may cause a malfunction failure or drop of the module In an environment of frequent vibrations secure the module with screws The screws must be tightened within the specified torque range If the screw is too loose it may cause a drop short circuit or malfunction Excessive tightening may damage the screw and or the module resulting in a drop short circuit or malfunction Be sure to shut off all phases of the external power supply used by the system before mounting or removing the module Failure to do so may cause damage to the product Do not directly touch any conductive part or electronic part of the module Doing so may cause a malfunction or failure of the module WIRING PRECAUTIONS Correctly wire cables to the module after checking the terminal layout Be careful to prevent foreign matter such as dust or wire chips from entering the module Failure to do may cause a fire failure or malfunction STARTUP MAINTENANCE PRECAUTIONS Be sure to shut off all phases of the external power supply used by the system before cleaning or retightening module fixing screw Failure to do so may cause an electric shock N CAUTION Do not or remodel each of the modules Doing so may cause failure
299. sitioning control start address Movement amount Movement amount 30000 30000 bas Movement in negative direction positive direction Peas in Precautions If setting 0 Positioning start independent to Da 1 Operation pattern do not set movement amount over 268435455pulses regardless whether the system is the absolute system or incremental system If set Out of positioning address movement amount setting range error error code 509 occurs 4 4 Positioning Data List 4 DATA USED FOR POSITIONING CONTROL MELSEC Sl E Lu 4 5 Monitor Data List z 5 e o 5 a Storage buffer Q Factory memory address p Stored data default Axis Axis Axis 1 2 3 CH1 CH2 CH3 The current position using the position when OPR is completed as the base E is stored z Update timing 2 5ms E m On completion of machine OPR control the OP address is stored d 2 Current feed value not updated current feed value updated can be selected 70 170 270 Md 1 Current feed value 0 during speed control by parameter setting 71 171 271 The software stroke limit can be activated by parameter setting mo lf the current value has been changed by the current value change function the new value is stored z 5 Range 1073741824 to 1073741823pulses u 5 The current speed is stored i E UT Update timing 2 5m
300. ss movement amount 4 5 E Electrical specifications eeeeeee ee eee eee eere eee eene 3 12 Error code liSteccecccccccccccccccccccccccccccccccccccccces 15 7 External I O signal logic switching function 3 3 External I O signal monitor function eeeeee eee ee e 3 3 F Fast OPR control 000000000000000000000000000000000000000 3 2 G GX Configurator PT 0 000000000000000000000000000000000000 6 1 H Hardware stroke limit function eeeeee eee eee eee eee e e 3 2 I Incremental system cooooooooooooooo000000000000000000000 0 4 Intelligent Function Module Switch Setting 5 14 Internal current consumption eeeeeeee ee eee ee eee ee eos 3 1 1 O interfaCceeseeeeeeceeec 000000000000 0000090900900095 99 3 19 J JOG data eccccccccccccccccccccccccccccccccccccccccccccccces AF JOG OPErationcceseececcccccccccccccccccoccccocccccs 3 2 10 1 JOG operation start timing Chartssssessessessesees 10 2 JOG 1 JOG SPEEA ceeccccccccccccccccccsscocsssoosccooccs 4 5 JOG 2 JOG ACC DEC time eseeeeeee eere eoe oe eo eoee 4 5 Index 1 L LED display 000000000000000000000000000000000000000 5 5 15 21 Linear counter FUNCTION e ecececececeeececececececccce 3 3 List of warnings 00cccccccccccccccccccccccccccececececee 15 19 M Machine OPR control oec c oco ccccccccc 3 2 Maximum connection distance seseseeseseeseseseeseses 3 1 Maximum output pulse 00eccccccccccccccccccccecccecece
301. t Microsoft Microsoft Windows 95 Operating System English version Windows 98 Operating System English version Windows Millennium Edition Operating System English version Windows NT Workstation Operating System Version 4 0 English version Windows 2000 Professional Operating System English version Windows XP Professional Operating System English version Windows XP Home Edition Operating System English version Windows Vista Windows Vista Windows Vista Windows Vista Windows Vista Home Basic Operating System English version Home Premium Operating System English version Business Operating System English version Ultimate Operating System English version Enterprise Operating System English version 1 Install GX Configurator PT in GX Developer Version 4 or higher in the same language GX Developer English version and GX Configurator PT Japanese version cannot be used in combination and GX Developer Japanese version and GX Configurator PT English version cannot be used in combination 2 GX Configurator PT is not applicable to GX Developer Version 3 or earlier 3 At least 15GB is required for Windows Vista 4 Resolution of 1024 x 768 dots or more is recommended for Windows Vista 6 2 Installing and Uninstalling the Utility Package 6 4 6 2 2 Operating environment PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR
