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Type QD70 Positioning Module User`s Manual

1. Within 2m K4 aD70P O z Iseries 3 1 PULSE F1 B4 8 PULSE PULSE COM1 7 PULSE 3 PL1 PULSE R1 B2 12 SIGN 11 SIGN El PL2 CLEAR1 B13 14 CLR Lhe PL3 PGO1 B17 19 PCO PGO1COM B18 20 PCO 24G A1 eee 9 24 4 47 24VIN 24 B1 24V G q 970 40 S ON o 41 P CON 43 N OT 1 89 B9 Noar point dog 7o 25 42 COM1 2 B8 46 N CL 6o 45 P CL 1 SG 1 The logic of each I O terminal can be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector 2 To output the command pulse PULSE F PULSE R always connect external power source 24VDC When outputting the command pulse of any of Axes 5 to also connect to A1 and B1 of the CON1 connector provided for Axes 1 to 4 x3 Refer to the manual of the servo amplifier for the servo amplifier side wiring other than the above and for the shield of each signal cable 4 This indicates the distance between the QD70PL_ and XII series App 12 App 12 APPENDIX MELSEC Q Appendix 8 Comparisons with type QD7
2. SS Rd No The serial number is displayed on the front of the module from August 2008 production Products manufactured during switching period may not have the serial number on the front of the module 2 SYSTEM CONFIGURATION MELSEC Q 3 Confirming the serial number on the system monitor Product Information List To display the screen for checking the serial number and function version select Diagnostics System monitor and click the Product Inf List button in GX Developer Function version Serial No Product Information List 0 0 Intelli Q Q p70P4 32pt 0000 0 1 090120000000000 None None or or la bo 0 3 None None a Production No display Since the QD70 does not support the production number display is displayed The serial No on the rating plate may be different from the serial No displayed on the product information screen of GX Developer The serial No on the rating plate indicates the management information of the product The serial No displayed on the product information screen of GX Developer indicates the function information of the product The function information of the product is updated when a new function is added 2 SYSTEM CONFIGURATION MELSEC Q 4 Checking the software version of GX Configurator PT The software version of GX Configurator
3. Deceleration at the near point dog ON 4 OPR speed OPR 8 Setting for the movement amount after near point dog ON OPR 5 Creep speed Pr 6 Bias speed at start Leave sufficient distance from the OP position to the near point dog OFF Adjust the setting for the movement amount after near point dog ON to be as near as possible to the center of the zero signal HIGH If the setting for the movement amount after near point dog ON falls within the zero signal there may be produced an error of one motor Been een in the machine OPR control stop position First zero signal after movement by the value set to 8 Setting for the movement amount after near point dog ON Machine OPR control start EF One motor rotation Positioning start signal Y8 to YF OPR request flag 7 Status bO OPR complete flag Md 7 Status b1 Deviation counter clear output 8 Deviation counter clear signal output time MC 4 Axis operation status X Standby Md 2 Movement amount after near point dog ON Md 1 Current feed value Fig 8 10 Count 1 machine OPR control 8 OPR CONTROL Bl Restrictions A pulse generator with a zero signal is required When using a pulse generator without a zero signal generate a zero signal using an external signal ll Precaution during operation MELSEC Q 1 If OPR 8 S
4. 10 GX 10 General configuration of program 7 6 General image of 5 2 1 Handling 5 1 How to check the function version 2 8 Index 1 l assignment setting 5 17 Immediate 9 6 Incremental 9 8 Initial 6 12 Initial setting 7 15 Input output interface internal circuit 3 11 Input output interface specifications 3 7 Installing and uninstalling 6 2 Intelligent function module parameters 6 6 Internal circuit 3 11 Internal current consumption 3 1 J JOG data list eoe etes 4 20 JOG 10 1 JOG operation program 7 11 JOG operation starting timing chart 10 1 JOG 3 6 JOG 1 JOG speed 4 5 JOG 2 JOG ACC
5. 7 1 7 7 7 2 List of devices sed osaient i ans asas na 7 3 7 3 Creating prograr e o Ue Eee RU ERE Da eR 7 5 7 3 1 General configuration of 7 5 7 3 2 Positioning control operation program nene enne 7 6 7 4 Positioning control program 7 8 7 5 Program details 2 A RA 7 12 7 5 InitializatiorE program e te mee rede treten dpi dn dep 7 12 7 5 2 Start method setting 7 13 7 5 3 Start prograrm in idR e DD o Dx 7 13 EDA SUD program cete to i e e e b dera de f d udi de t ER 7 19 SECTION 2 CONTROL DETAILS AND SETTING 8 OPR CONTROL 8 1108 16 8 1 Outline of OPR control nine te item RO RR AE REB IRR METER RENE une Rata He 8 1 98 141 Two types of OPR Control p nel te eie ete gts 8 1 8 2 Machine OPR 8 2 8 2 1 Outline of the machine OPR 8 2 8 2 2 Machine QPR
6. Within 2m 4 R QD70P O PZseries 1 PULSEF1 4 26 PPC PULSE COM1 B3 27 PPC PULSER1 B2 28 NPC 29 NPC CLEAR1 B13 34 CLE CLEAR1 COM B14 Hrt DC5 24V PGO1 B17 PGO1COM 818 0 24VDC 2 0 37 SON Near point dog Speed position o switching kK 24VDC 1 The logic of each I O terminal can be changed by making switch setting for 2 x3 x4 intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector To output the command pulse PULSE F PULSE R always connect an external power source 24VDC When outputting the command pulse of any of Axes 5 to 8 also connect to A1 and B1 of the CON1 connector provided for Axes 1 to 4 Refer to the manual of the servo amplifier for the servo amplifier side wiring other than the above and for the shield of each signal cable This indicates the distance between the QD70P and PZ series App 11 APPENDIX MELSEC Q Appendix 7 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation Appendix 7 1 Connection example of QD70P and XII series
7. 8 3 8 2 3 OPR method 1 Near point dog 8 4 8 24 OPRmetlhiod 2 Stopper 1 eter ete ge ete Gd e ute ge HE ddp 8 6 8 2 5 OPR method 3 Stopper 2 eorne riein Ae AE REA R edente tnnt tnnt nennen denen enne tnn tendent 8 8 8 2 6 method 4 Stopper 8 10 8 2 7 method 5 Count brin e Pip m dp eid ade 8 12 98 2 8 OPRmethiod 6 Count 2 5 d peret tree iere bte elt eed 8 14 83 e 8 16 8 3 1 Outline of the fast OPR control 8 16 9 POSITIONING CONTROL 9 1109 17 9 1 Outline of positioning 9 1 9 1 1 Data required for positioning 9 1 9 1 2 Operation patterns of positioning 0 9 2 9 1 3 Designating the positioning 9 8 9 1 4 Confirming the current value nennen 9 9 9 2 Setting the positioning data 5 0 pede tiet eret edid ete erben bee iR 9 10 9
8. V Positioning data No 1 Positioning data No 2 Continuous positioning control Positioning termination t Da5 095 Bias speed at start 1 1 gt t 1 1 L 1 Da 3 Da 4 lt gt lt lt gt 1 1 1 XL 1 1 1 NS Dwell time Dwell time 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 1 Operation pattern is 2 Continuous path control Da 3JACC DEC time Set the time taken to reach Da 5 Command speed set in the positioning data to be executed next from 5 Command speed set in the positioning data currently being executed Da 4 DEC STOP time Set any value within the setting range 0 to 32767ms This does not function V Positioning data Positioning Positioning data 1 No 1 i No 2 i No 3 Positioning data No 4 1 Positioning termination gt i Continuous path control Bias speed at start t ErP 1 1 1 ma Ner Dwell time I Nm Da 5 Command speed Set the speed for positioning control If the set command speed exceeds Pr 5 Speed limit value positioning control will be carried out at the speed limit value If the set command speed is less than Pr 6 Bias speed at s
9. Programmable controller CPU QD 70 Wiring duct The deive units are placed near the noise source The connection cable between the QD70 and drive units is too long Wiring duct The QD70 and drive units are placed closely The connection cable between the QD70 and drive units is separately laid from teh power line in this example the cable is outside of the duct and is as short as possible 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 5 5 Confirming the wiring 5 5 1 Confirmation items at completion of wiring Check the following points when completed with the QD70 installation and wiring 15 the module correctly wired Connection confirmation By making connection conformation you can check whether the QD70 recognizes the external I O signals such as the near point dog and speed position switching signals for example The following is the way to make connection confirmation 1 Method using GX Developer Read the Md 8 External I O signal axis monitor data with the monitor function Buffer memory batch and check the read values Buffer memory address External I O signal Axis 3 Axis 5 Axis 6 Bit pattern b15 b12 b8 b4 Storage item Meaning Zero si
10. 13 2 U Utility 6 1 IW WING ici iin ciui ti iD ted toD ded ab 5 7 Wiring precautions 5 7 11 X AY MONO s cote te pt d 6 17 module 3 5 X1 axis error 3 5 X2 axis warning occurrence 3 5 Z Zero signal 3 7 Index 4 MEMO Index 5 Index 5 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company 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 th
11. 4 5 JOG 3 JOG DEC 4 5 JOG 4 JOG direction flag 4 5 L LED display function 13 13 stof OPR d ata 323 itid 4 14 List of buffer memory addresses App 16 List of control 4 30 List of devices 7 3 List of errors ated 13 3 List f FUNCIONS nie 3 2 List of input output signals 3 4 List of monitor 4 27 List of 4 9 List of positioning 4 21 List of warnings 13 11 M MELSECNETH eseeeeeenns 2 4 Machine OPR 8 2 Machine OPR control starting timing chart 7 19 Max connection distance 3 1 Max output 3 1 Md 1 Current feed value 4 7 2 Movement amount after near point dog ON oue EDO CE MO Md 4 7 Md Current 4 T Index 2 N O Md 4 Axis operation status 4 7 Md 5 Axis error 4 7 Md 6 Axis warni
12. MEA Bias speed at start i i Movement amount 4 After the near point dog turns ON and the movement near point dog ON amount set in OPR 8 Setting for the movement amount ON after near point dog ON has passed the pulse output from Near point dog o the QD70 stops with the first zero signal and machine OPR control is completed 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 2 OPR direction Set the direction to start movement when starting machine OPR control 0 Forward direction Moves in the direction that the address increments Arrow 2 1 Reverse direction Moves in the direction that the address decrements Arrow 1 Normally the OP is set near the lower limit or the upper limit so OPR 2 OPR direction is set as shown below When the zero point is set at the lower limit side the OPR directiion is in the direction of arrow 1 Set 1 for Lower limit Upper limit vor CC Address decremwnt Address increment direction direction Lower limit Upper limit Address decremwnt L v Address increment l direction di ti Irection When th eOP is set st the upper limit side th eOPR diredtion is in direction of arrow 2 Set 0 for OPR OP address Set the address used as the reference point for position control ABS system When the machine OPR control is completed the
13. Emergency stop Emergency stop limit switch limit switch 1 Generally the OP is set at the lower limit or upper limit of the stroke limit 2 Bysetting the upper limit value or lower limit value of the software stroke limit overrun can be prevented in the software However an emergency stop limit switch must be installed nearby outside the range Pr 3 Software stroke limit valid invalid setting Set whether to validate the software stroke limit 0 Valid 1 Invalid 4 DATA USED FOR POSITIONING CONTROL Pr 4 Current feed value during speed control Specify whether you wish to enable or disable the update of Md 1 value while operations are performed under the speed control including the speed position and position speed switching control 0 No update The current feed value will not change The value at the beginning of the speed control will be kept 1 Update The current feed value will be updated The current feed value will change from the initial 2 Clear to 0 and no update The current feed will be set initially to zero and not updated The value be kept O Pr 5 Speed limit value MELSEC Q Current feed Set the maximum speed for OPR control positioning control and JOG operation The speed limit value is determined by the following two conditions Motor speed Pr 6 Bias speed at start Workpiece movement spe
14. B BUSY C CPU module cese CW COCW Cable Cd 1 Axis error 2 OPR request flag OFF request 3 Start Cd 4 Restart 5 6 7 Cd Cd Cd Cd Cd Speed position switching request Index 1 Speed change request New speed value 8 ACC DEC time at speed change Cd 9 DEC STOP time at speed change Common Component Confirming the current value Confirming the wiring Connection confirmation CONNECCION uice tete io ee etes D E F G H Continuous path 9 5 Continuous positioning control 9 4 Count 1 machine OPR control 8 12 Count 2 machine OPR control 8 14 Current feed value 9 9 Current value changing 9 16 DOS V personal co
15. App 4 Program details esses 7 12 Program example Error reset 7 12 JOG operation 7 11 OPR data setting program 7 9 OPR request OFF program 7 10 Programmable controller READY signal YO ON program erdt e nig eie 7 10 Parameter setting program 7 9 Positioning control start program 7 10 Positioning data setting program 7 10 Restart 7 12 Speed change program 7 12 Start method setting program 7 10 Stop 7 12 Q uincere regius A 11 QD70 1 1 QD70 to each module signal communication 1 8 tient emen vote aue A 11 R Rated 2 8 Remote I O 2 4 Index 3 Restart 11 11 Restart program 7 12 Restarting timing 7 23 S SERIAL e 2 8 Setting data 4 1 Setting items for OPR data 4 4 Setting items for parameters 4 3 Setting items for
16. Axe ERR axa ERR QD70P8 CON1 CON1 CX nmn nu nu oo na 00 oo 00 n nu 00 00 nn nu 00 nu 00 oo na nu na nu nu oo nu n nu n oo nua nu na nu nu QD70P4 CON 2 for Axes 5 to 8 CON 1 for Axes 1 to 4 CLEAR6 CLEAR8 CLEAR2 CLEAR4 CLEAR5 CLEAR1 CLEAR3 0065 A9 DOG7 B9 poci A9 0063 comza comes come COM6 4 4 2 4 4 PULSE PULSE PULSE PULSE 1 Common for PGO Axis No 1 to 8 goes into 2 Common for CLEAR Axis No 1 to 8 goes into _ 3 Common DOG CHG Axis No 1 to 8 goes into 4 Common for PULSE FL PULSE RL Axis No 1 to 8 goes into 5 The external power source 24VDC should be connected in order to output a command pulse When outputing a command pulse of axis 5 to 8 the external power source 24VDC should be connected to A1 and B1 of the connector CONI for axis 1 to 4 use Pin layout 3 9 3 9 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 4 3 List of input output signal details The details of each QD70 external device connection connector are shown below Signal details Signal name Pin No Symbol Negative logic is selected by external I O signal logic selection A10 B10 T
17. Positioning data 1 2 Tl No TIEN 1590 Da 1 Da 1 Operation pattern 1500 1510 1520 Tal 1581 1591 Da 2 Control method 1501 1511 1521 E 1592 Da 3 ACCIDEC time 1502 1512 1522 1593 1514 1524 s s command speed 505 1515 1525 1586 1590 1587 6 Positioning 1506 1516 1526 address movement 1507 1517 1527 amount 7 Dwell time 1508 P 1589 1599 wole Buffer memory address 1584 1594 1585 1595 Axis 4 Used k The buffer memory addresses shown are those of the positioning data No 1 for the axes 1 to 8 4 DATA USED FOR POSITIONING CONTROL MELSEC Q item Setting value Detauitvalua Setting value buffer memory address ult valu setting range termination Da 1 Operation pattern 900 1000 1100 1200 1300 1400 1500 positioning control 2 Continuous path control 0 No control method ABS INC 2 Control method 901 1001 1101 1201 1301 1401 1501 Forward Reverse changing Da 3 ACC DEC time 0 to 32767 ms 1000 1002 1102 1202 1302 1402 1502 Da 4 DEC STOP time 0 to 32767 ms 1000 1003 1103 1203 1303 1403 1503 Da Da Positioning address 2147483648 to 806 906 1006 1106 1206 1306 1406 1506 movement amount 2147483647 pulse 1 807 907 1007 1107 12
18. Set the JOG date in the QD70 buffer memory using the TO command Create a sequence program that turns ON the JOG start signal Write the sequence program created in STEP 1 to the programmable controller CPU using GX Developer JOG STEP 3 Turn ON the JOG start signal operation Axis Axis Axis Axis Axis Axis Axis start 11213 4 5 6 8 JOG start signal Y18 Y19 Y1A Y1B Y1C Y1D Y1E 1 One of the following two methods can be used of JOG Method 1 gt operation Monitor using GX Configurator PT Method 2 Monitor using GX Developer JOG STEP 5 Stop JOG operation when the JOG start operation signal is turned OFF using the sequence rogram in STEP 1 stop prog Monitoring End of control Refer to Section 5 7 Simple reciprocating operation for details of a JOG operation starting program It is assumed that an external safety circuit and other mechanical elements have already installed Preset the external I O signal logic pulse output mode and pulse rotation direction with the intelligent function module switches For details refer to Section 5 6 Switch setting for intelligent function module Make parameter setting as necessary 10 3 10 3 1 PERATION MELSEC Q 10 3 JOG operation example 1 When axis operation signal is turned ON during JOG operation When the axis operation signal is turned ON during JOG opera