302. t Names SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL oO Ww a 9 LL Ww az 9o 25 Ea Ww No UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 5 PROCEDURES AND SETTINGS BEFORE OPERATION MELSEC IA series m External device connector Purchase the connector for the QD72P3C3 separately The following tables show the recommended connector types and crimp tool a Connector types Type Model Soldering type straight out A6CON1 Crimp type straight out A6CON2 Soldering type usable for both straight out and A6CON4 diagonal out b Connector crimp tool Applicable Type Model i Contact wire size Crimp tool FCN 363T T005 H AWG 24 FUJITSU COMPONENT LIMITED 5 3 Part Names 5 PROCEDURES AND SETTINGS BEFORE OPERATION M eL 26 lA cries 5 4 Wiring Z 5 o LE This section describes how to wire a drive unit and mechanical system inputs to the gt QD72P3C3 g The following describes the precautions for wiring the QD72P3C3 Read these precautions together with Section 5 1 Handling Precautions to ensure work safety 5 4 1 Wiring precautions E a 23 1 Correctly wire cables to the QD72P3C3 after checking the terminal OZ nO layout For details of terminal layout refer to Section 3 5 2 Signal layout for external device connector 2 Correctly solder or bond the external device connector A6CON1
303. t feed value Current speed Count value Auto refresh Axis operation status setting Axis CH error code ids Axis CH warning code The values stored in the QD72P3C3 buffer memory with auto refresh setting are automatically read when the programmable controller CPU executes the END instruction Monitors tests the buffer memories and I O signals of the QD72P3C3 Axis monitor test OPR monitor Monitor Test Section 6 6 Counter function monitor test X Y monitor ACC DEC time calculation function 6 1 6 1 Utility Package Functions 6 UTILITY PACKAGE GX Configurator PT MELSEC TE eries 6 2 Installing and Uninstalling the Utility Package Z 3 For how to install or uninstall the utility package refer to Method of installing the 5 MELSOFT Series included in the utility package g 6 2 1 Handling precautions The following explains the precautions on using the Utility package z 28 1 For safety oZ nO Since the utility is add in software for GX Developer read Safety Precautions and the basic operating procedures in the GX Developer Operating Manual e 2 About installation 56 GX Configurator PT is add in software for SW4D5C GPPW E or later versions 5 o Therefore GX Configurator PT must be installed on the personal computer that has GE already SW4D5C GPPW E or later version installed DE 3 Screen error of Intelligent function module utility Insufficient system resource ma
304. t for external device connector 2 For wiring or shield of each signal line of the servo amplifier side other than mentioned above refer to the manual for servo amplifier 3 This indicates the distance between the QD72P3C3 and Il series App 15 Appendix 6 Connection Examples with Servo Amplifiers Manufactured by YASUKAWA ELECTRIC CORPORATION APPENDICES WIELSSC Sl Appendix 7 Connection Examples with Servo Amplifiers Manufactured by SANYO DENKI CO LTD 9 z 1 Connection example of QD72P2C3 and R series oe Within 2m 3 QD72P3C3 R series 2 p lt g i 5 8 AUXILIARY FUNCTION D ae L COUNTER FUNCTION Near point dog o Upper limit 2 Lower limit e i e gt i i z Te NI S 24VDC e Z 0 0606 0000000000000000000000000000000000000000000090090 0 a9 ES 1 The logic of each I O terminal can be changed by the intelligent function SE module switch setting refer to Section 5 6 The above example assumes u2 that all terminals are set to the negative logic In addition the above example is for connecting to Axis 1 For the pin layout 9 when connecting to Axes 2 or 3 refer to Section 3 5 2 Signal layout for 9 external device connector 5 Ww 2 For wiring or shield of each signal line of the servo amplifier side other than a mentioned above refer to the man
305. t function device on the destination D side E of the MOV instruction change the instruction to the TO instruction e m2 Intelligent function device D z nO X21 UO C MOVP K1 G50 y an 4L zz x21 m j 22 E TOP HO K50 K1 AL cO t t E Designated Designated ot value at UO value at G50 Number of write data 1 5i Z e b When the circuit uses the intelligent function device on the source S side and the destination D side of the MOV instruction change the instruction to the FROM instruction and the TO instruction X15 X0C DATA USED FOR POSITIONING CONTROL i C FROMP C TOP c When the circuit uses the intelligent function device for the COMPARISON instruction change the instruction to the FROM instruction and the COMPARISON instruction PROCEDURES AND SETTINGS BEFORE OPERATION ut MO Uo Qr f G51 KO J C RST MO y 9 95 E zd w 4 E E CFROMP HO K51 D102 K1 x Kk The data read 2 D102 KO J C RST MO 7 a2 d When the circuit uses the intelligent function device for the WAND instruction E e change the instruction to the FROM instruction and the WAND instruction 2E T M2 UOV 9 x WANDP G79 H1 Do y xro M2 4 4 C FROMP HO K79 D101 KI The data read WANDP D101 H1 OPR CONTROL 7 1 Precautions for Creating Program 7 2 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSE
306. t requested is executed when the axis 102 j j The axis does not start start stop signal Y4 to Y6 is ON 103 Hardware stroke Hardware stroke limit upper limit signal At start The axis does not start limit FLS turned OFF During operation The axis decelerates to stop when the 104 Hardware stroke Hardware stroke limit lower limit signal limit signal turns OFF druing positioning control speed limit RLS turned OFF control and JOG operation Programmable controller CPU The programmable controller CPU READY p 105 The axis decelerates to stop READY OFF during signal YO is turned OFF during operation operation Programmable The programmable controller CPU READY controller CPU A i 110 signal YO is turned OFF immediately after Al READY OFF during a turned ON writing With Pr 10 OPR method being 202 Zero signal ON Stopper3 the zero signal is input when Machine OPR control is not performed machine OPR control is started Machine OPR not Fast OPR control was started without 203 Fast OPR control is not performed 15 7 performed performing machine OPR control 15 2 Error and Warning Descriptions 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC KE eries 9 z za oO EE 28 go Related buffer memory Error address g z code Setting range o g Axis 1 Axis 2 Axis 3 E decimal 2 CH 1 CH2
307. t signal Y8 to YA is turned OFF the start complete signal XC to XE also turns OFF When the positioning start signal Y8 to YA remains ON even after OPR control or positioning control is completed the start complete signal XC to XE remains ON CONFIGURATION SYSTEM 3 If the positioning start signal Y8 to YA is turned ON again while the BUSY signal X8 to XA is ON Start during operation warning warning code 10 occurs SPECIFICATIONS AND FUNCTIONS 4 The process taken when positioning control is completed is as follows On completion of positioning control the BUSY signal X8 to XA turns OFF and the positioning complete signal X10 to X12 turns ON However the signal does not turn ON when i Pr6 Positioning complete signal amp output time is O S 2 After the Pr6 Positioning complete signal output time has elapsed the SEE positioning complete signal X10 to X12 turns OFF ERES PROCEDURES AND SETTINGS BEFORE OPERATION Positioning start signal Y8 to YA Start complete signal YC to YE UTILITY PACKAGE GX Configurator PT BUSY signal X8 to XA j ION Positioning complete signal X10 to X12 ow 1 po Figure 7 3 ON OFF timing of each signal at the start of positioning control 0 oz z 46 2 Zg O oa QE ED OPR CONTROL 7 5 Program Details 7 26 7 5 3 Start program SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC e
308. t value TP 6 Stores the value set to Da 5 Positioning address movement amount at current changed together at E current value change value change execution to Md 1 Current feed value and Md 3 Count value 2 ne 2 Current feed value 5z Stores the value set to Cd 5 Preset value setting at preset to Md 1 Current io changed together at nO preset feed value and Md 3 Count value Stores the values set to Da 5 Positioning address movement amount at current 3 Values changed 3 value change execution to Md 1 Current feed value and Md 3 Count value E H both at current value OOo change and at preset Stores the value set to Cd 6 Preset value setting at preset to Md 1 Current Fd Oz feed value and M43 Count value u 2 uo nz nx A 9 z S Sg EE NZ OQ ao PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 2 Parameter List 4 12 4 DATA USED FOR POSITIONING CONTROL M EIS EC el series Pr 10 OPR method Setting contents Set OPR method for performing machine OPR control 0 Near point dog After the axis decelerates at the near point dog ON it stops at the zero signal and method then the machine OPR control is completed After the axis starts rotating at creep speed it stops at the stopper and then the 1 Stopper 3 machine OPR control is
309. ta List If another error occurs during axis CH error occurrence the latest error code is ignored However if any of the system affecting errors error codes 800 to 830 occurs the old error code is overwritten by the newest error code The error codes 800 to 830 are stored into Md 5 JAxis CH error code for all axes 1 5 5 15 2 Error and Warning Descriptions 1 5 TROUBLESHOOTING MELSEC TE eries 2 Warnings 3 4 m Types of warnings These are warnings that occur during operation when the OPR control positioning control or JOG operation is used Even if a warning occurs the operation continues In addition even if a warning occurs Md 4 JAxis operation status does not change m Warning storage When a warning occurs the axis CH warning occurrence signal X4 to X6 tums ON and the warning code corresponding to the warning description is stored in LMd 6 Axis CH warning code Axis CH Axis CH warning occurrence Axis CH warning code number signal X4 to X6 Buffer memory address 1 X4 78 2 X5 178 3 X6 278 For setting contents refer to Section 4 5 Monitor Data List For the axis warning code the latest warning code is always stored Resetting errors and warnings By turning ON the axis CH error reset Y1 to Y3 the following is processed and then the error warning status is cleared The axis CH error occurrence signals X1 to X3 are OFF the