19. 7 start MELSOFT series GX D c Intelligent Function m 4 Intelligent Function m 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 Number of parameters that can be set in GX Configurator PT When multiple intelligent function modules are mounted the number of parameter settings must not exceed the following limit When intelligent function modules are installed to 2 12 25 s12 258 2 25 Jo o o 512 25 O QO03UD Q04UDH Q0GUDH Q13UDH Q26UDH Q03UDE Q04UDEH QO6UDEH Q13UDEH Q26UDEHCPU For example if multiple intelligent function modules are installed to the MELSECNET H remote I O station configure the settings in GX Configurator so that the number of parameter settings for all the intelligent function modules does not exceed the limit of the MELSECNET H 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 QD70P4 12 Fixed 26 Max QD70P8 24 Fixed 50 Max Example Counting the number of parameter settings in Auto refresh setting Auto refresh setting Module information Module type 0070 Model Module Start 1 0 No Module model 007008 Module side Mo
20. JOG start signal OFF i Y18 to Y1F JOG is not started if axis stop signal is turned OFF Axis stop signal OFF Y10 to Y1F BUSY signal X8 to XF Fig 10 5 Operation performed when axis stop signal is turned from ON to OFF with JOG start signal ON 10 6 10 6 11 SUB FUNCTION MELSEC Q CHAPTER 11 SUB FUNCTIONS This chapter details the sub functions of the QD70 11 1 Outline of sub functions The sub functions are used to limit control and add functions for example for execution of OPR control positioning control and JOG operation These sub functions are executed by parameter setting sequence programs etc There are the following sub functions Sub functions Speed limit function If the command speed exceeds Pr 5 Speed limit value during control this function p limits the commanded speed to within the Pr 5 Speed limit value setting range This function changes speed at any point during speed control of speed position switching control or during JOG operation Speed change function Set the changed speed in the speed change buffer memory 7 New speed value and change the speed with the speed change request 6 Speed change request UN If a command outside of the upper lower limit stroke limit setting range set the Software stroke limit function parameters is issued this function will not execute positioning control f
21. e This is the value stored in Md 1 Current feed value This value has an address established with a machine OPR control as a reference but the address can be changed by changing the current value to a new value Current feed value Update timing QD70P4 1ms QD70P8 2ms Current value is changed to 20000 by current value changing gt t Address after current value changing is stored Current feed value 0 1 to 10000 20000 Fig 9 7 Current feed value Bl Restrictions 1 If the current feed value stored is used for control an error of 1ms for the QD70P4 or 2ms for the QD70P8 is produced at the update timing of the current value 2 The current feed value is controlled by a signed numerical value Range 2147483648 to 2147483647 pulse Hence continuation of counting up will cause an overflow and continuation of counting down will cause an underflow Normal operation cannot be performed in an overflow or underflow status If there is a possibility of an overflow or underflow set the software stroke limit function valid Refer to Section 11 4 Software stroke limit function for details Monitoring the current value The current feed value is stored in the following buffer memory address and can be read using a DFRO P command from the programmable controller CPU ic m Buffer memory addresses 1 Current feed value 70 170 270 370 470 570 670 770 71
22. 8 8 OPR method 4 Stopper 3 8 10 OPR method 5 Count 1 8 12 OPR method 6 Count 2 8 14 OPR request 8 1 OPR request OFF program 7 10 OPR request 4 28 OPR 1 OPR 4 4 OPR 2 OPR 4 4 OPR 4 4 OPR 4 speed 4 4 OPR 5 Creep 4 4 OPR 6 ACC DEC time at OPR 4 4 OPR 7 DEC STOP time at OPR 4 4 OPR 8 Setting for the movement amount after near point dog 4 4 OPR 9 OPR dwell 4 4 Index 2 P Operating environment 6 4 Operation 9 2 Operation timing and processing time of JOG operation App 5 Operation timing and processing time of fast OPR CONMOl Ee eto sts App 2 Operation timing and processing time of machine OPR control teu ente App 2 Operation timing and processing time of position COMMONS PE App 3 Operation timing and processing
23. Checks 1 and 2 in the previous section 2 are carried out At operation start The axis does not start if the software stroke limit range is exceeded During operation The axis comes to an immediate stop when it exceeds the software stroke limit range Control type Processing at check Position control 1 axis linear control For speed control Checks 1 and 2 in the previous section 2 are carried out At operation start The axis does not start if the software stroke limit range is exceeded During operation The axis decelerates to a stop when it exceeds the software stroke limit range For position control Checks 1 and 2 in the previous section 2 are carried out The axis decelerates to a stop when it exceeds the software stroke limit range Current value changing At operation start The axis can be started only toward the software JOG operation Ar stroke limit range movable range During operation The axis decelerates to a stop when it exceeds the software stroke limit range Check valid Check is not made if the current feed value is not updated Refer to Pr 4 Current feed value during speed control during speed control of speed position switching control O Check not carried out check invalid 11 6 11 6 11 SUB FUNCTIONS 11 7 4 Precautions during software stroke limit check MELSEC Q 1 A machine OPR control must be executed before
24. 84 OPR Monitor error occurence H5 Aris H5 Monitr Test X Y Monitor IX Aris warring occurence 5 OPR Monitor Aris 85 OPR Monitor 1 BUSY Avis Moritor Test HS Montor Test 2 BUSY Axis 6 DPR Axis 6 DPR Monitor DXA Asis 3 BUSY Axis 7 Moritor Test Asis t7 Monitor Test XB Asis 4 BUSY Axis 7 OPR Monitor Axis 7 Monitor XC Awis 5 BUSY Axis 8 Moritor Test 8 Monitor Test j XD Axis 6 BUSY Axis 8 Monitor Axis 8 OPR Monitor Select items 7 BUSY X Y Monitor AY Monitor z to be moved XF Asis 8 BUSY Flash ROM setting Details Flach ROM setting Detaits Monitoring to sub window Er Monitoring Move to sub window Cannot execute test Make text file Make text file Stop monitor Stop monitor Explanation of items 1 Setting item list Setting item Module READY o n indicates the axis No QD70P4 104 QD70P8 1t08 o o o PLC READY Axis Warning Occurrence Axis 1 BUSY Axis n BUSY Axis 1 Error Status Axis Error Status Axis 1 Warning Status Axis Warning Status Axis 1 Monitor test Axis 1 OPR Monitor Axis Monitor test Axis OPR Monitor 2 Items Setting item Displays I O signals and buffer memo
25. c 1 10 1 2 1 Outline of starting e nean duns nan ted a n ees tap de 1 10 1 2 2 Outline of StODDIFIGu eee t t tene e tante tems ants 1 12 2 SYSTEM CONFIGURATION 2 1102 11 2 1 General image of system fichier C a e Re Ree ag 2 1 2 2 Componentlist 2 it edet Hte RE Oe o d Ru e E fiet petens 2 2 2 3 Applicable systemis e d ee ee ee e aad e Ua Pe EL ee RR E ene 2 3 2 4 About Use of the QD70 with the Q12PRH Q25PRHCPU 2 6 2 5 About Use of the QD70 on the MELSECNET H Remote I O 2 7 2 6 How to Check the Function Version Serial No Software Version sss 2 8 3 1 Performance 3 1 32 Dist of functions oec et et tente ib Er he etna e pa e eerie bte Dee 3 2 3 3 Specifications of input output signal with Programmable Controller 3 4 3 3 1 List of input output signals with programmable controller 3 4 3 3 2 Details of input signal QD70 Programmable controller 3 5 3 3 3 Details of output signals Programmable controller CPU gt QD17
26. 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 5 Auto refresh setting Purpose Configure the QD70 s buffer memory for automatic refresh There are the following setting items as the auto refresh setting parameters Common to all axes e Error status Warning status Axis by axis Current feed value Current speed Axis operation status Axis error code Axis warning code e Executing positioning data No This auto refresh setting eliminates the need for reading by sequence programs Operating procedure Start I O No Module type Module model name Auto refresh Enter the start I O No in hexadecimal Setting screen Auto refresh setting Module information Module type 0070 Model Module Start 1 0 No Module model 007008 Module side Transfer PLC side Setting item Buffer size Devi Make text file End setup Cancel 6 UTILITY PACKAGE GX Configurator PT MELSEC Q Explanation of items 1 Setting item list Setting item Warning status n indicates the axis No QD70P4 104 QD70P8 108 2 Items Module side Buffer Displays the buffer memory size of the setting item size Module side Transfer Displays the number of words to be transferred word count Transfer direction lt indicates that data are written from the programmable controller CPU to the buffer memory indicates that data are loaded from the buffer
27. Used devices Application ON details Normally ON EE eee eee NM Special relay smo ON scan afterRUN S Z mu L X0 Modu READY QD70 normal Em QD70 I O Programmable controller Programmable controller Output I m CPU normal Axis 1 JOG start Axis 1 JOG starting Forward run JOG Forward run JOG JOG operation is disabled if command command being given External input command X28 and X29 are both ON Reverse run JOG Reverse run JOG operation or both OFF I TR command being given Internal relay M operation flag JOG operation in progress i 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Reciprocating operation program using JOG operation MM ZZ LLORAR MNT PNE IO Chl JOG speed 5000pulse s ACC DEC time 1000ms X28 Forward run JOG command X29 Reverse run JOG command na span ere bes Sons eb 8400 E ou 5 4 2 UD 5000 640 1 wor mwP 1000 642 UD MVP 1000 843 1 x28 X28 xe Vos H mami MVP KD gaa 1 SET 1 X28 X23 xo 8 UD At Mt 844 rc Ci 1 x28 X28 RST WB x28 X28 4 X28 eg 4 Y18 x28 X28 3 END 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 4 Confirming the operation status a Method using GX Developer Read the fol
28. il OFF command OPR request OFF command given Fast OPR control command ast OPR control being requested p comm given command storage held JOG operation flag JOG operation being performed Speed change command pulse Speed change command given m OPR request OFF command OPR request OFF command held m Axis 1 error occurrence flag 1 error occurring 7 3 lete and pulse Speed change command 1 error occurrence fla 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 2 Data registers for Axis 1 Pr 1 Software stroke limit upper limit value 100000000pulse Pr 2 Software stroke limit lower limit value 100000000pulse e R Software stroke limit valid invalid setting 0 Valid a Current feed value during speed control 0 No update Speed limit value 100000pulse s Parameter Pr 6 Bias speed at start 100pulse s Pr 7 Positioning complete signal output time 100ms Pr 8 Deviation counter clear signal output time 10ms Pr 9 PULSE SIGN method selection setup hold time 0 10us 10 Stop mode during path control 0 Position match stop 1 OPR method 0 Near point dog method 2 OPR direction 0 Forward direction A OPR 3 OP address Opulse OPR 4 OPR speed 20000pulse s Do 3 04 EN De Ds 09 Dio Pr
29. 1 outside the setting range Setting range outside bids The setting value of OPR 8 Setting for the setting for the movement movement amount after near point dog ON is outside amount after near point dog the setting range ON g rang 910 911 912 913 914 91 91 917 918 mode during path control control is outside the setting range n Setting range outside stop The setting value of 10 Stop mode during path 13 9 13 9 13 TROUBLESHOOTIN noe MELSEC Q Related buffer memory address Setting range Remedy Axis 6 Axis 7 Axis 8 OPR 1 OPR method 0 Near point dog method 1 Stopper 1 2 Stopper 2 3 Stopper 3 4 Count 1 5 Count 2 OPR 2 OPR direction Change the setting to within the setting 0 Forward direction range and turn the Programmable 1 Reverse direction controller READY signal Y0 from OFF OPR 3 OP address to ON The setting range varies depending on the value set for 3 Software stroke limit valued invalid setting 0 valid 0 to 214783647 invalid 214783647 to 214783647 Change the setting to within the setting range to not more than 5 Speed limit value and to not less than Pr 6 Bias speed at start and turn the Programmable controller READY signal YO from OFF to ON Change the setting to within the setting range to not more than 4 OPR speed and to
30. 2 About installation 3 4 GX Configurator PT is add in software for SW4D5C GPPW E or later versions Therefore GX Configurator PT must be installed on the personal computer that has already SW4D5C GPPW E or later version installed Screen error of Intelligent function module utility m Insufficient system resource may cause the screen to be displayed inappropriately while using the Intelligent function module utility If this occurs close the Intelligent function module utility GX Developer program comments etc and other applications and then start GX Developer and Intelligent function module utility again To start the Intelligent function module utility a In GX Developer select QCPU Q mode for PLC series and specify a project If any PLC series other than QCPU Q mode is selected or if no project is specified the Intelligent function module utility will not start 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 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 top of others using the task bar
31. 2 If 1 With restart request is set in Cd 4 Restart request when the axis stop signal Y10 to Y17 is ON the Stop signal ON at start error error code 102 occurs and a restart is not made 3 Ifthe positioning data is changed after the axis has been stopped by the axis stop signal Y10 to Y 17 a restart cannot be made properly 4 The restart function is not performed in the following cases The Restart not possible warning warning code 11 occurs During OPR control During JOG operation 5 For speed position switching control the axis is always restarted by speed control whichever speed control or position control is used for the operation before the axis is stopped by the axis stop signal The following shows operations under speed position switching control after restart a When the speed position switching signal CHG is OFF at restart The axis is started with speed control and position control of the movement amount set in Da 6 Positioning address movement amount is executed from the position where the speed position switching signal is turned ON Axis stop signal Restart request ON ON control Position control Speed control Position control Fa b When the speed position switching signal CHG is ON at restart The axis is restarted with speed control and then position control switched immediately and position control of the movement a
32. 7 21 Speed position switching signal 3 7 Start complete 3 5 Start method esee 4 30 Start method setting program 7 10 Start progra eniin a 7 14 Starting the utility 6 10 Stop 7 12 Stop settling 1 4 Stopper 1 machine OPR control 8 6 Stopper 2 machine OPR control 8 8 Index 4 Stopper machine OPR control 8 10 Sub functions 11 1 Switch setting for intelligent function module E 5 14 System monitor ssssssess 13 14 T Timing chart Fast OPR control starting timing chart 7 20 JOG operation starting timing chart 10 1 Machine OPR control starting timing chart TREE eet eee 7 19 OPR OFF requesting timing chart 7 13 Positioning control starting timing chart 7 20 Restarting timing chart 7 23 Speed changing timing chart 7 22 Speed position switching control starting timing iun eee eee 7 21 Torque 8 6 Types and roles of control data 4 8 Types and roles of monitor data 4 7 Types of data 4 1 Types of errors 13 1 Types of 5
33. Setting items Parameters Initial setting OPR data Section 6 4 Positioning data The initially set data are registered to the PLC parameter and when the programmable controller CPU is placed in the RUN status they are written to the QD70 automatically Set the QD70 buffer memory values to be automatically refreshed Auto refresh target buffer memory values Common to all axes Error status Warning status Axis by axis Current feed value Auto refresh setting Current speed Section 6 5 Axis operation status Axis error code Axis warning code Executing positioning data No The values stored in the automatically refreshed QD70 buffer memory are read automatically when the END instruction of the programmable controller CPU is executed Monitor test the buffer memory and I O signals of the QD70 f e Axis monitor test Monitor test Section 6 6 e OPR monitor X Y monitor 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 2 Installing and Uninstalling the Utility Package For how to install or uninstall the utility package refer to Method of installing the MELSOFT Series included in the utility package 6 2 1 Handling precautions The following explains the precautions on using the Utility package 1 For safety Since the utility is add in software for GX Developer read Safety Precautions and the basic operating procedures in the GX Developer Operating Manual