310. tart signal YC to Y 11 POSITIONING CONTROL c If speed change request is made during position control OPR control or acceleration deceleration Speed change disabled warning warning code 22 occurs and the speed cannot be changed d If the value set in LCa LPr4 JSpeed limit value Out of speed range warning warning code 20 New speed value is equal to or more than MEW JOG OPERATION occurs and the speed is controlled at L Pr4 Speed limit value Also if the value set in LCd 1 New speed value is less than L Pr5 Bias speed at start Out of speed range warning warning code 20 occurs and the speed is controlled at Pr5 Bias speed at start gt z co 1E do xZ 225 tu COUNTER FUNCTION COMMON FUNCTION DEDICATED INSTRUCTIONS TROUBLESHOOTING APPENDIX 11 3 Speed Change Function 1 1 5 1 1 AUXILIARY FUNCTION MELSEC IA ries 11 4 Software Stroke Limit Function This function sets the upper lower limits of workpiece movable range using the address LMd 1 Current feed value established by the machine OPR control and disables the movable command if it is issued to out of the setting range This function works for LMd 1 Current feed value and Da 5 Positioning address movement amount value of current value change This function works at operation start and durin
311. te that the repair conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks 5 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice 6 Product application 1 In using the Mitsubishi MELSEC programmable controller the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable controller device and that backup and fail safe functions are systematically provided outside of the device for any problem or fault 2 The Mitsubishi programmable controller has been designed and manufactured for applications in general industries etc Thus applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies and applications in
312. ties Unauthorized reproduction or distribution of this program or any portion of it may result in severe civil and criminal penalties and will be prosecuted to the maximum extension possible under the law 2 9 2 6 How to Check the Function Version Software Version 3 SPECIFICATIONS AND FUNCTIONS MELSEC Sl CHAPTERS SPECIFICATIONS AND FUNCTIONS Z 5 This chapter describes the performance specifications and functions of the QD72P3C3 B and the specifications of the I O signals to the programmable controller CPU and external n device For general specifications of the QD72P3C3 refer to the User s Manual for the CPU module E a 3 4 Performance Specifications SE oz 50 3 Item Specification nw zz Number of axes 3 axes 29 Interpolation function None Artificial linear interpolation by concurrent start is available S z LL Control method PTP Point To Point control speed control 9 Control unit pulse bZ A 1 data axis Positioning data VEM Set it with GX Configurator PT or sequence program Positioning control method Incremental system absolute system pS Incremental system 1073741824 to 1073741823 pulse B 2 TI EN CI when using linear counter 2 2 Positioning control range ZEEE Positioni Absolute system 1073741824 to 1073741823 pulse Ee ositionin UN e when using ring counter 0 to 1073741823 pulse aco Speed com
313. tinuous as Da 1 Operation pattern The QD72P3C3 can output up to 268435455pulses at a time When performing positioning control exceeding the number of pulses that can be output perform movement in multiple times as the figure below Maximum Maximum 2 5ms 2 5ms Movement amount Movement amount 268435455pulse 268435455pulse 99999999 500000000 Address at start End address Movement 4 4 Positioning Data List 4 24 PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS A 0 Z e 82 EE NZ oQ ao PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 4 DATA USED FOR POSITIONING CONTROL Da 2 Control method Da 3 ACC DEC time MELSEC TA eries Setting contents Set the control method for positioning control No control method 1 axis linear control ABS 1 axis linear control INC Speed control Forward run Speed control Reverse run Current value change oak WN Oo Precautions For details of control method refer to CHAPTER 9 POSITIONING CONTROL If setting 0 No control method Out of control method setting range error error code 506 occurs Setting contents Set the acceleration deceleration time for positioning control Precautions Set ACC DEC time within the range that the following formula is s
314. tioning Control Program Examples T 22 SYSTEM SPECIFICATIONS AND FUNCTIONS PROCEDURES AND DATA USED FOR SETTINGS BEFORE POSITIONING UTILITY PACKAGE GX Configurator PT PRODUCT OUTLINE CONFIGURATION CONTROL OPERATION j e Ww 7 3z 9 O a a 9 zZ pa je E le a c O mm OPR CONTROL SEQUENCE PROGRAM USED FOR POSITIONING ie en MELSEG LA series 7 5 Program Details 7 5 1 Initialization program 1 OPR request OFF program N This program forcibly turns OFF the OPR request flag 1 Md 7 Status b1 which is ON When using a system that does not require OPR control configure the program to cancel the OPR request executed by the QD72P3C3 at the power is turned ON m Data requires setting Set the following data to use the OPR request flag OFF request Buffer memory address 1 Turn OFF the OPR request flag 55 155 255 Setting item Setting value Cd 4 OPR request flag OFF request For details of the setting contents refer to Section 4 6 Control Data List m OPR OFF request timing chart Programmable controller CPU READY signal YO Module READY signal X0 OPR request flag Status b1 OPR request flag OFF request Figure 7 1 OPR OFF request timing chart 7 23 7 5 Program Details 7 5 1 Initialization program SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M als 26 e
315. tis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or n