34. TN Setting p Factory set Setting item Setting details YO value initial value Software stroke Pr 1 limit upper limit Ez value Software stroke Pr 2 limit lower limit value Set the lower limit value of the moveable rang Set the upper limit value of the moveable range 2147483647 e 2147483648 Set whether the software stroke limit is validated or Software stroke 3 limit valid invalid 0 Valid invalidated setting Refer to section 4 2 List of parameters for setting details Make setting so that the condition of lower limit value is satisfied Pr 1 Software stroke limit upper limit value gt 0 valid Pr 2 Software stroke limit If the setting made does not satisfy the above condition the Software stroke limit upper lower limit value error error error code 901 occurs 11 7 11 SUB FUNCTION MELSEC Q 11 5 Acceleration deceleration processing function The acceleration deceleration processing function is designed to adjust acceleration deceleration when OPR control positioning control or JOG operation is performed Adjusting the acceleration deceleration processing according to control enables finer control The acceleration deceleration adjusting items that can be set are bias speed at start target speed acceleration time and deceleration time The following will be explained for the acceleration deceleration processi
35. class Symbol Remarks Zero signal Near point dog signal Pulse output F Pulse output R Deviation counter clear CLEAR L of the symbol indicates the axis No 1 to 8 The following will be described for the external I O signal logic switching function 1 Setting details 2 Precautions for setting 1 Setting details Make switch setting intelligent function module switches of the assignment screen PLC parameter of the QCPU using GX Developer For details of the setting refer to Section 5 6 Switch setting for intelligent function module 2 Precautions for setting 1 The values set are made valid after power on or programmable controller CPU reset They cannot be changed during operation 2 If each signal logic is set erroneously the operation may not be carried out correctly Before setting check the specifications of the equipment to be used 12 1 12 1 12 COMMON FUNCTIONS 12 3 External I O signal monitor function RUN LED of QD70 ERR LED of QD70 MELSEC Q The external I O signal monitor function monitors the module information external I O signal monitor information and intelligent function module switch setting states in the H W Information of the module s detailed information that can be displayed on the system monitor of GX Developer SW7D5C GPPW E or later Setting procedure Choose Diagnostics System monitor QD70 module and choose Module
36. 7 7 Fast OPR control operation 0 3 to 0 5ms A delay may occur in t1 depending on the operating conditions of the other axes App 2 App 2 APPENDIX MELSEC Q 3 Operation timing and processing time of position control Positioning start signal 1 Y8 toYF Ub lt gt 1 Pulse output to outside PULSE 1 gt gt i 1 1 1 1 1 BUSY signal X8 to H Axis operation status Standby position control Standby gt Start complete signal X10 to X17 t5 1 T 1 1 1 1 1 1 H Positioning complete signal X18 to X1F OPR complete flag Md 7 Status b1 As set in 0 1 to 0 5ms 0 2ms 0 to 2ms 0 to 2ms 0 to 2ms parameter at simultaneous start of multiple axes Number of started axes A delay may occur depending on the operating conditions and starting conditions control method bias speed ACC DEC time etc of the other axes App 3 App 3 APPENDIX MELSEC Q 4 Operation timing and processing time of speed position switching control Positioning start signal Y8 to YF Pulse output to outside PULSE BUSY signal X8 to XF 1 1 1 i Speed PositionN m m Axis operation status tandby Speed X Speed Position Position X Standby i E Start complete signal X10 to X17 1 1 1 1 t5 t6 gt 1
37. APPENDIX Appendix 1 External dimension drawing 1 QD70P4 n 98 3 86 90 3 54 2 QD70P8 4 0 15 MELSEC Q QD70P4 RUN ERR QD70P4 23 0 91 27 4 1 08 Unit mm inch 98 3 86 90 3 54 App 1 QD70P8 RUN 27 4 1 08 23 0 91 Unit mm inch App 1 APPENDIX MELSEC Q Appendix 2 Operation timing and processing time in each control 1 Operation timing and processing time of machine OPR control Positioning start signal Y8 to YF Pulse output to outside PULSE Start complete signal X10 to X17 Machine OPR control operation OPR request flag Md 7 Status b0 OPR complete flag 7 Status b1 0 3 to 0 5ms A delay may occur in t1 depending on the operating conditions of the other axes 2 Operation timing and processing time of fast OPR control Positioning start signal t Y8 toYF Pulse output to outside PULSE 1 HII 1 1 1 2 1 1 BUSYsignal X8 to E 1 1 1 1 Axis operation status Standby X Fast OPR X Standby 1 14 Lm MM dee Start complete signal X10 to X17 i 5 i 1
38. Da Md Cd Symbol indicating positioning parameter and OPR parameter item Symbol indicating OPR data item Symbol indicating JOG data item Symbol indicating positioning data item Symbol indicating monitor data item Symbol indicating control data item A serial No is inserted in the mark Bl Numeric values used in this manual e The buffer memory addresses error codes and warning codes are represented in decimal e The X Y devices are represented in hexadecimal e The setting data and monitor data are represented in either decimal or hexadecimal The data ended by H are represented in hexadecimal Example 10 Decimal 10H Hexadecimal Compliance with the EMC and Low Voltage Directives 1 For programmable controller system To configure a system meeting the requirements of the EMC and Low Voltage Directives when incorporating the Mitsubishi programmable controller EMC and Low Voltage Directives compliant into other machinery or equipment refer to Chapter 9 EMC AND LOW VOLTAGE DIRECTIVES of the QCPU User s Manual Hardware Design Maintenance and Inspection The CE mark indicating compliance with the EMC and Low Voltage Directives is printed on the rating plate of the programmable controller 2 For the product To make this product conform to the EMC and Low Voltage Directives please refer to Section 5 4 1 Wiring precautions Generic Terms and Abbre
39. Read SECTION 2 CONTROL DETAILS AND SETTING for details of the functions Function name Description Reference Mechanically establishes the positioning control start Section Machine OPR control f point using a near point dog or stopper 8 2 Positions a target to the OP address Md 1 Current feed Section value stored in the QD70 using machine OPR control 8 3 OPR control Fast OPR control Positions a target using a linear path to the address set in Section Position control 1 axis linear control the positioning data or to the position designated with the 922 movement amount First carries out speed control and then carries out position control positioning control with designated Section address or movement amount by turning the speed 9 2 3 position switching signal ON Changes the Current feed value Md 1 to the address Section Current value changing 924 Speed position switching control Positioning control set in the positioning data Outputs a pulse to drive unit while the JOG start signal is Chapt JOG operation oe R If the command speed exceeds 5 Speed limit value Section Speed limit function during control this function limits the commanded speed 11 2 to within the Pr 5 Speed limit value setting range This function changes the speed at any point during speed control of speed position switching control or during JOG operation Section
40. To cancel this kind of error set the correct value in the parameter and the OPR data for which the error occurred and then turn ON the Programmable controller READY signal YO 2 Errors at the operation start or during operation These are errors that occur at the operation start or during operation when the OPR control positioning control or JOG operation is used If an error occurs on any axis at a start that axis does not start and Md 4 Axis operation status changes to Error If an error occurs on any axis during operation that axis decelerates to a stop and Md 4 Axis operation status changes to Error ll Error storage If an error occurs the axis error occurrence signal turns ON and the error code corresponding to the error definition is stored into Md 5 Axis error code Also the bit of Md 10 Error status corresponding to the error occurrence axis turns ON Axis error Md 5 Axis error code 10 Error status occurrence signal buffer memory address Buffer memory address bit 177 Refer to Section 4 6 List of monitor data for the setting details If another error occurs during axis error occurrence the latest error code is ignored However if any of the system affecting errors error codes 800 to 840 occurs the old error code is overwritten by the newest error code Error codes 800 to 840 are st
41. 24VDC When outputting the command pulse of any of Axes 5 to 8 also connect to A1 and B1 of the CON1 connector provided for Axes 1 to 4 3 These are limit switches for servo amplifier for stop 4 For details of connection refer to the MR H series Servo Amplifier Instruction Manual 5 This indicates the distance between the QD70PL_ and servo amplifier T App 6 App 6 APPENDIX MELSEC Q Appendix 3 2 Connection example of QD70P and 2 28 JA Configure a sequence to turn OFF the MC at alarms and emergency stops Power supply 3 phase 200VAC HC MF HA FF series motor utoff by servo ON signal FF alarm signal Detector 1 CN2 1 i Within 2m 5 i 070 gt 4 i Ee rE EE EEE 1 E 1 pp 3 PULSE COM1 SG 20 i i i PULSE R1 NP 2 1 1 CLEAR1 CR 8 CLEAR1 COM i 10 9 11 1 1 1 1 1 EE _ CN3 PG01 COM ER Commercially available personal computer Max 1mA total Two way deviation 11 11 mn mn wt Within 2m Fault RAI ALM 18 Zero speed detection e ZSP 19 During torque limiting TLC 6 Analog torque limit 10V max current Wi lt gt ithin 2m 1 Th
42. 3 Start method is other than 0 9000 and 9001 Da 1 control Operation pattern is Continuous path Da 2 in the positioning data whose Control method is Current value changing 2 in the positioning data following the positioning data whose Da 1 path control control Control method is Current value changing Operation pattern is Continuous Operation pattern is Continuous path Da 2 in the positioning data whose Control method is Speed Position Ctrl control in the positioning data preceding the positioning data whose 2 Control method is Speed Position Ctrl The setting value of Da outside the setting range Operation pattern is Continuous path 1 Operation pattern is At a position control start the positioning data is 0 The setting value of 2 Control method is outside the setting range Any of the OPR 6 ACC DEC time at OPR 2 JOG ACC time Da 3 ACC DEC time and 8 ACC DEC time at speed change setting values is outside the setting range Any of the OPR 7 DEC STOP time at OPR JOG 3 JOG DEC time Da 4 DEC STOP time and 9 DEC STOP time at speed change setting values is outside the setting range Command speed of Da 1j Operation pattern
43. 502 occurs Continuous path control cannot be set for current value changing 2 Current value changing cannot be set in Da 2 Control method of the positioning data when continuous path control has been set in Da 1 Operation pattern of the immediately prior positioning data For example if the operation pattern of positioning data No 1 is continuous path control current value changing cannot be set in positioning data No 2 If such setting has been made the New current change not possible error error code 502 occurs resulting in a deceleration stop 3 If the value set in Da 6 Positioning address movement amount New current value is outside the setting range of the software stroke limit upper and lower limit values Pr 1 2 the Software stroke limit error error code 103 104 occurs and current value changing cannot be made Positioning data setting examples The following table shows the setting examples when current value changing is set in the positioning data No 1 of axis 1 Setting item Setting example Setting details Da Da c Sg D c Ed o Ka w Positionin Set Positioning termination assuming that the next positioning data 9 will be executed Continuous path control cannot be set by current termination value change Control method
44. 711 lti range and turn the Programmable controller READY signal YO from OFF 1 to 32 ms to ON 13 TROUBLESHOOTIN ue MELSEC Q Error Error name Error Operation status at error occurrence code Setting range outside OPR The setting value of OPR method is outside method the setting range Setting range outside OPR The setting value of OPR 2 OPR direction is outside the setting range Setting range outside OP The setting value of OP address is outside address the setting range The setting value of OPR 4 OPR speed is outside the setting range Setting range outside OPR e The setting value of OPR 4 OPR speed is lower speed than Pr 6 Bias speed at start The setting value of OPR 4 OPR speed is higher than Pr 5 Speed limit value The module READY signal X0 does not turn ON The setting value of OPR 5 Creep speed is outside the setting range Setting range outside creep e The setting value of 5 Creep speed is higher speed than OPR 4 OPR speed The setting value of OPR 5 Creep speed is lower than Pr 6 Bias speed at start The setting value of OPR 6 ACC DEC time at OPR ACC DEC time at OPR is outside the setting range The setting value of OPR 7 DEC STOP time at DEC STOP time at OPR
45. Axis 2 Positioning Data Setting Axis 2 Positioning Setting 1 Command Speed 0 Axis 3 Positioning Data Setting Axis 3 Positioning Setting Nol Positioning Address Movement Amount 0 Axis tH Positioning Data Setting Axis 4 Positioning Setting Select items Nol Dwell Time 0g to be moved to sub window Details Details Move to sub window Select input Selling range Positioning Termination Continuous Positioning Ctrl Continuous Path Ctrl Make text file End setup Cancel Make text file End setup Cancel Explanation of items 1 Setting item list n indicates the axis No 070 4 104 QD7OPB 1108 2 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 Cancels the setting and ends the operation 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 STOP switch of the CPU module STOP RUN 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
46. Near point dog Fig 8 1 Example of a machine OPR control PR NTROL LOEO MELSEC Q 8 2 2 Machine OPR method The method by which the machine OP is established method for judging the OP position and machine OPR completion is designated in the machine OPR control according to the configuration and application of the positioning control system The following table shows the six methods that can be used for this OPR method The OPR method is one of the items set in the OPR data It is set in OPR 1 OPR method of the OPR data Deceleration starts when the near point dog turns from OFF to ON Speed is decreased to IOPR 5 Creep speed The axis stops on detection of the first zero signal one pulse of which is output when the motor turns one revolution e g Zero signal output from the drive unit after the near point dog has turned from OFF to ON and on completion of the deviation counter clear output machine OPR control is completed The stopper position is defined as the OP After deceleration is started when the near point dog turns from OFF to ON the axis is Stopper 1 brought into contact with the stopper at OPR 5 Creep speed to a stop After the stop the time preset in 9 OPR dwell time elapses and on completion of the deviation counter clear output machine OPR control is completed The stopper position is defined as the OP After deceleration is started when the near point dog turns from OFF to ON the ax
47. Reverse run JOG operation JOG start signal Y18 to Y1F Reverserun JOG command is ignored NU gt ON BUSY signal X8 to XF Fig 10 3 Operation performed when JOG direction flag is changed to reverse run JOG command during forward run JOG operation When switching between forward run and reverse run turn the JOG start signal from OFF to ON when the BUSY signal is OFF When switching between forward run and reverse run reserve at least 4ms as the time to turn the JOG start signal from OFF to ON Refer to Fig 10 3 10 5 10 5 1 PERATION MELSEC Q 3 When the JOG start signal is turned ON again during deceleration caused by the ON OFF of the JOG start signal The JOG start signal is ignored when the JOG start signal is turned ON again during deceleration that was started by turning the JOG start signal from ON to OFF JOG operation JOG start signal OFF Y18 to Y1F BUSYsignal X8 to XF Fig 10 4 Operation when the JOG start signal is turned ON during deceleration 4 When axis stop signal is turned OFF after a stop made by turning ON axis stop signal with JOG start signal ON JOG operation is not performed when the axis stop signal is turned OFF again after a stop that was made by turning ON the axis stop signal with the JOG start signal ON JOG operation can be started by turning the JOG start signal from OFF to ON again
48. Section 4 7 List of control data to within the setting range Da 6 Positioning address movement Set OPR 7 3 Da 4 amount 0 to 2147483647 pulse For speed position switching control Cd 8 ACC DEC time at speed Correct 6 Positioning change to 32767 ms address movement amount Refer to Cd 9 DEC STOP time at speed Section 9 1 2 change 0 to 32767 ms to within the setting range Da 6 Positioning address movement amount 2147483648 to 2147483647 pulse For position control Correct Da 6 Positioning Refer to Section 4 5 List of positioning data address movement amount Refer to Section 9 1 2 Positioning address movement amount 0 to 2147483647 pulse For speed position switching control 13 6 13 6 13 TROUBLESHOOTING MELSEC Q Error Error name Error Operation status at error occurrence code The movement amount is short when operation is Movement amount performed with 0 set to 6 Bias speed at start in shortage at 0 bias speed 2 control method setting of 1 axis linear control ABS or 1 axis linear control INC Start is not made The setting made for the QD70 is Hold in the Error time output mode parameter of the CPU module Hold error Start is not made The intelligent function module switch setti
49. Spsed change function Set the new speed in the speed change buffer memory 11 3 7 New speed value and change the speed with the Speed change request 6 function will not execute positioning for that command This function adjusts the acceleration deceleration Section Acceleration deceleration processing function processing of control 11 5 This function resumes positioning control during stop of Section Restart function axis from where it had stopped 11 6 This function changes the external I O signal logic to match the externally connected device Section It can be changed by making the intelligent function 12 2 module switch setting If a command outside of the upper lower limit stroke limit Software stroke limit function setting range set in the parameters is issued this 11 4 c 2 5 2 3 o External I O signal logic switching function Section This function monitors the external I O signal states using 5 5 GX Developer Section 12 3 Common function External I O signal monitor function 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q With the positioning control whether or not to continuously execute the positioning data can be set with the operation pattern Outlines of the operation patterns are given below 1 Operation patter When Positioning termination is for the operation pattern Po
50. drive unit or cables to be damaged when the cables swing move or are pulled carelessly for example or to malfunction due to poor cable connection 10 To comply with the EMC Directive and Low Voltage Directive always ground the QD70 to the control box using the shielded cables and AD75CK cable clamping Mitsubishi Electric make Inside control box 0440 20cm 7 88 inch to 30cm 11 82 inch 3 a CK How to ground shielded cables using AD75CK Shield cable Yo K pi Ses S Ground terminal ET ES lt lt S Ground terminal installation screw 4 8 screw Installation screw to control box M4 screw Using the AD75CK you can tie four cables of about 7mm outside diameter together for grounding For details refer to the AD75CK type Cable Clamping Instruction Manual lt IB 68682 gt 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Wiring examples using duct improper example and improved example Relay Drive Drive unit unit Control box Noise source Power system etc Relay Relay Programmable controller CPU QD 70 Changed Relay Control panel Noise source power system etc
51. 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 L B T C ST D 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 3 Command button Creates a file containing the screen data in text file format Saves the set data and ends the operation Cancels the setting and ends the operation POINTS e 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 e The auto refresh settings cannot be changed from sequence programs However processing equivalent to auto refresh can be added using the instruction in the sequence program 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 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 6 List of monitor data for details of monitor data Operating procedure Select monitor test module
52. which include positioning address control method operation pattern and like per axis These positioning data are used to exercise positioning control axis by axis 2 Axis by axis positioning control allows linear control up to 8 axes can be controlled simultaneously This control can perform positioning termination with one piece of positioning data or exercise continuous positioning control by continuous execution of multiple pieces of positioning data b control method any of position control speed position switching control and current value changing may be specified in each positioning data c The following six different OPR methods are available for machine OPR control near point dog method one method stopper three methods and count two methods d Varying finely in speed to ensure smooth acceleration deceleration the QD70 is suitable for connection to a stepping motor e You can change the I O signal logic according to the specifications of the external device This allows the input signals to be used with either of normally open and normally closed contacts and the output signals to be used according to the specifications of the drive unit Fast start processing Processing at a position control start has been speeded up to shorten the start processing time of one axis to 0 1ms At a simultaneous start of multiple axes the positioning start signals are turned ON at the same time within one
53. 1 4 System using worm gears 1 PRODUCT OUTLINE MELSEC Q In the system shown in Fig 1 4 the movement amount per pulse command pulse frequency and the deviation counter droop pulser amount are determined as follows 1 Movement amount per pulse The movement amount per pulse is determined by the worm gear lead deceleration ratio and the pulse encoder resolution The movement amount therefore is given as follows Number of pulses output x Movement amount per pulse A mm pulse 2 Command pulse frequency The command pulse frequency is determined by the speed of the moving part and movement amount per pulse V Vs pulse s 3 Deviation counter droop pulser amount The deviation counter droop pulser amount is determined by the command pulse frequency and position loop gain Vs e EE pulse 1 PRODUCT TLINE MELSEC Q MEMO 1 PRODUCT OUTLINE 1 1 4 Communicating signals between QD70 and each module Programmable controller CPU MELSEC Q The outline of the signal communication between the QD70 positioning module and programmable controller CPU peripheral device GX Configurator PT and drive unit etc is shown below A peripheral device communicates with the QD70 the programmable controller CPU to which it is connected Refer to Chapter for details of the I O signals Programmable YO X0 Peripheral device controller READY signal Y18 to Y1F Y8
54. 171 271 371 471 571 671 771 DFRO 0104 1 Read current feed value to 0104 and 0105 gt POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 2 Setting the positioning data 9 2 1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the Da 2 Control method The following are the setting items of the positioning data for each control Refer to Section 9 2 2 and later for operation details and setting of each control Positioning control Speed position switching Current value TM RR Position control Positioning data setting item control changing Positioning termination A Operation Continuous positioning pattern control Continuous path control f _ __ Gentrel method 1 axis linear control ABS Speed Position icm Forward value 1 axis zr control NAME ME Speed time DEC STOP time Command speed _ r4 Al ee Positioning address movement Change destination amount address Dwell time ou Alwaysset Set as required when not set X Setting not possible If setting is made an error error code 502 New current value change not possible error code 503 Continuous path control not possible will occur at a
55. 2 1 Relation between each control and positioning 9 10 9 2 2 1 axis linear COntrOl asic cee eren t ee de b e due eT ea Dee de qe Eu e S eee dd 9 11 9 2 3 Speed position switching control sss enne 9 13 9 2 4 Current value changing eeiseiesiss sess tisse 9 16 9 3 Multiple axes simultaneous start 9 17 10 JOG OPERATION 10 1to 10 6 10 1 Outline of JOG 10 1 10 2 JOG operation execution 10 3 10 3 0G operation xamlple 21 et d uada deae tiae uda 10 4 1 gt 1 oO 11 SUB FUNCTIONS 11 1 Outline of sub functions A 8 A 8 11 2 Speed limit 11 1 11 3 Speed change function cnini Rt HUP D Bn ink ues 11 2 11 4 Software stroke limit f rctlori u s ictor eee tette e tel acetal Pate 11 5 11 5 Acceleration deceleration processing 11 8 11 6 Iest rt functions sen anas ene e Rem dade detenido eode 11 11 12 1 Outli
56. 224 324 424 524 624 724 OPR 4 OPR speed 25 125 225 325 425 525 625 725 26 126 226 326 426 526 626 726 OPR 5 Creep speed E 227 327 427 527 La Es 128 528 628 728 6 ACC DEC time at OPR 30 130 230 330 430 530 630 730 8 Setting for the movement amount after near point 31 131 231 331 431 531 631 731 dog ON 33 133 233 333 433 533 633 733 to to to to to to to to Reserved Cannot be used 39 139 239 339 439 539 639 739 40 140 240 340 440 540 640 740 JOG 1 JOG speed 241_ 341 441 541 E EH 142 542 642 742 JOG 2 JoGACC ime Write to Reserved Cannot be used is prohibited Parameter OPR data JOG data App 16 App 16 APPENDIX MELSEC Q C amp tAWsemorrse Cd 6j Speed change request Pe ST TT i a e 57 157 257 357 457 557 657 757 60 160 260 360 460 560 660 760 to to to to to to to to Reserved Cannot be used 69 169 269 369 469 569 669 769 70 170 270 370 470 570 670 770 _ Md 1 Current feed value 71 171 271 371 471 571 671 771 72 172 272 372 472 572 672 772 2 Movement amount after near point dog ON 73 173 273 373 473 57
57. 2m 5 Detector 1 i 1 External emergency sto 4 XI QD70PLl ee 16 SE i 0061 2S 806 46 CHG1 piper 8 asewo N son 12 COM1 2 B8 pe 5088 RES 15 24VDC E Torque limit 13 Forward run stroke end 5 5 Witin som A _ 24AVDC x2 7 39 24V B1 20 22 ETERNI a CLEAR con pu d ie ar eee Monitor output_10K9 cer LM 4 PULSE OM e rd Ci ruo way devia PULSER B2 19 LM MSS E eer deviation Within 2m 1 1 B471 3535 8 PGO1 COM 18 LZR 9 VI 21 Zero speed RAT PR N olo detection Fault 9 O 48 raz B Analog torque limit command Pts 1 10V max current kae 27 AE 28 N15R 26 Analog torque limit command 10V max current D 7 25 50 Within 2m REMARK 1 The logic of each I O terminal can be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector 2 To output the command pulse PULSE F PULSE R always connect an external power source
58. 3 Pr 2 Software stroke limit lower limit value 4 3 IPr 3 Software stroke limit valid invalid setting T 4 3 Pr 4 Current feed value during speed control TE 4 3 Pr 5 Speed limit value 4 3 Pr 6 Bias speed at 4 3 Pr 7 Positioning complete signal output time 4 3 Index 3 IPr 8 Deviation counter clear signal output time IO EMEN 4 3 Pr 9 PULSE SIGN method selection setup hold time ine ene soutenue 4 3 10 Stop mode during path control 4 3 Precautions Handling precautions 5 1 Precautions at completion of wiring 5 12 Precautions for creating program 7 1 Wiring precautions 5 7 Precautions at completion of wiring 5 12 Precautions for creating program 7 1 Procedures before operation 5 3 Processing time Operation timing and processing time of JOG Operations oso chee ee App 5 Operation timing and processing time of fast OPR control 4 nt tet App 2 Operation timing and processing time of machine OPR control App 2 Operation timing and processing time of position CONOM Lie onis 3 Operation timing and processing time of speed position switching control
59. 7 9001 Fast OPR control 6 ACC DEC time at OPR 0 to 32767 ms 7 DEC STOP time at OPR 0 to 32767 ms JOG 2 JOG ACC time 0 to 32767 ms JOG 3 JOG DEC time 0 to 32767 ms Da 1j Operation pattern 0 Positioning termination 1 Continuous positioning control 2 Continuous path control Da 2 Control method 0 No control method 1 1 axis linear control ABS Da 1 Operation pattern to within 2 1 axis linear control INC etting range 3 Speed Position Ctrl Forward Da 5 Command speed to other 4 Speed Position Ctrl Reverse 0 5 Current value changing Set 2 Control method to within the Da 3 ACC DEC time setting range 0 to 32767 ms Da 4 DEC STOP time Set OPR 6 2 3 and Cd 8 0 to 32767 ms Da 5 Command speed 0 to 200000 pulse s e When 2 Control method is Current value changing or Speed Position Ctrl do not set Continuous path control in 1 Operation pattern Do not set Current value changing or Speed Position Ctrl in Da 2 Control method of the positioning data following the positioning data where Continuous path control has been set in 1 Operation pattern Refer to Section 9 2 3 and Section 4 Refer to Section 4 3 List of OPR data Refer to Section 4 4 List of JOG data Refer to Section 4 5 List of positioning data Refer to
60. 7 Positioning complete signal outputtime 100ms pe D3 Dis pie Bie Di 000 OPR 5 Creep speed 1000pulse s OPR data Data register 6 ACC DEC time at OPR 1000ms OPR 7 DEC STOP time at OPR 1000ms 2 OPR 8 Setting for the movement amount after near point dog ON 3000pulse OPR 9 OPR dwell time 100ms Da 1 Operation pattern 0 Positioning termination Da 2 Control method 1 1 axis linear control ABS Da 3 ACC DEC time 1000ms Da 4 DEC STOP time 1000ms Jg Positioning data No 1 Da 5 Command speed 30000pulse s N e A Da 6 Positioning address movement amount 250000pulse 25 g Da 7 Dwell time 100ms OPR request flag Md 7 Status bit 0 Cd 3 Start method Refer to Section 7 5 2 Speed change request New speed value j R Refer to Section 7 5 4 ACC DEC time at speed change DEC STOP time at speed change Axis 1 error status Md 10 Error status bit 0 5 Axis error code a 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 3 Creating a program This section explains positioning control operation programs actually used The programs designed to perform the functions described in SECT
61. 8 APPENDIX MELSEC Q Appendix 4 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co Ltd Appendix 4 1 Connection example of QD70P and VEXTA UPD Within 2m gt 4 QD70P 1 VEXTA UPD series K3 1 CON1 PULSE F1 PULSE COM1 ELL 7v9 4 24 2 Connection when required Near point dog Speed position switching 24VDC 1 The logic of each I O terminal can be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector 2 To output the command pulse PULSE F PULSE R always connect an external power source 24VDC When outputting the command pulse of any of Axes 5 to 8 also connect to A1 and B1 of the CON1 connector provided for Axes 1 to 4 x3 Refer to the manual of the stepping motor drive for the stepping motor drive side wiring other than the above and for the shield of each signal cable 4 This indicates the distance between the QD70PL and VEXTA UPD series App 9 App 9 APPENDIX MELSEC Q Appendix 5 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co Ltd Appendix 5 1 Connection exampl
62. CONTROL MELSEC Q 7 5 4 Sub program Speed change program This program is used to change the speed within the IPr 5 Speed limit value range at any point during speed control of speed position switching control or during JOG operation Set the new speed in Cd 7 New speed value A speed change is executed according to 6 Speed change request The acceleration and deceleration times after speed change are the values set in Cd 8 ACC DEC time at speed change and 9 DEC STOP time at speed change Refer to Section 11 3 Speed change function for details of the speed change function Data requiring setting Set the following data Setting item Setting value Buffer memory address Axis 1 Axis 2 6 Speed change request 1 With speed change 156 256 356 456 556 656 756 Cd 7 New speed value 2000pulse s 157 257 357 457 557 657 757 ACC DEC time at speed Cd 8 1000ms 258 358 458 558 658 758 change DEC STOP time at Cd 9 1000ms 59 159 259 359 459 559 659 759 speed change Refer to Section 4 7 List of control data for more information on the setting details Speed changing timing chart Positioning start signal Y8 to YF Programmable controller READY signal YO OFF d ON Module READY signal X0 OFF Start complete signal X10 to X17 BUSY signal Positi
63. F CONTENTS Section 1 2 2 Section 3 3 2 Section 3 4 3 Section 3 4 4 Section 7 5 3 Section 9 1 2 INDEX Jun 2004 SH NA 080171 G SAFETY PRECAUTIONS Section 2 4 Section 2 5 Section 3 4 3 Section 5 1 Section 5 7 Section 6 4 Section 6 6 1 Feb 2006 SH NA 080171 H SAFETY INSTRUCTIONS Section 2 3 Section 4 3 Section 5 1 Section 6 3 2 Section 6 3 3 Section 11 4 Section 13 2 Appendix 3 3 2006 SH NA 080171 l Section 7 5 4 Section 11 6 Appendix 3 3 Jan 2007 SH NA 080171 J Maogifications Section 7 4 Jun 2007 SH NA 080171 K Section 2 3 Section 3 4 4 Section 4 6 1 Section 10 1 Section 11 2 Jan 2008 SH NA 080171 L Modifications GENERIC TERMS AND ABBREVIATIONS Section 2 3 to 2 6 Section 6 2 2 The manual number is given on the bottom left of the back cover Print Date Manual Number May 2008 SH NA 080171 M Modifications SAFETY INSTRUCTIONS Compliance with the EMC and Low Voltage Directives Section 2 3 2 6 3 1 5 4 1 6 2 1 6 3 1 6 3 3 Aug 2008 SH NA 080171 N Modifications Section 2 6 3 4 2 5 3 Appendix 1 Japanese Manual Version SH 080138 O This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for