316. to Section 7 2 a System configuration QX10 X20 to X2F QX10 X30 to X3F QY10 Y40 to Y4F QD72P3C3 X YOO to X Y1F QCPU b Setting conditions of the intelligent function module switch NES i Setting Switch No Setting item Setting contents value Pulse output mode 0 CW CCW mode Pulse output logic selection 0 Negative logic Switch 1 Deviation counter clear output logic 0000nH 0 Negative logic selection Zero signal input logic selection 0 Negative logic Near point dog signal input logic i 0 Negative logic selection Switch 2 0000H Lower limit signal input logic selection 0 Negative logic Upper limit signal input logic selection 0 Negative logic Pulse input mode CW CCW oO oO CO Switch 3 0000nH Counter format Linear counter Switch 4 Reserved 0000nH Switch 5 Reserved 0000nH 7 1 7 1 Precautions for Creating Program SEQUENCE PROGRAM USED FOR POSITIONING CONTROL M als eG LL z 2 Communication with QD72P3C3 3 There are two methods for communication with the QD72P3C3 using the sequence iB program a method using an intelligent function device and a method using the B FROWM TO instruction a When using the FROM TO instruction for communication with the QD72P3C3 change the circuit incorporating the intelligent function device as follows z a When the circuit uses the intelligen
317. to an interlock of the programmable controller CPU No error occurs The following shows the timing of interlock for the positioning start dedicated instruction PSTRTD instruction ON OFF ON Interlock by programmable controller CPU OFF ON BUSY signal X8 to XA oc RE Positioning completion X10 to X12 1 4 2 14 2 Interlock for Dedicated Instruction Execution 1 4 DEDICATED INSTRUCTIONS MELSEGC Sl 14 3 PSTRT1 PSTRT2 PSTRT3 Selects the start method positioning control machine OPR control or fast OPR control for the specified axis and starts the positioning control POSITIONING CONTROL Applicable device Setting MELSECNET 10 Special dut Internal device File direct JE NEM Index ata rec DE suu mu erui T ise ucica a gt JOG OPERATION S D O O Instruction symbol Executing condition E 36 xz gt gt i ZP PSTRT1 ZPPSTRT1 Un S D f m ZP PSTRT2 ZP PSTRT2 Un S D EE 6 ZP PSTRT3 ZPPSTRT3 Un S D E 5 u Zz o 5 When describing shared information for PSTRT1 PSTRT2 and PSTRT3 PSTRTQ is used 1 Setting data z m E Wk d Setting data Description Set by Data type a E W Start I O number of the QD72P3C3 Oz Un AD oe User 1 bits 00 to
318. to occur Base settingi Base mode C Auto Detail SPECIFICATIONS AND FUNCTIONS Power model name Extension cable 8 Slot Default 12 Slot Default ecco u a arenae nen Import Multiple CPU Parameter ReadPLC data Acknowledge XY assignment Multiple CPU settings Defaut Check End Cancel DATA USED FOR POSITIONING CONTROL 5 b Switch setting for I O and intelligent function module screen Lu Click the Switch setting button on the I O assignment tab to display the screen S below and set the switches from 1 to 3 m z D o 4 Entering the values in hexadecimal make the setting easier 2k LE Change Input format to HEX and enter values t Ne Input format HEX z Sh Type Model name Switch 1 Switch 2 Switch 3 S A Switch5 LL E o PLC PLC a 3 O 0 0 Intelli QD72P3C3 6126 0005 0420 S 9 2 1 0 31 oO tes dc s 4 0 4 a E E 8 8 9 E x lt 10 9 11 12 3 4 15 o ex as woe o POINT igg Heo The values set on the I O assignment tab in the PLC Parameter screen can be oat checked on the Module s Detailed Information screen displayed from the System Monitor screen of GX Developer For details refer to Section 12 3 OPR CONTROL 5 6 Intelligent Function Module Switch Setting 5 17 5 PROCEDURES AND SETTI
319. to the warning description is stored If another warning occurs during axis CH warning occurrence the old warning code is overwritten and the latest warning code is stored 0 78 178 278 When the axis CH error reset signal Y1 to Y3 of each axis is turned ON the warning code is cleared becomes zero SEQUENCE PROGRAM USED FOR POSITIONING Axis CH warning code For details of warning code refer to Section 15 2 2 OPR CONTROL 4 5 Monitor Data List 4 28 4 DATA USED FOR POSITIONING CONTROL MELSEC TE cries Buffer memory Factory address for setting Axis Axis Axis 1 2l 3 CH1 CH2 CH3 Stored data default value The ON OFF status of the following flags are stored The following items are stored Speed control flag for details refer to CHAPTER 9 This flag turns ON at speed control start and turns OFF at speed control stop OPR control flag for details refer to CHAPTER 8 This flag turns ON at power ON or at machine OPR control start and turns OFF on completion of machine OPR control OPR complete flag for details refer to CHAPTER 8 This flag turns ON upon normal completion of machine OPR control and turns OFF at OPR control positioning control or JOG operation start Overflow occurrence flag for details refer to Section 12 1 0002H 79 179 279 This flag turns ON when count value overflow occurs while linear counter is selected for the cou