64. JOG direction flag Refer to Chapter 10 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 4 Specifications of input output interfaces with external device 3 4 1 Electrical specifications of input output signals Bl Input specifications Rated input Working voltage ON voltage OFF voltage Signal name Input resistance Response time voltage current range current current 2 7VDC or more 1 0VDC or less 5VDC 18mA 4 5 to 5 5VDC Approx 2700 0 1ms or less 5 5mA or more 0 5mA or less ON Zero signal PGO or less gt lt or less 1msormore Opp E Near point d ignal ear point dog signa 17 5VDC or DOG 7VDC or less PM 24VDC 5mA 19 2 to 26 4VDC more 3mA or Approx 6 8kQ 1ms or less Speed position switching 0 9mA or less signal CHG E Output specifications Max load current rush current Set the pulse output mode and pulse output logic selection in intelligent function module switch setting Refer to Section 5 6 The following are the relationships between pulse outputs depending on the pulse output mode and pulse output logic selection Max voltage Leakage current drop at ON at OFF Rated load Working load Response time voltage voltage range Signal name Pulse output logic selection Pulse output mode Positive logic Negative logic Pulse output CW PULSE Pulse sign CCW
65. OFF the pulse output from the QD70 stops immediately and the 4 deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 After a deviation counter clear signal is output to the drive unit the OPR complete flag Md 7 Status b1 turns from 5 OFF to ON and the OPR request flag Md 7 bO turns from ON to OFF OPR 4 OPR speed Deceleration at the near point dog ON OPR 5 Creep speed Pr 6 Bias speed at start gt t Adjust so the near point dog OFF position is as close as possible to the center of the zero signal HIGH level If the near point dog OFF position overlaps with the zero signal the machine OPR control stop position may deviate by one motor rotation Machine OPR control start Positioning start signal Y8 to YF OPR request flag Md 7 Status bO OPR complete flag OFF status b1 Deviation counter clear output Deviation counter clear signal output time 4 Axis operation status Standby X During Standby 2 Movement amount after near point dog ON 1 Current feed value Fig 8 2 Near point dog method machine OPR control PR NTROL MELSEC Q Bl Restrictions A pulse generator with a zero signal is required When using a pulse generator without a zero signal generate a zero signal using an exte
66. RET w Y8 x10 x8 221 KCI RST Y8 No 8 JOG operation program M8 UON 225 K5000 640 UON 1000 642 UON 1000 643 UON 242 RO 644 SET 8 251 xl 44 ser NB 260 RS M8 266 n8 MELSEC Q 7 10 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No 9 Speed change program 2 273 9 8 279 WK Be 282 2000 MOVP K1000 1000 RST No 10 Restart program X2B 202 4 228 UON 308 676 3 gt M2 x8 No 11 Error reset program 1 UON 321 WANDP 1600 Hl UON MOVP G77 SET 338 uuu rs 14 M13 341 FRA 14 UON 347 WANDP 61600 Hi RST x No 12 Stop program x 9 Mio D38 D39 41 D42 K5 M10 M12 UON G53 44 UO 650 D43 M13 MELSEC Q 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 5 Program details 7 5 1 Initialization program OPR request OFF program This program forcibly turns OFF the OPR request flag Md 7 Status b0 which is ON When using a system that does not require OPR control assemble the program to cancel the OPR request made by the QD70 when the power is turned ON etc E Data requiring setting Set the following data to use the OPR request flag OFF request Setting item Setting details Buffer memory address O
67. Set the current value changing E Da 3 ACC DECtime time not Setting not required Setting value is ignored Setting value is ignored DEC STOP time Setting not required Setting value is ignored Command speed Setting not required Setting value is ignored Positioning address 10000pulse the address to which address change is desired movement amount Dwell time 500ms Set the time from completion of current value changing until the positioning complete signal is output Operation pattern Refer to Section 4 5 List of positioning data for the setting details 9 16 9 POSITIONING CONTROL MELSEC Q 9 3 Multiple axes simultaneous start control The QD70 allows the axes to be started simultaneously on a pulse level by turning ON the positioning start signals Y8 to YF within the same scan during positioning control Precautions 1 The speed limit function is valid on an axis basis 2 To perform stop processing the stop command axis stop signal ON must be given to the corresponding axis Note that the axes do not stop simultaneously 3 JOG operation cannot start the axes simultaneously If an error occurs in any axis note that it will be processed on the corresponding axis 1 PERATION MELSEC Q CHAPTER 10 JOG OPERATION This chapter details the JOG operation of the QD70 10 1 Outline of JOG operation When performing JOG operation near th
68. The slope of acceleration deceleration is calculated by the following expression Target speed bias speed at start Set acceleration time set deceleration time For the QD70 the acceleration deceleration slope is determined by the three data of bias speed at start target speed and acceleration deceleration time Fully note this when changing the setting values A sharp acceleration deceleration slope may affect the machine 11 8 11 SUB FUNCTIONS MELSEC Q The following is the operation of the acceleration deceleration processing function during position control or speed changing in the operation pattern of continuous path control For position control in operation pattern of continuous path control V Positioning data Positioning data Positioning data Positioning data 1 1 1 1 1 1 No 1 1 No 2 No 3 1 No 4 1 Continuous path control Positioning termination gt i 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 D 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 r i 1 1 1 1 1 1 t lt gt 4 1 1 1 I 1 Dwell time For speed change under speed control of speed position switching control positioning data No 1 Refer to Section 11 3 for speed change during JOG operation Spe
69. Ute HO He eL e ede ded e alia e ie Ld d UI d 4 9 4 3 List oL OP R data omm metet en et edem e ee vete eive deae ees 4 14 4 4 List Of JOG iunii Eee ptite epatis 4 20 4 5 List of positioning data reete teinte ig dtt atte i etate 4 21 4 6 List of monitor 4 27 4 6 1 Axis monitor data ntn nee A eee LR i A eed e LH e e Al HR edd 4 27 4 6 2 Module information monitor 4 29 4 30 4 TA Axis control data ore OE RR Ree RE E re OE ERR RE 4 30 5 1 Handling 5 1 5 2 Procedures before 5 3 5 3 Part identification 5 4 5A VVIING c SEMI MEAM RI IAM E 5 7 54 1 Wiring precautioris eiit ence eie enc a Po ene do aa a Lr doe ae daa dee 5 7 5 5 Confirming the 5 12 5 5 1 Confirmation items at completion of 5 12 5 6 Switch setting for intelligent functi
70. Windows XP Home Edition Operating System English version Microsoft Windows Vista Home Basic Operating System English version Microsoft Windows Vista Home Premium Operating System English version Microsoft Windows Vista Business Operating System English version Microsoft Windows Vista Ultimate Operating System English version Microsoft Windows Vista 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 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 UTILITY PACKAGE GX Configurator PT MELSEC Q Operating system and performance required for personal computer Performance for personal computer Operating system vere io 32MB or more Windows XP Professional Pentium 300MHz or more 128MB or more Service Pack 1 or more Windows XP Home Edition Pentium 300MHz or more 128MB or more 1 Windows Vista Basic Home Basic Pentium 1GHzormore 1GHz or more 1GBomoe or more The functions shown below
71. 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 Reading and writing the intelligent module parameters to and from a PLC using GX Developer a Intelligent function module parameters can be read from and written into a programmable controller after having been saved in a file b Seta target programmable controller CPU in GX Developer Online Transfer setup c When the QD70 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 gt 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 6 UTILITY PACKAGE GX Configurator PT 6 4 Initial setting Axis 1 Parameter Setting Module information Module type 0070 Model Module Module model name 007008 MELSEC Q Purpose Make initial setting axis by axis for the QD70 to operate The following items are data that need initial setting e Parameters e OPR data e Positioning data This initial setting makes sequence program setting unnecessary For more inf
72. and position control The current feed value is cleared set to 0 at control 2 Clear to 0 and no update start and updated from the switching to position control Speed le Speed control Position control Speed p Speed control Position control Speed n Speed control Position control t gt t 1 1 1 1 1 X Maintained X Updated Updated X 0 Updated from 0 1 1 1 a Current feed value not updated b Current feed value updated c Current feed value zero cleared ll Speed position switching signal setting Set the following item to use the speed position switching signal CHG Setting item Setting Setting details Bufer memory addfess value Speed iti itchi Set 1 Validates enables the eed position switchin s speed position switching 54 154 254 354 454 554 654 754 signal Refer to Section 4 7 List of control data for more information on the setting details 9 POSITIONING CONTROL MELSEC Q Bl Restrictions 1 If Continuous path control is set in Da 1 Operation pattern the Continuous path control not possible error error code 503 occurs disabling a start 2 Speed position switching control cannot be set in Da 2 Control method of the positioning data if Continuous path control is set in Da 1 Operation pattern of its preceding positioning data For e
73. and the Outside speed warning warning code 20 occurs If Pr 6 Bias speed at start is O starting JOG operation with the setting of 0 in JOG 1 JOG speed results in the following 0 speed 7 Status b2 turns ON The BUSY signal turns ON When the JOG start signal turns OFF the BUSY signal turns OFF and 4 Axis operation status changes to Standby In this case making a speed change with the setting of other than 0 in 7 New speed value and 1 in 6 Speed change request turns OFF 0 speed Md 7 Status b2 enabling operation to be continued 5 If a warning occurs JOG operation is continued Error during operation If operation is stopped by the software stroke limit function JOG operation can be performed to move the workpiece to within the software stroke limit range after an axis error reset Refer to Section 11 4 for details V JOG operation JOG operation possible JOG operation not possible Within software stroke limit range Outside software stroke limit range MM TOS 10 2 10 2 10 JOG OPERATION MELSEC Q 10 2 JOG operation execution procedure The JOG operation is carried out by the following procedure Using the GX Developer set the JOG Preparation STEP 1 Set the JOG data oia and create sequaces JOG 1l to JOG 4 for executing the JOG operation
74. any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2001 MITSUBISHI ELECTRIC CORPORATION INTRODUCTION Thank you for purchasing the Mitsubishi programmable controller MELSEC Q series Always read through this manual and fully comprehend the functions and performance of the Q series programmable controller before starting use to ensure correct usage of this product CONTENTS SAFELY INSTRUCTIONS ro eee ete dete de ete tee de aetas A 1 hide rq A 4 ce A 6 oen aggpm A 6 Using This eit Hte en cates EHE GP ege eet fond A 10 Compliance with the EMC and Low Voltage A 10 Generic Terms and A 11 eene nie a eee ee de eee A 12 SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING 1 PRODUCT OUTLINE 1 1to 1 14 1 1 Positioning Contoh E 1 1 1 1 1 Features of QD 10 Tm 1 1 1 1 2 Mechanism of positioning 1 2 1 1 3 Outline design of positioning control 1 4 1 1 4 Communicating signals between QD70 and each 1 8 12
75. change During machine OPR control of count 2 OPR 7 DEC STOP time at OPR During JOG operation 3 JOG DEC time x6 When the axis is decelerated to a stop by a speed change to speed 0 pulse s the BUSY signal does not turn OFF 7 The same operation is performed when an immediate stop cause occurs during machine OPR control except the case of count 2 1 PRODUCT TLINE MELSEC Q MEMO 2 SYSTEM CONFIGURATION aae e 2 MELSEC Q CHAPTER 2 SYSTEM CONFIGURATION This chapter explains the system configuration of the QD70 2 1 General image of system The following is the general configuration including the QD70 programmable controller CPU peripheral device and others The numbers in the sketch correspond to the Nos in the table in Section 2 2 Component list on the next page Peripheral device Personal computer i GX Developer SW OD5C GPPW E GX Configurator PT SW OD5C QPTU E Power supply module Main base unit 2 Extension cable Mechanical system inputs switches Near point dog signal Speed position switching signal Drive unit Positioning module Connection QD70P4 QD70P8 cable Motor L I Extension system L L 1 For the usable CPU module refer to Section 2 3 Applicable system 2 For the usable base unit and power supply module refer to the CPU Module
76. control ABS is set in positioning data No 1 of axis 1 Setting item Setting example Setting details Da 1 Operation pattern Positioning Set Positioning termination assuming the next positioning data will not termination be executed 1 axis linear 2 Contro method control ABS Set absolute system 1 axis linear control time 1000ms Set the acceleration deceleration time for position control DEC STOP time 1000ms Set the deceleration stop time for position control 5 Command speed 50000pulse s Set the speed during movement to the positioning address Positioning address EE Da 6 amount 8000pulse 5 the positioning address Set the time the machine dwells after the position control stop pulse Dwell time 500ms DOE output stop to the output of the positioning complete signal Refer to Section 4 5 List of positioning data for the setting details EE 2 E c mE o a M 2 x lt POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 2 1 axis linear control INC ll Operation chart In incremental system 1 axis linear control addresses established by a machine OPR control are used Position control is carried out from the current stop position start point address to a position at the end of the movement amount set in Da 6 Positioning address movement amount The movement d
77. definition is stored If another error occurs during axis error occurrence the latest error code is ignored However if a system affecting error error code 800 to 840 has occurred the old error code is overwritten by the newest error code which is stored The error codes 800 to 840 are stored into Md 5 for all axes When 1 Axis error reset axis control data of the corresponding axis is turned ON the axis error code is cleared to zero Refer to Section 13 2 for details of the error codes MELSEC Q Storage buffer memory address 7 170 7 171 172 173 270 271 370 371 470 471 570 571 670 671 770 771 174 175 0 1 72 73 74 75 6 7 7 176 7 177 4 DATA USED FOR POSITIONING CONTROL p Default Item Storage details value Md 6 Axis warning code Md 7 Status signal Md 9 Executing positioning data No Md 8 External I O At axis warning occurrence the warning code corresponding to the warning definition is stored e The latest warning code is always stored When a new axis warning occurs the old warning code is overwritten When 1 Axis error reset axis control data of the corresponding axis is turned ON the axis warning code is cleared to zero Refer to Section 13 3 for details of the warning codes The ON OFF states of the following flags are stored The following items are stor
78. device software GX Configurator PT ms GX Configurator QP straight out option type straight out option straight out option A6CON4 soldering type usable for AGCON4 soldering type usable for straight out straight out and diagonal out option and diagonal out option e A6CON1 A6CON4 0 3mm A6CON1 0 3mm Applicable wire size A6CON2 AWG 24 A6CON2 AWG 24 butt 5 fsd QD75P Open collector Sa SO SO QD75D Differential driver M toatni 200k For connection to open collector 200kpps ax o se S For connection to differential driver 1Mpps For connection to open collector 2m Max connection distance to servo 2m For connection to differential driver 10m QD75P1 0 4A QD75P2 0 46A QD75P4 0 58A Internal current consumption 5VDC 0 55A 0 74A QD75D1 0 52A QD75D2 0 56A QD75D4 0 82A Number of occupied points 32 points 32 points Number of slots occupied by module Weight 0 15kg 0 17kg 0 15kg 0 15kg 0 16kg Possible X Not possible N Did st Flash ROM ata storage destination 9 Backup not possible Battery free backup 1 The positioning data starting method changes depending on the model QD70P Positioning data can be started from No 1 only Cannot be started from any of No 2 to No 10 QD75PL QD75D Positioning data can be started from any of No 1 to No 600 2 When the unit is degree the control meth
79. each axis 2 The setting data parameters have determined default values and are set to the default values before shipment from the factory Parameters related to axes that are not used are left at the default value 3 The setting data set in the QD70 buffer memory are not backed up All data are initialized at the time of system power on or programmable controller CPU reset 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 2 Setting items for parameters The table below lists items set to the positioning parameters Setting of parameters is similarly done for individual axes for all controls achieved by the QD70 For details of controls refer to SECTION 2 CONTROL DETAILS AND SETTING For details of setting items refer to 4 2 List of parameters Positioning control Speed Related OPR Positi Current JOG Sub control osition position value operation control switching function changing control Software stroke limit upper limit value Software stroke limit lower limit value Section 11 4 rs Thee NEC 389 97 o RES qo X pt Current feed valve during speed conti o 1 rom BESUBE MERE RUNE C Bias speed at start Section 11 5 Positioning complete signal output time
80. hardware is D The states of ERR and AX1 to AX8 are LI undefined 51 LAX1 Lighting of RUN LED module is Extinguishment of AX70 ERR LED normal 4 1 61 LIAX2 Lighting of ERR LED System error to AX8 LEDs Lighting of AX1 Same even if the other axis is lit During axis operation Flashing of ERR LED Flashing of AX1 LED Same even if the other axis flashes Axis error 13 13 Extinguishment of 1 axis stop during axis standby An operation condition setting error or installation programmable controller CPU type error occurs The setting and programmable controller CPU types are outside the specification range Set the programmable controller CPU type to a one contained in the specification This lights up from the positioning control start until the positioning control is completed stopped temporarily or stopped by error corresponding at a ratio of 1 1 to BUSY signals Check the error observed on the GX Configurator PT or the buffer memory batch processing monitor of the GX Developer and correct the applicable parameters and positioning data 13 13 13 TROUBLESHOOTIN MELSEC Q 13 5 Confirming the error definitions using system monitor of GX Developer Choosing Module s detailed information in the system monitor of GX Developer al
81. is Continuous path control for position control Da 6 Positioning address movement amount has been set to reverse the operation direction When control Da 1j Operation pattern is Continuous path Da 6 amount is too small to form a constant speed part When Da 1 path control for position control positioning control ended soon since 6 Positioning address movement amount in current execution was Positioning address movement Operation pattern was Continuous small and the calculation processing of the next positioning data was not in time Da 2 Control method of Speed position Da 6 In Switching control a negative value is set in Positioning address movement amount Start is not made Current value changing is not made Start is not made The axis stops as soon as the execution of the preceding positioning data is completed The axis stops as soon as the execution of the preceding positioning data is completed At start During operation Start is not made After switching to position control the axis decelerates to a stop 13 5 13 TROUBLESHOOTIN ue MELSEC Q Related buffer memory address Setting range Remedy 3 Start method 0 Positioning control Set 3 Start method to within the 5 152 252 352 452 552 652 752 9000 Machine OPR control setting range Refer to Section 4
82. it does not stop and decelerates to a stop 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 3 List of OPR data iam Setting value setting Default value Setting value buffer memory address ult valu range E rM 2 120 0 Forward direction OPR 2 OPR direction 2 121 221 321 421 521 621 721 1 Reverse direction 2147483648 to 2 122 222 322 422 522 622 722 OPR 3 OP address 2147483647 pulse 1 2 123 223 323 423 523 623 723 2 124 224 324 424 524 624 724 OPR 4 OPR speed 1 to 200000 pulse s 1 2 125 225 325 425 525 625 725 OPR 6 ACC DEC time at 0 to 32767 ms 1000 OPR 7 DEC STOP time at OPR 0 to 32767 ms 1000 0 1 2 3 4 5 Ee 26 126 226 326 426 526 626 726 OPR 5 Creep speed 1 to 200000 pulse s 1 27 127 227 327 427 527 627 727 8 9 0 1 2 29 Setting for the movement 3 130 230 330 amount after near point O to 2147483647 pulse 3 231 331 dog ON OPR dwell time 0t066535 m 2 2 132 232 1 When O Valid is set for Pr 3 Software stroke limit valid invalid setting the setting range is 0 to 2147483647 pulse 2 When making setting in a sequence program set 0 to 32767 in decimal as is and 32768 to 65535 in hexadecimal OPR 1 OPR method Set the OPR method for carrying out machine OPR control 0 Near
83. limit value 109 209 309 409 509 609 709 6 Speed change request Do not make a speed change during 55 155 255 355 455 555 655 755 Make speed change position control or during OPR control Da 1j Operation pattern 0 Positioning termination Correct Da 6 Positionin 1 Continuous positioning control 9 address movement amount or change 2 Continuous path control Da 1 Operation pattern to Positionin Da 6 Positioning address movement Mm E R termination Refer to Section 9 1 2 Refer to Section 4 5 List of positioning data amount 2147483648 to 2147483647 pulse For position control 13 12 13 12 13 TROUBLESHOOTING 13 4 Error check by LED indication MELSEC Q The states of QD70 and each axis control can be confirmed by the LEDs located on the front panel of the QD70 main module QD70P8 RUN axs 0 L AX1 AXeL Ax2 AX7L ERR 8 AX4 Each axis can be monitored by the states of the LEDs The operation and indications of the LEDs are as shown below Details of indication If the RUN LED does not light up even when the power is turned ON the module may be out of order Replace the module with a new one Goes OFF O bali tab 5 d Goes ON I oints to be confirme Flashes 9 Extinguishment of E The
84. made by turning ON the near point dog and deceleration made by turning ON the axis stop signal Refer to Section 4 3 List of OPR data for details Make setting with full consideration given to the influence on the machine EE ll Machine OPR operation In a machine OPR control a near point dog and zero signal are used to establish machine OP None of the address information stored in the QD70 programmable controller CPU or drive unit is used at this time The position mechanically established after the machine OPR control is regarded as the OP to be the starting point for positioning control The method for establishing an OP by a machine OPR control differs according to the method set in OPR 1 OPR method The following shows the operation when starting machine OPR control The machine OPR control is started The operation starts according to the speed and direction set in the OPR data 110 ES OPR 9 The OP is established by the method set in OPR 1 OPR and the machine stops Refer to sections 8 2 2 to 8 2 8 If a is set as OPR 3 OP address will be stored as the current position in the Current feed value which is monitoring the position Refer to Section 4 3 List of OPR data for details of OPR data The OPR 3 OP address is a fixed value set by the user Machine OPR control dan
85. not less than 6 Bias speed at start and turn the Programmable controller READY signal YO from OFF to ON OPR 4 OPR speed OPR 5 Creep speed 1 to 200000 pulse s OPR 6 ACC DEC time at OPR 7 DEC STOP time at OPR 0 to 32767 ms Change the setting to within the setting OPR 8 Setting for the movement range and turn the Programmable amount after near point dog ON controller READY signal YO from OFF 0 to 2147483647 pulse s to ON Pr 10 Stop mode during path control 0 Position match stop 1 Deceleration stop 13 10 13 10 13 TROUBLESHOOTIN noe MELSEC Q 13 3 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs Warnin Warning name Warning Operation status at warning occurrence code 000 Normal status Do Start during operation The start request is issued while the axis is BUSY Continue the operation A restart request was made when Md 4 Axis operation status is other than Stopped Restart not possible During OPR control JOG operation a restart Operation is continued request was made when 4 Axis operation status is other than Stopped The set speed or Cd 7 New speed value is lower Outside speed than Pr 6 Bias speed at start or higher than Pr 5 The speed is controlled at Pr 6 Bias speed at start or Pr 5 S
86. of module insert the module fixing tab into the fixing hole in the base unit until it stops Then securely mount the module with the fixing hole as a supporting point Improper loading of the module can cause a malfunction failure or drop For use in vibratory environment tighten the module with screws Tighten the screws within the specified torque range Undertightening can cause a drop short circuit or malfunction Overtightening can cause a drop short circuit or malfunction due to damage to the screws or module Completely turn off the externally supplied power used in the system before mounting or removing the module Not doing so may damage the product WIRING INSTRUCTIONS lt DANGER e Always confirm the terminal layout before connecting the wires to the module STARTUP MAINTENANCE INSTRUCTIONS lt DANGER e Completely turn off the externally supplied power used in the system before cleaning or tightening the screws Failure to turn all phases OFF could lead to electric shocks STARTUP MAINTENANCE INSTRUCTIONS N CAUTION e Never disassemble or modify the module Failure to observe this could lead to trouble malfunctioning injuries or fires e Completely turn off the externally supplied power used in the system before installing or removing the module Failure to turn all phases OFF could lead to module trouble or malfunctioning Do not install remove the module to from the base unit more th
87. pattern O e Continuation Continuous positioning control operation pattern 1 3 Continuous path control operation pattern 2 The following shows examples of operation patterns when 1 axis linear control ABS is set in positioning data No 1 to No 6 of axis 1 Details of each operation pattern are shown on the following pages Operation example when 1 axis linear control ABS is set in the positioning data of axis 1 gt Setting details M ela Start Positioning control to address A at command speed Operation pattern lt 2 Continuous path control Positioning control to address B at command speed Operation pattern lt 2 Continuous path control Positioning control to address C at command speed Operation pattern lt 1 Continuous positioning control Positioning control to address D at command speed Operation pattern lt 1 Continuous positioning control Positioning control to address E at command speed Operation pattern 0 Positioning termination Positioning control to address F at command speed Operation pattern 2 Continuous path control Operation pattern 11 00 UJ The machine stops and X771 then continues the next positioning control Speed is changed without stopping a Positioning control is terminated Time NO 1 No 2 No 3 4 5 Positioning data B C D E F Address Direction in which axis
88. ranges when positioning control is started At this time an error occurs in the positioning data whose value has been set outside the setting range For details refer to CHAPTER 13 TROUBLESHOOTING 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 6 Type and roles of monitor data The monitor data area in the buffer memory stores data relating to the control state of the positioning control system which are monitored as required while the positioning System is operating The following data are available for monitoring Axis operation monitoring Monitoring of the current position and speed and other data related to the movements of axes through the axis monitor data Md 1 to Md 9 Module information monitoring Monitoring of the QD70 error status and warning status through the module information monitor data 10 to 11 Refer to Section 4 6 List of monitor data for details of the monitor data Monitor data Monitor details Current feed value Monitor the current current feed value Movement amount after near point dog Monitor the movement amount after the near point dog has turned ON ON Md 8 Monitor the positioning data No currently being executed 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 7 Type and roles of control data Operation of the positioning contr
89. scan there are no starting delays between the axes Ease of maintenance In the QD70 error definitions have been subdivided to improve maintenance performance Ease of utility package settings The optionally available utility package GX Configurator PT allows initial setting and auto refresh setting to be made on the screen reducing sequence programs and facilitating the confirmation of the setting status and operating status 1 1 1 PRODUCT OUTLINE MELSEC Q 1 1 2 Mechanism of positioning control Positioning control using the QD70 is exercised using pulse signals The QD70 is a module that outputs pulses In a positioning control system using the QD70 a variety of software and external devices are used to play their roles as shown below The QD70 imports various signals parameters and data and exercises control with the programmable controller CPU to realize complex positioning control Peripheral device GX Developer GX Configurator PT Using GX Developer create control sequence and conditions i as sequence program Adding in GX i enables initial setting of parameters and data gt Programmable Stores the created program QD70 outputs the positioning start signal and axis stop signal following the stired program QD70 errors etc are detected controller CPU near point dog signal and speed A i switching s
90. signal is output during machine OPR control Example When carry out machine OPR control with stopper 2 Speed OPR speed Pr 6 Bias OPR 5 Creep speed if speed at start Near point dog Deviation counter clear s E CLEAR x rt Deviation counter clear signal output time CLEAR OFF l MM ON After feed pulse output stops The output time of the deviation counter clear signal is set in Pr 8 Deviation counter clear signal output time Use the drive unit that can reset the droop pulse amount in the internal deviation counter when the QD70 turns this signal ON Note The deviation counter clear is a signal output by the QD70 during machine OPR control It cannot be output randomly A16 B16 CLEAR 2 Deviation counter clear common Common for deviation counter clear A14 B14 COM 3 SPECIFICATIONS AND FUNCTIONS 3 4 4 Input output interface internal circuit MELSEC Q Shows summary image of the internal circuit of the interface for connection to external devices of the QD70 For QD70P4 axis 1 Input output 13 S External wiring Pin No Internal circuit class m 1 UJ UJ N UJ UJ Co D D converter circuit Either polarity can be connected to the common COM1 2 Signal name Near point dog signal Speed position switching signal Zero signal Zero signal common PG01 COM External power input 0V External power input 24VD
91. the QD70 PCB from the case Failure to observe this could lead to faults Cable Do not press on the cable with a sharp object Do not twist the cable with force Do not forcibly pull on the cable Do not step on the cable Do not place objects on the cable Do not damage the cable sheath Installation environment Do not install the module in the following type of environment Where the ambient temperature exceeds the 0 to 55 C range Where the ambient humidity exceeds the 5 to 9596 RH range Where there is sudden temperature changes or where dew condenses Where there is corrosive gas or flammable gas Where there are high levels of dust conductive powder such as iron chips oil mist salt or organic solvents Where the module will be subject to direct sunlight Where there are strong electric fields or magnetic fields Where vibration or impact could be directly applied onto the main body 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 5 2 Procedures before operation This section gives the procedure up to the operation of the QD70 Module installation Install the QD70 in the specified slot Wiring Wire the external device to the QD70 Refer to Section 5 4 Intelligent function module switch setting Make setting using GX Developer Refer to Section 5 6 Connection confirmation Confirm connection using GX Developer or GX C
92. the position where the near point dog turned from OFF to ON and on completion of the deviation counter clear output machine OPR control is completed Wiring of signals required for each OPR method OPR method Near point Zero signal PGO 2 2 2 o Near point dog method Near point dog DOG Ge Deviation counter clear CLEAR O Wiring required Wiring not required Creep speed The stopping accuracy is poor when the machine suddenly stops from fast speeds To improve the machine s stopping accuracy its must change over to a slow speed before stopping This speed is set in the OPR 5 Creep speed 8 3 8 3 PR NTROL Mass MELSEC Q 8 2 3 OPR method 1 Near point dog method The following shows an operation outline of the near point dog method OPR method Operation chart Machine OPR control is started 1 Acceleration starts in the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR and the axis moves at OPR 4 OPR speed 2 Near point dog ON is detected and deceleration starts at the time set in OPR 6 ACC DEC time at OPR 3 The machine decelerates to the OPR 5 Creep speed and subsequently moves at that speed At this time the near point dog must be ON On detection of the first zero signal after near point dog