320. ts on the applicable base unit However the power capacity may be insufficient depending on the combination with the other mounted modules and the number of mounted modules Be sure to check the power capacity when mounting the modules 99 PRODUCT OUTLINE Base unit exe f Extension base Mountable network module 4 No of modules Main base unit of r unit of remote I O remote I O station pa Q E L E D L pa Q O Lu n gt 2 station QJ72LP25 25 QJ72LP25G QJ72LP25GE QJ72BR15 Up to 64 O Applicable x N A 1 Limited to the slots located within the range of the number of I O points of the network module 2 Can be installed to any I O slot of a base unit 8 The coincidence detection interrupt function is not supported 4 The dedicated instructions are not supported SPECIFICATIONS AND FUNCTIONS Remark 0 06 06006000000000000000000000000000000000000000000009 9 The Basic model QCPU cannot configure the MELSECNET H remote I O network 0 0600000000000000000000000000000000000000000000000000909 DATA USED FOR POSITIONING CONTROL 2 Support of the multiple CPU system When using the QD72P3C3 in a multiple CPU system refer to the QCPU User s Manual Multiple CPU System first PROCEDURES AND SETTINGS BEFORE OPERATION a Intelligent function module parameters Write intelligent function module parameters to only the control CPU of the QD72P3C3
321. ual for servo amplifier g zd 8 This indicates the distance between the QD72P3C3 and R series 0 060606060006006000000000000000000000000000000000000000000000909 APPENDIX Appendix 7 Connection Examples with Servo Amplifiers Manufactured by SANYO DENKI CO LTD App 16 APPENDICES MELSEC 8 Appendix 8 Comparison with QD70P type positioning module Model QD72P3C3 QD70P4 Item Number of axes 3 axes 4 axes Control unit pulse pulse Number of positioning data laxis 10 axis 2 axes linear interpolation 3 axes linear Position control interpolation x x interpolation function 4 axes linear interpolation 2 axes circular interpolation m ABS system O O Position INC system O O control Fixed feed x x 1 axis O 2 axes linear int lati Pd in apola ion Positioning 3 axes linear x control i x control interpolation method 4 axes linear interpolation Speed position switching x control Position speed switching x x control Current value change O O Positioning control range ABS system positioning start independent 1073741824 to 1073741823 pulse ABS system positioning start continuous 1073741824 to 1073741823 pulse INC system positioning start independent 1073741824 to 1073741823 pulse INC system positioning start continuous 1073741824 to 1073741823 pulse ABS system 2147483648 to 2147483647 pulse INC system 2147483648
322. ue 1 to 100000 pulse s 8000 7 107 207 1 8 108 208 Pr5 Bias speed at start 1 to 100000 pulse s 1 9 109 209 Positioning complete signal ro DERE o to 65535 ms 300 10 110 210 output time 0 1ms Pr7 Deviati ter cl 1 2 r7 evia ion coun er clear ms 2 m lont signal output time 2 10ms 3 20ms 0 Values not changed simultaneously 1 Count value changed together at current value Current feed value count Pr 9 j change value simultaneous change 0 13 113 213 f 2 Current feed value changed together at preset function selection 3 Values changed both at current value change and at preset 0 OPR method 1 Near point dog method Pr 10 OPR method 0 20 120 220 1 OPR method 2 Stopper 3 0 Forward direction Pr 11 OPR direction Mani 0 21 121 221 1 Reverse direction 22 122 222 Pr 12 OP address 1073741824 to 1073741823 pulse 0 EDEN 23 123 223 24 124 224 Pr 13 OPR speed 1 to 100000 pulse s 1 25 125 225 26 126 226 Pr 14 Creep speed 1 to 100000 pulse s 1 27 127 227 Pr 15 ACC DEC time at OPR 1 to 5000 ms 1000 28 128 228 Ring counter upper limit 30 130 230 Pr 16 0 to 1073741823 0 value 31 131 231 Positioning range upper 32 132 232 Pr17 0 to 1073741823 pulse 0 limit value 33 133 233 incid tecti 0 Coincid detecti t t cone ence detection eine ence detec ion not reques 0 34 134 224 setting 1 Coincidence detection requested Pr 19 Count value
323. ulse z EM Sofware stroke ime 2 2 r oftware stroke limi Refer to Section 11 4 2 102 202 lower limit value S 3 103 203 1073741824 to 1073741823 pulse Pr3 Current feed value during 77 904 5 105 205 Speed control 0 No update Set the value within the setting range and turn OFF and then ut 1 Update ON the programmable controller CPU READY signal YO S e at STE 6 106 206 Pr4 Speed limit value B 2 7 107 207 1 to 100000 pulse s 1 5 o Zz Set the value within the setting range and less than the 8 8 108 208 Pr5 Bias speed at start W 5 906 Pr4 Speed limit value Then turn OFF and then ON the a 9 109 209 1 to 100000 pulse s d programmable controller CPU READY signal YO a g APPENDIX 15 2 Error and Warning Descriptions 1 5 12 15 2 1 Error code list 1 5 TROUBLESHOOTING Error code decimal Error name Out of deviation counter clear signal Description Pr 7 The setting value of the Deviation 907 counter clear signal output time is out of output time setting range the setting range 910 Out of OPR method The setting value of the OPR setting range method is out of the setting range Out of OPR 911 direction setting The setting value of the Pr 11 OPR direction is out of the setting range range The setting value of the Pr 12 OP address is out o
324. un JOG start signal i YC YE Y10 3 prm i l4 Zero signal everse run start signal i YD YF Y11 gt Drive unit QO i ZZ sin H H Pre oo Y8to YA Positioning start signal Deviation counter BE itioni lanai i clear signal OF X1010X12 4 Positioning complete signal Edema g i 5 i i Pulse train output Oo i interface aS X8 to XA lg BUSY signal i amp E XCto XE la Start complete signal Swern i A i H ulse train inpu YA to Y6 Axis stop signal gt E Encoder Axis CH error occurrence a X1 to X3 signal i O gt Lo Axis CH warning occurrence le Near point dog signal Mechanical a z m X4 to X6 gignal p i Upper lower limit signal system inputs E 9 Y1 to Y3 Axis CH error reset signal i switches x E i a UE a eal ac ee tas aad reread zoo Interface with aco i programmable X14 X18 X1C M Count value large i controller CPU md spa i aw Count value coincidence zuo X15 X19 X1D f lt O Count value snall ia Im X16 X1A X1E H gaz Coincidence signal reset i B 6 o Y14 to Y16 command NA uzg i O ou i WQ Y18to Y1A Preset command gt ano Y1Cto Y1E Count enable command gt i e i Lu i ola Sz oO Oo 4 ae Data write read d T5 Peripheral i gt E 8 interface EX i 309 4 Monitor data eo az z wee oe 236 o Soa gorg wo A i ook Initial setting Auto refresh d Operation monitor Peripheral GX Configurator PT E o o ug a o 1 2 Outline of Positioning Control an