93. the programmable controller Separate these by 100mm as a guide Failure to observe this could lead to malfunctioning caused by noise surge or induction If cables to connect to QD70 absolutely must be positioned near within 100mm the power line use a general shielded cable The shield must be grounded on the QD70 side Wiring examples are given on the following pages 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Wiring example using shielded cables The following are the wiring examples for noise reduction when the AGCON1 connector is used Connector A6CON1 To external devices To external device To drive units the shortest posible to graound the 2mm or more FG wire The length between the connector and the shielded The shield must be grounded on cable chould be the shortest possible the QD70 side To QD70 Processing example of shielded cables Remove the coverring from all shielded cables and bind the apperared shield with a conductive tape Coat the wire with insulaing tape Solder the shield of any one of the shielded cables to the FG wire MELSEC Q 5 SETUP AND PROCEDURES BEFORE OPERATION Assembling of connector AGCON1 Wrap the coated parts with a heat contractile tube 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 9 The cables connected to the QD70 should be placed in a duct or fixed Not doing so can cause the QD70
94. time When the OPR method is Stopper 1 set the time from when the near point dog turns ON until machine OPR control is completed Set not less than the movement time from when the near point dog turns ON until a stop is made by the stopper When the OPR method is other than Stopper 1 the OPR 9 OPR dwell time value need not be set 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 4 List of JOG data itam Setting value setting Default value Setting value buffer memory address range Avis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Exe tmm enm ee 41 141 241 341 441 541 641 741 100 42 3 JOG 2 JOG ACC time 0 to 32767 ms 1000 642 JOG 3 JOG DEC time 0 to 32767 ms 1000 43 143 0 Forward run JOG JOG 4 JOG direction flag JOG Reverse run JOG 1 JOG speed 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 5 Speed limit value gt JOG 1 JOG speed gt Pr 6 Bias speed at start If the JOG speed is more than the speed limit value it is limited to Pr 5 Speed limit value If the JOG speed is less than Pr 6 Bias speed at start it is limited to Pr 6 Bias speed at start JOG 2 JOG ACC time Set the time taken to reach JOG 1 JOG speed from 6 Bias speed at start at a JOG operation start JOG start signal
95. time of speed position switching control App 4 Outline design of positioning control system 1 4 Outline of OPR 8 1 Outline of 1 10 Outline of stopping 1 12 Programmable controller CPU A 11 Programmable controller READY signal 3 6 Programmable controller READY signal YO ON piogia um Up ee 7 10 PLC 4 2 PULSE SIGN 5 14 Parameter setting program 7 9 Part identification nomenclature 5 4 Performance specifications 3 1 Peripheral A 11 Personal A 11 Position match 4 13 Positioning complete signal 3 5 Positioning control operation program 7 7 Positioning control program examples 7 9 Positioning control start program 7 11 Positioning data setting program 7 10 Positioning start signal 3 6 Positioning 9 3 Pr 1 Software stroke limit upper limit value 4
96. to Chapter 13 for details b15 b12 b8 b4 bO Md 11 i i 11 Warning Norused AA Storage item Meaning status Axis 1 warning Axis 2 warning Axis 3 warning Axis 4 warning Axis 5 warning Axis 6 warning Axis 7 warning Axis 8 warning For the QD70P4 b4 to b7 are 0 fixed 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 7 List of control data 4 7 1 Axis control data Tm Setting details Default Setting buffer memory address j i value Ax By setting 1 the following operation is performed Axis error occurrence X1 Md 5 Axis error code axis warning occurrence X2 or Md 6 Axis warning code is cleared X1 and X2 are cleared when 1 is set in 1 of all axes reset 4 Axis operation status is Error the error is cleared and returned to the Standby status The data automatically changes to O after completion of axis error reset or axis warning reset OPR When the OPR request flag bO of setting 1 forcibly turns this data OFF The data automatically changes to O after the OFF request OPR request flag turns OFF Set this data when starting the corresponding control 0 Positioning control starting from No 1 9000 Machine OPR control 9001 Fast OPR control If positioning control is stopped midway by the axis stop signal Y10 to Y17 when Md 4
97. to Section 4 2 Stop after multiple axes simultaneous start under positioning control The axes started will not stop simultaneously The stop command axis stop signal ON must be given to each axis 1 PRODUCT TLINE MELSEC Q ll Pulse output operation at stop When the axis stops due to stop cause occurrence if there is the pulse being output when the set deceleration stop time has elapsed from the start of deceleration stop the output as much as 1 pulse will be done The following shows the pulse output operation at deceleration stop Stop cause occurrence Start of deceleration stop V A Bias speed at start gt t 5bi 1 D 1 deceleration st p uius Pulse that is being output when set deceleration stop time has elapsed Will be output 7 1 1 Pulse output 1 1 pulse D 1 i ON i 1 1 1 BUSY signal OFF 4 Stop cause indicates any of the following Error occurred in the programmable controller CPU or QD70 JOG start signal Y18 to Y1F has turned OFF during JOG operation e Axis stop signal Y10 to Y17 has turned ON e Speed change to speed 0 pulse s when bias speed at start is O pulse s e Machine OPR control of count 2 5 Set deceleration stop time is any of the following During positioning control 4 DEC STOP time At speed change to speed 0 pulse s Cd 9j DEC STOP time at speed
98. to YF Positioning start Positioning complete X18 to X1F signal BUSY signal AO DARS Start complete signal X10 to X17 00 z Y10 to Y17 is stop signa Axis error occurrence la signal Axis warning occurrence signal i Module READY signal JOG start signal Date write read K Monitor data interface Interface with Programmable controller CPU Operation monitor E setting Auto refresh Peripheral device GX Configurator PT 1 8 External interface Zero signal Deviation counter clear Pulse train gt Near point dog singal Drive unit i Speed position switching signal Mechanical system Switches Power supply 24VDC For pulse train output 1 PRODUCT TLINE MELSEC Q QD70 Programmable controller CPU The QD70 and programmable controller CPU communicate the following data via the base unit QD70 Programmable controller Programmable controller CPU QD70 Communication CPU Signal indication 0070 state Signal related to commands Module READY X0 Programmable controller READY YO Axis error occurrence X1 Positioning start Y8 to YF Axis warning occurrence X2 Axis stop Y10 to Y17 e BUSY X8 to JOG start Y18 to
99. torque must be limited If the torque is not limited the motor may fail at 4 The machine presses against the stopper at the creep speed and stops On detection of the zero signal after the stop the pulse output from the QD70 stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set Pr 8 After a deviation counter clear output is output to the drive unit the OPR complete flag Md 7 Status b1 turns from OFF to ON and the OPR request flag Md 7 Status bO turns from ON to OFF 4 speed Deceleration at the near point dog ON OPR 5 Creep speed E Stopper 6 Machine OPR control start Positioning start signal Y8 to YF OPR request flag Status bO OPR complete flag Status b1 Deviation counter clear output 1 1 1 1 Axis operation status Standby X During OPR Movement amount after Unfixed i 0 near point dog ON Current feed value Unfixed X Traveled value is stored Xo address Fig 8 6 Stopper 2 machine OPR control 8 OPR CONTROL MELSEC Q Restrictions 1 Always limit the motor torque after the OPR 5 Creep speed is reached If the torque is not limited the motor may fail when the machine presses against the stopper For a torque limit refe
100. uit valu range Avis 2 Axis 3 Axis 4 Axis 5 Axis 6 Avis 7 Axis 8 Pr 1 Software stroke limit upper 2147483647 0 100 200 300 400 500 600 700 limit value 2147483648 to 1 101 201 301 401 501 601 701 Pr 2 Software stroke limit lower 2147483647 pulse 21447483648 102 202 302 402 502 602 702 limit value 103 203 303 403 503 603 703 Pr 3 Software stroke limit Y valid 104 204 304 404 504 604 704 valid invalid setting i mnm mm 106 206 306 406 506 606 706 107 207 307 407 507 607 707 108 208 308 408 508 608 708 109 209 309 409 509 609 709 _ Pr 1 Software stroke limit upper limit value Set the upper limit for the machine s movement range Current feed value during speed control Sa Pr 5 Speed limit value 1 to 200000 pulse s 10000 Pr 6 Bias speed at start 0 to 200000 pulse s Pr 7 TEET Positioning complete signal 0 to 65535 ms 300 output time Pr 8 Deviation counter clear 1 10 signal output time PULSE SIGN method selection setup hold time o o ae N Stop mode during path control 1 Deceleration stop Pr 2 Software stroke limit lower limit value Set the lower limit for the machine s movement range Software stroke Software stroke limit lower limit upper limit
101. which is output when the motor turns one revolution after near point dog OFF is detected the pulse output from the QD70 stops and machine OPR control is completed 1 Stopper 1 1 Start machine OPR control Start movement at the OPR 4 OPR speed in the OPR 2 direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to 5 Creep speed and move with the creep speed At this time a torque limit is needed for the motor If there is no torque limit the motor may fail at 4 4 The axis contacts against the stopper at OPR 5 Creep speed and then stops 5 When the near point dog turns ON and the OPR 9 OPR dwell time is passed the pulse output from the QD70 stops and machine OPR control is completed 2 Stopper 2 1 Start machine OPR control Start movement at the 4 OPR speed in the 2 direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to OPR 5 Creep speed and move with the creep speed At this time a torque limit is needed for the motor If there is no torque limit the motor may fail at 4 4 The axis contacts against the stopper at OPR 5 Creep speed and then stops 5 When the zero signal signal output on detection of contact with the stopper is detected after a stop t
102. 0 sees 3 6 3 4 Specifications of input output interfaces with external 3 7 3 4 1 Electrical specifications of input output 3 7 3 4 2 Signal layout for external device connection 3 9 3 4 3 List of input output signal 3 10 A 6 A 6 3 4 4 Input output interface internal circuit 3 11 4 DATA USED FOR POSITIONING CONTROL 4 1to 4 31 4 1 Type of sivas chan tel ema em au uide tl tm au dedita ed mate ais 4 1 4 1 1 Parameters and data required for 4 1 4 1 2 Setting items for parameter 4 3 4 1 3 Setting items for OPR 4 4 4 1 4 Setting items for JOG 4 5 4 1 5 Setting items for positioning 4 6 4 1 6 Type and roles of monitor 4 7 4 1 7 Type and roles of control 4 8 4 2 List of parameters 3 Icio de cn
103. 0 Model Module Start 1 0 No Module model name 007028 Module model name 007028 Selling item Current value Setting value Setting tem Curent value Setting value Curent feed value Curent feed value Current speed Movement amount alter near point dog ON 0 Axis operation status Curent speed Executing postioning data No Anis operation status Standby code Status oN ir wami request flag Eror reset complete Status OFF complete flag Extemal 70 signal OFF Extemall O signal Zero signal Speed postion switching command z External 1 0 signal OFF Flash ROM setting Details Flash ROM setting Details Curent value Monitoring NEUE Monitoring display display Cannot execute test Cannot execute test Make text Make text file Stop moritor Stop moritor Close 6 UTILITY PACKAGE GX Configurator PT MELSEC Q lt X Y Monitor Monitor Test iz XIY Monitor Module information Module information Module type 0070 Model Module Start 1 0 No 0000 Module 0070 Model Module Start 1 0 No 0000 Module model 007028 Move to Module model 007026 Setting tem Curs value Setting vals sub window Selling Curent value Setting value Ae 4 Monitr Tes 4 Monor Test D Modus READY 4 OPR Monitor
104. 0000 pulse s Set the time taken at a speed change to reach the new speed from the old speed Setting range 0 to 32767ms Pr 6 Bias speed at Set the time taken at axis stop factor occurrence axis stop signal ON or error occurrence to make a stop after reaching Pr 6 Bias speed at start from the speed after a speed change Setting range 0 to 32767ms Default value 1000 1000 MELSEC Q Setting buffer memory address 56 156 57 157 256 356 456 556 656 756 257 357 457 557 657 757 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION This chapter describes the procedure up to the operation of the QD70 and the part identification nomenclature and setting and wiring methods of the QD70 5 1 Handling precautions This section provides the precautions for handling the QD70 4 DANGER e Completely turn off the externally supplied power used in the system before cleaning or tightening the screws Failure to turn all phases OFF could lead to electric shocks N CAUTION e Use the programmable controller in an environment that meets the general specifications contained in the CPU User s Manual Using the programmable controller outside the general specification range environment could lead to electric shocks fires malfunctioning product damage or deterioration Do not directly touch the conductive s
105. 07 1307 1407 1507 Da 7 Dwell time 0 to 65535 2 808 908 1008 1108 1208 1308 1408 1508 1 0 to 2147483647 pulse when Da 2 Control method is 3 Speed Position Ctrl Forward or 4 Speed Position Ctrl Reverse 2 When making setting a sequence program set 0 to 32767 in decimal as is and 32768 to 65535 in hexadecimal 800 801 802 803 805 905 1005 1105 1205 1305 1405 1505 6 06 07 808 Da 1 Operation pattern The operation pattern designates whether positioning control of a certain data No is to be ended with just that data or whether the positioning control for the next data No is to be carried out in succession Operation pattern eee eee eee ew n n n n 0 Positioning termination Continuous posotioning control 1 Continuous positioning control with one start signal Countinue aM Continupus path positioning 2 Continuous path control control with speed change 1 Positioning termination Set to execute positioning control to the designated address and then complete positioning control 2 Continuous positioning control Positioning control is carried out successively in order of data Nos with one start signal The operation halts at each position indicated by a positioning data 3 Continuous path control Positioning control is c
106. 1 1 1 1 1 Speed position switching control operation H 1 1 Speed control Position control ish 1 1 H Speed control is exercised until the speed position External speed position switching command CHG T The movement amount of position control applies when the external speed position switching signal is input Positioning complete signal X18 to X1F OPR complete flag Status b1 As set in 0 3 to 0 5ms 0 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms parameter A delay may occur in t1 depending on the operating conditions of the other axes App 4 App 4 APPENDIX JOG start signal Y18 to Y1F BUSY signal X8 to XF Axis operation status Pulse output to outside PULSE JOG operation Positioning complete signal X18 to X1F App 5 MELSEC Q 5 Operation timing and processing time of JOG operation Deceleration JOG Start OFF 0 to 2 5ms A delay may occur in t1 depending on the operating conditions of the other axes App 5 APPENDIX MELSEC Q Appendix 3 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation Appendix 3 1 Connection example of QD70P and MR H Configure a sequence to turn OFF the MC at alarms and emergency stops NF MC 6 1 R Power supply r S 3 phase 200VAC 3 T Servomotor i i 1 Within
107. 1 positioning control program is given in this section No 1 to No 3 parameter and data setting program k When setting the parameters or data with the sequence program set them in the QD70 using the TO command from the programmable controller CPU Carry out the settings while the programmable controller READY signal YO is OFF kWhen setting the parameters or data with the GX Configurator PT the No 1 to No 3 program is not necessary No 1 Parameter setting program 5 402 rove MOVP 2 OPR data setting program 33 8 402 HO Move MOVP MOVP MOVE Move ove MOVPE DMOVP DMOVP DMOVP TOP HO MOVE DMOVP MOVP x20 100000000 K 100000000 K100000 K100 K100 10 20000 1000 1000 1000 K3000 K100 014 SET 2 D4 D5 D6 D8 D10 D11 D12 D13 14 D14 215 016 D18 D20 D22 D23 D24 D26 K13 MO 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL x No 3 Positioning data setting program For positioning data No Axis 1 gt 5 402 65 D27 K1 D28 1000 029 1000 K30000 D31 X250000 D33 K100 D35 D27 K9 No 4 Programmable cont