325. us Standby During OPR Standby Current feed value Unfixed X Moved value is stored XE OP address Figure 8 8 When the zero signal is input before the workpiece is stopped by the stopper b If the axis is started during zero signal ON Zero signal ON error error code 202 occurs 8 2 Machine OPR Control 8 9 8 2 4 OPR method 2 Stopper 3 PRODUCT OUTLINE CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING e e OPR CONTROL 8 8 OPR CONTROL 3 Fast OPR Control 8 3 1 Outline of the fast OPR control operation ELSEG seres mFast OPR control operation In fast OPR control positioning control is performed to LMd 1 Current feed value stored in the QD72P3C3 by machine OPR control By setting 9001 in L Cd 5 Start method and turning ON the positioning start signal Y8 to YA fast OPR control performs position control at high speed without positioning data near point dog and zero signal The following describes the operation when starting fast OPR control 1 Set 9001 in Cd 5 Start method and turn ON the positioning start signal Y8 to YA 2 Position control is started to the OP address according to the OPR parameter LPr 10 to Pr 15 when machine OPR c
326. value changed together at current value Current feed value count Pr 9 i change value simultaneous change 0 13 113 213 i 2 Current feed value changed together at preset function selection 3 Values changed both at current value change and at preset 0 OPR method 1 Near point dog method Pr10 OPR method 0 20 120 220 1 OPR method 2 Stopper 3 y r 0 Forward direction Pr 11 OPR direction C 0 21 121 221 1 Reverse direction 22 122 222 Pr 12 OP address 1073741824 to 1073741823 pulse 0 IT 23 123 223 Pr 13 OPR speed 1 to 100000 pulse s 1 ES 124 224 E p to pulse s 25 125 225 Pr 14 Creep speed 1 to 100000 pulse s 1 2 126 dives E p sp to pulse s 27 427 227 Pr15 ACC DEC time at OPR 1 to 5000 ms 1000 28 128 228 Ring counter er limit 30 130 230 Xd indi 0 to 1073741823 pulse 0 value 31 131 231 Positioning range er limit 32 132 232 prar o Ng range D 0 to 1073741823 pulse 0 value 33 133 233 Coincidence detection 0 Coincidence detection not request Pr 18 i MP 0 34 134 234 setting 1 Coincidence detection requested Pr 19 Count value selection at 0 OP address not set to count value 0 35 135 235 OPR 1 OP address set to count value 4 DATA USED FOR POSITIONING CONTROL MELSEC Sl 1 Setting unit pulse unit for speed setting data changes according to the value set to Pr4 Speed A limit value as the table below E Setting value 5
327. ve logic In addition the above example is for connecting to Axis 1 For the pin layout when connecting to Axes 2 or 3 refer to Section 3 5 2 Signal layout for external device connector 2 These are limit switches for servo amplifier for stop 3 For details of connection refer to the MR J3 series Servo Amplifier Instruction Manual 4 This indicates the distance between the QD72P3C3 and servo amplifier Appendix 3 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation APPENDICES MELSEC Sl 2 Connection example of QD72P3C3 and MR J2S 0A S Configure a sequence circuit to turn Oo o OFF the MC at alarm and emergency stop fee Pus MR J2S DA T Z I EEE EE E O P l mXx o apasos zova Mee uU TE ui Electromagnetic z p Cut off by turning the servo jbrake i 2 Within 2m 4 te ca MR TAA ths z QD72P3C3 Ll 1 CNIA 3 n PULSE F1 A4 i a 31 O m PP 3 o PULSE COMI 3 A3 m 1 SG 20 S PUER AL a Z 5 PULSE COM1 3 Al ry TI I CLR1 A12 i i CR 8 CLRICOM All 11 T sa 10 B Fd COM 9 a hj OPC 11 i E PGO01 A14 T LZ PG01COM A13 7T 1 LZR 15 Z z B Li
328. which a special quality assurance system is required such as for Railway companies or Public service purposes shall be excluded from the programmable controller applications In addition applications in which human life or property that could be greatly affected such as in aircraft medical applications incineration and fuel devices manned transportation equipment for recreation and amusement and safety devices shall also be excluded from the programmable controller range of applications However in certain cases some applications may be possible providing the user consults their local Mitsubishi representative outlining the special requirements of the project and providing that all parties concerned agree to the special circumstances solely at the users discretion Microsoft Windows Windows NT and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries Pentium is a registered trademark of Intel Corporation in the United States and other countries Other company and product names herein are either trademarks or registered trademarks of their respective owners SPREAD Copyright C 1996 Farpoint Technologies Inc SH NA 080683ENG B QD72P3C3 Type Positioning Module with Built in Counter Function User s Manual MODEL QD 72P3C3 U SY E MODEL CODE 13UR99 SH NA O80683ENG B 080 1 MEE sfa MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BU
329. xn 2 Command pulse frequency The command pulse frequency is determined by the movable section speed and movement amount per pulse V 4 pulse s s pulse s A p 3 Deviation counter droop pulse amount The deviation counter droop pulse amount is determined by the command pulse frequency and position loop gain Vs TR E pulse K p 1 2 Outline of Positioning Control and Count Operation 1 2 2 Design outline of positioning control system W z m E 2 Oo E o 2 a O fad o CONFIGURATION SYSTEM SPECIFICATIONS AND FUNCTIONS DATA USED FOR POSITIONING CONTROL PROCEDURES AND SETTINGS BEFORE OPERATION UTILITY PACKAGE GX Configurator PT SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 1 PRODUCT OUTLINE MELSEC Aries 1 2 3 Design outline of counter function The following describes the outline of the count operation using the counter function of the QD72P3C3 Positioning module controller CPU QD72P3C3 Drive unit Servomotor Programmable Forward run pulses 11r Reverse run pulses UUU unr Feedback pulses Read write etc Initial setting Auto refresh setting GX Configurator PT vid eee I O signals Pulse generator encoder Pulse generator encoder UUU Pulses Pulses input to the QD72P3C3 are counted Counting pulses can be performed separately from positioning control Counting feedback pulses enables positioning
330. y cause the screen to be displayed inappropriately a while using the Intelligent function module utility a2 If this occurs close the Intelligent function module utility GX Developer program SEE comments etc and other applications and then start GX Developer and Intelligent ERES function module utility again 4 To start the Intelligent function module utility a In GX Developer select QCPU Q mode for PLC series and specify a project If any other than QCPU Q mode is selected for PLC series or if no project is specified the Intelligent function module utility will not start PROCEDURES AND SETTINGS BEFORE OPERATION b Multiple Intelligent function module utilities can be started However Open parameters and Save parameters operations under Intelligent function module parameter are allowed for one Intelligent function module utility only Only the Monitor test operation is allowed for the other utilities C E ki Sg ej S 2 z e x 9 Ww z ja gt E zi E SEQUENCE PROGRAM USED FOR POSITIONING OPR CONTROL 6 2 Installing and Uninstalling the Utility Package 6 2 6 2 1 Handling precautions 6 UTILITY PACKAGE GX Configurator PT 5 6 MELSEC 8 Switching between two or more Intelligent function module utilities When two or more Intelligent function module utility screens cannot be displayed side by side select a screen to be displayed on the
331. you for purchasing the Mitsubishi programmable controller MELSEC Q series Before using the product please read this manual carefully to develop full familiarity with the functions and performance of the Q series programmable controller to ensure correct use CONTENTS SAFETY PRECAUTIONS eccc60500000000000000000000000000000000000000000000000000000000000000000000000000000000000000 A 1 REVISIONS 60000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 A 4 INTRODUCTION 0 000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 A 5 CONTENTS ecccc00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000006 A 5 HOW TO READ THIS MANUAL eccccccccccccccccccccccccccccccccccccccccccccccccccccccccccocccccccccocccccccccocccccoooococe 10 Compliance with the EMC and Low Voltage Directives 00000000000000000000000000000000000000000000000000000000000c0c00c 10 GENERIC TERMS AND ABBREVIATIONS 00000000000000000000000000000000000000000000000000000000000000000000000000000c 11 PACKING LIS Teecoccccococooooooo00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 1 1 PART 1 PRODUCT SPECIFICATIONS AND HANDLING 1 CHAPTER1 PRODUCT OUTLINE 1 1to1 13 1 1 Featu res of QD72P3C3 ccceccccco00000000000000000000000000000
332. z donec ga ee ON the programmable controller CPU READY signal YO together at preset 3 Values changed both at current value change and at preset E S u z Oo z z 924 e Pr 18 Coincidence detection setting 34 134 234 0 Coincidence detection not request o e z 1 Coincidence detection Set the Pr 18 Coincidence detection setting to 0 a9 Lr 925 requested Coincidence detection not request and turn OFF and then E E ON the programmable controller CPU READY signal YO g E Set liner counter for the counter format Refer to Section 5 6 az TROUBLESHOOTING APPENDIX 15 2 Error and Warning Descriptions 1 5 16 15 2 1 Error code list 1 5 TROUBLESHOOTING MELSEC TA eries Error code Error name Description Operation at error decimal Out of count value The setting value of the Pr 19 Count 926 selection at OPR value selection at OPR is out of the setting setting range range Out of ring counter The setting value of the Pr 16 Ring 927 upper limit value counter upper limit value is out of the setting range setting range Out of software stroke limit upper The setting value of the Pr1 Software The module READY signal X0 does not turn ON 928 Do stroke limit upper limit value is out of the limit value setting setting range range Out of software zr The setting value of the Pr2 Software stroke limit lower

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