108. 1 addresses increase For 1 axis linear control ABS One motor is driven and positioning control is carried out to an addresses designated in one direction The positioning data of the QD70 is started from positioning data No 1 by setting in 3 Start method It cannot be started from any positioning data of No 2 to No 10 e The BUSY signal X8 to XF turns ON even when position control of movement amount 0 is executed However since the ON time is short the ON status may not be detected in the sequence program 9 POSITIONING CONTROL MELSEC Q 1 Positioning termination Set this to carry out only the positioning control of the specified one piece of data When the dwell time has been specified for position control position control is completed after the specified time has elapsed Positioning termination 0 Dwell time Positioning start signal Y8 to YF Start complete signal X10 to X17 BUSY signal X8 to XF Q Positioning complete signal X18 to X1F Fig 9 1 Operation at positioning termination POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 2 Continuous positioning control 1 The machine always automatically decelerates each time the positioning control is completed Acceleration is then carried out after the QD70 command speed reaches 0 to carry out the next positioning data operation When the dwell time has been specified for position co
109. 1 to 5 default to 0 The settings made with the intelligent function module switches are made valid after power on or programmable controller CPU reset You cannot change the settings during operation Switch No Setting item Setting details bit assignment Default value Pulse output mode 1 to 8 indicate the axis Nos 0000 00 CW CCW mode 01 PULSE SIGN mode Pulse output logic selection 7 6 5 4 3 2 1 7 6 5 4 3 2 Deviation counter clear output logic Pulse output logic selection 0000 selection Deviation counter clear output 1 to 8 indicate the axis Nos 0 Negative logic logic selection 1 Positive logic Zero signal input logic selection 249 9 9 9 TS ES 2 Rotation direction setting Zero signal input logic selection 1 to 8 indicate the axis Nos 0000 Rotation direction setting Zero signal input logic selection 0 Forward run pulse output increases 0 Negative logic Rotation direction setting the current feed value 1 Positive logic 1 Reverse run pulse output increases he current feed value Near point dog signal input logic 0000 1108 indicate axis Nos 0 Negative logic 1 Positive logic Vacant Setting example Setting details e Switch Setting item 8 7 Axis5 Axis4 Axis3 Axis2 Axis 1
110. 1069 1350 1450 1550 to to to No 6 1359 1459 1559 1360 1460 1560 to to to No 7 1369 1469 1569 1370 1470 1570 to to to No 8 1379 1479 1579 1380 1480 1580 to to to No 9 1389 1589 1390 to No 10 1 1399 Error status 1 1040 1 1340 1440 1540 to to to to 1049 1 1349 1449 1549 1 220 t 229 230 t 239 240 t 249 250 t 259 260 t 269 270 t 279 280 t 289 290 t 299 Module information monitor data Md 11 Warning status Write to Reserved Cannot be used is prohibited App 18 App 18 INDEX Ind Numeral 5 1 axis linear control ABS 1 axis linear control INC A Absolute Acceleration deceleration processing fUNCIONA e ee ttle eee Actual acceleration deceleration time Applicable Applicable wire 5 2 Auto refresh setting Axis control Axis display Axis error occurrence signal Axis monitor Axis stop signal Axis warning occurrence signal
111. 2ms or more and a constant speed part is formed T Positioning data 1 Positioning data No 1 i No 2 i Continuous path control i re gt t 1 gt t 3 Speed changing a If the command speed of the positioning data currently executed differs from that of the positioning data to be executed next acceleration or deceleration is made on completion of the positioning control of the positioning data currently executed to switch to the speed set in the positioning data to be executed next b The acceleration deceleration processing to the command speed set in the positioning data to be executed next uses Da 3 ACC DEC time set in the positioning data to be executed next When the command speeds are the same speed changing is not made For details refer to Section 4 5 List of positioning data 9 POSITIONING CONTROL MELSEC Q Positioning control Operation pattern Positioning start signal Start complete signal BUSY signal X8 to XF Positioning complete signal X18 to X1F oF Fig 9 4 Speed changing operation 4 Stopping method for continuous path control When the axis stop signal is input during operation in the operation pattern of 2 Continuous path control select the stopping method in 10 Stop mode during path control For details refer to Section 4 2 List of parameters ll Continuous operat
112. 3 673 773 74 174 274 374 474 574 674 774 3 Current speed 75 175 275 375 475 575 675 775 76 176 276 376 476 576 676 776 4 Axis operation status rd TE TT RR Axis control data Axis monitor data 182 Reserved Cannot be used 199 Write to Reserved Cannot be used is prohibited App 17 App 17 APPENDIX MELSEC Q 900 1000 1100 1200 1300 1400 1500 Da1 Operation pattem 804 904 1004 1104 1204 1304 1404 1504 No 1 Da 5 Command speed 805 905 1005 1105 1205 1305 1405 1505 806 906 1006 1106 1206 1306 1406 1506 E Da 6j Positioning address movement amount 807 907 1007 1107 1207 1307 1407 1507 8 908 1008 1108 1208 1308 1408 1508 7 Dwell time 1009 1109 1209 1309 1409 1509 Reserved Cannot be 9 10 1010 1110 1210 1310 1410 1510 to to to to to to 1019 1119 1219 1319 1419 1519 1020 1120 1320 1420 1520 to to to to to 1029 1129 1329 1429 1529 1030 1330 1430 1530 to to to 1339 1439 1539 Co gt e to 1039 Positioning data 1050 to 1059 1060 to
113. 48 Forward Direction Valid Software Stroke Limit Valid Invalid Setting Current Feed Value During Speed Control No Update Speed Limit Value Bias Speed Start ACC DEC time at OPR Positioning Complete Signal Output Time DEC STOP time at OPR Details Decimal input Details Select input Setting range Setting range g range 2147483648 2147483647 Forward Direction Reverse Direction Make text file End setup Cancel Make text file End setup Cancel 6 UTILITY PACKAGE GX Configurator PT Initial setting of positioning data 1 Positioning Data Setting K Module information Module information Module type 0070 Model Module Start 1 0 No 0000 Move to Module type 0070 Model Module Start 1 0 No 0000 Module modelname 007008 Module modelname 007008 sub window Setting item Setting value E Setting item Setting value E Axis 7 OPR Data Setting Asis 7 OPR Data Setting Axi s 1 1 Operation Pattern Positioning Termination Axis 8 Parameter Setting Axis 8 Parameter Setting Positioni No Control Method Axis 8 OPR Data Setting Axis 8 OPR Data Setting ositioning 1000 Axis Positioning Data Setting Postioning Setiing Setting DEC STOP Time 1000
114. 5 positioning module QD75P1 QD75P2 QD75P4 QD70P4 QD70P8 QD75D1 QD75D2 QD75D4 Number of control axes Control unit pulse mm inch degree pulse ABS system INC system Fixed feed 2 axes linear interpolation 3 axes linear interpolation 4 axes linear interpolation Speed position switching control Position speed switching control Current value changing lt ABS system gt 2147483648 to 2147483647pulse 214748364 8 to 214748364 7um 21474 83648 to 21474 83647inch 0 to 359 99999degree 2147483648 to 2147483647pulse INC system INC system Fixed feed gt 2147483648 to 2147483647pulse 214748364 8 to 214748364 7 21474 83648 to 21474 83647inch Positioning control range 21474 83648 to 21474 83647degree 2147483648 to 2147483647pulse lt Speed position switching control Speed position position speed switching 0 to 2147483647pulse INC control system 0 to 214748364 7 um 0 to 21474 83647inch 0 to 21474 83647degree 10 to 359 99999degree 0 to 2147483647pulse 0 01 to 20000000 00mm min 0 001 to 2000000 000inch min 0 001 to 2000000 000degree min 1 to 1000000pulse s Block start condition start wait start High level positioning control No simultaneous start repeat start O 6 types O 6 types OG operation Inching operation i ee Manual pulse generator function 1 pulse generator module acceleration deceleration Acceleration time and deceleration Acceleration time an
115. 7 Status bO turns from ON to OFF QPR 5 Creep speed Pr 6 speed at start Zero signal Torque limit Machine OPR control start Positioning start signal Y8 to YF OPR request flag Status bO OPR complete flag Status b1 Deviation counter clear output Md 7Status b1 turns from Deviation counter clear signal output time 4 Axis operation status During OPR Standby Md 2 Movement amount after near point dog ON Md 1 Current feed value OP address Fig 8 8 Stopper 3 machine OPR control PR NTROL MELSEC Q Bl Restrictions 1 Always limit the motor torque If the torque is not limited the motor may fail when the machine presses against the stopper For a torque limit refer to the manual of the drive unit used 2 Use an external input signal as the zero signal ll Precautions during operation 1 Ifthe zero signal is input before the workpiece stops at the stopper the workpiece will stop at that position and that position will become the OP Creep speed Bias speed at start Zero signal Torque limit Machine OPR control start OFF Positioning start signal Y8 to YF OPR request flag Md 7 Status 0 OPR complete flag Md 7 Status b1 Deviation counter clear output I Deviation counter clear signal output time lt lt 1 1 Standby X 1
116. 8 to XF turns ON even when position control of movement amount 0 is executed However since the ON time is short the ON status may not be detected in the sequence program The ON status of the start complete signal X10 to X17 and positioning complete signal X18 to X1F can be detected in the sequence program 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q Starting time chart The time chart for starting each control is shown below 1 Machine OPR control starting timing chart Near point dog Zero signal Positioning start signal Y8 to YF Programmable controller READY signal Y0 OFF Module READY signal X0 OFF Start complete signal X10 to X17 OFF BUSY signal X8 to XF OFF Axis error occurrence signal X1 Start method OPR request flag Md 7 Status bO OPR complete flag Md 7 Status b1 Fig 7 4 Machine OPR control starting timing chart 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 2 Fast OPR control starting timing chart Positioning start signal Y8 to YF Programmable controller READY signal YO oFF Module READY signa X0 OFF Start complete signal X10 to X17 OFF BUSY signal X8 to XF OFF Axis error occurrence signal X1 Start method Fig 7 5 Fast OPR starting timing chart 3 Positioning control starting timing chart Operation pattern Dwe well time Posi
117. 9 MITSUBISHI ELECTRIC Mitsubishi Programmable Controller MELSEG cries Type QD70 Positioning Module User s Manual QD70P4 QD70P8 GX Configurator PT SW1D5C QPTU E e SAFETY INSTRUCTIONS Always read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly The instructions given in this manual are concerned with this product For the safety instructions of the programmable controller system please read the CPU module User s Manual In this manual the safety instructions are ranked as DANGER and CAUTION Indicates that incorrect handling may cause hazardous conditions lt gt resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in medium or slight personal injury or physical damage Note that the CAUTION level may lead to a serious consequence according to the circumstances Always follow the instructions 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 INSTRUCTION lt DANGER e Provide a safety circuit outside the programmable controller so that the entire system will operate safely even when an external power supply err
118. Axi operation status is Stopped setting 1 restarts positioning control to the end point of the Cd 4 Restart positioning data from where it had stopped request For speed control of speed position switching control speed control is exercised at the speed used before the stop After completion of restart request acceptance the data changes to O automatically Set whether the speed position switching signal is made valid or not 0 Invalidates the speed position switching signal Switching Disable request 1 Validates the speed position switching signal Enable Axis error request flag Speed position 4 DATA USED FOR POSITIONING CONTROL Setting details Speed change request New speed value ACC DEC time at speed change DEC STOP time at speed change Set 1 to request speed change processing make the 7 New speed value value valid after setting Cd 7 New speed value for JOG operation or speed control of speed position Switching control The data changes automatically to 0 after completion of speed change request acceptance Set the new speed for JOG operation or speed control of speed position switching control Set the value not more than 5 Speed limit value Set the value not less than start Setting range 0 to 20
119. C Pulse output F CW PULSE PULSE F1 Pulse output R CCW SIGN PULSE R1 Pulse output common PULSE COM1 CLEAR1 Deviation counter clear Deviation counter clear common CLEAR1 COM 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 1 Input signal ON OFF status Input signal ON OFF status The input signal ON OFF status is defied by the external wiring and logic setting This is explained below with the example of near point dog signal DOG The other input signals also perform the same operations as the near point dog signal DOG External wirin ON OFF status of near point dog 9 9 9 signal DOG as seen 2070 Negative logic Initial value Positive logic Voltage not applied Voltage applied Voltage not applied o Voltage applied Voltage not applied a 24VDC Set the logic setting using Switch setting for intelligent function module For details of the settings refer to Section 5 6 b Logic setting and internal circuit In the QD70 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 SPECIFICATIONS AND FUNCTIONS MELS
120. Deviation counter clear signal output time PULSE SIGN method selection setup hold time Pr 10 Stop mode during path control Always set Setas required Read when not 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 Checking the parameters Pr 1 to Pr 10 are checked for the setting ranges when the Programmable controller READY signal YO output from the programmable controller CPU to the QD70 changes from OFF to ON At this time an error occurs in the parameter whose value has been set outside the setting range For details refer to CHAPTER 13 TROUBLESHOOTING 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 3 Setting items for OPR data When carrying out OPR control the OPR data must be set The setting items for the OPR data are shown below The OPR data are set commonly for each axis Refer to Chapter 8 OPR CONTROL for details on the OPR CONTROL and to section 4 3 List of OPR data for details on each setting item OPR control Machine OPR control Fast OPR control OPR data aa HAH mam Heee e E 0 Setting for the movement amount after near point dog ON cms jme 1 Always set Se
121. EC Q MEMO 4 DATA USED FOR POSITIONING CONTROL MELSEC Q CHAPTER 4 DATA USED FOR POSITIONING CONTROL This chapter explains the specifications of the data to be set to the QD70 4 1 Type of data 4 1 1 Parameters and data required for control The parameters and data required to carry out control with the QD70 include the setting data monitor data and control data shown below Setting data H Parameters Set at a system startup according to the machinery equipment and applications Storage destination QD70 buffer memory Pr 1 to Pr 10 5 H OPR data Set values required to exercise OPR control Ito 9 Storage destination 0070 buffer memory H JOG data Set values required to perform JOG operation Storage destination QD70 buffer memory 1 toUoG 4 H Positioning data Set values required to exercise positioning control Storage destination QD70 buffer memory Da 1 to Da 7 Intelligent function module switches Set the pulse output mode and external I O signal logic Storage destination I O assignment setting PLC parameter of QCPU Switches 1 to 5 The parameters and data are made valid when the Programmable controller READY signal YO turns from OFF to ON The JOG data or positioning data are made valid when a JOG operation s
122. Editmode MAIN 35 Step ey window Heb Check program Confirm project memory size Merge data Check parameter Transfer ROM Bf Delete unused comments Clear all parameters IC memory card Start ladder logic test Set TEL data Intelligent Function utility Utility list Customize Change display color Options Create start up setting Tools Intelligent function utility Start Screen for selecting a target intelligent function module Intelligent function module utility D MELSEC GppwiPT Intelligent Function module parameter Online Tools Help Select a target intelligent function module Start I 0 No Module type 0000 0070 Model Module Module model name 0070 8 Parameter setting module Intelligent function module parameter Start 1 0 No Module model name Initial setting Auto refresh 4 Available Available Enter Start I O No and select Module type Ia seting Auto rehesh and Module model name Refer to Section 6 3 3 Initial setting Auto refresh Y Initial setting screen Auto refresh setting screen Auto refresh setting Initial setting Module information Module type 0070 Model Module Start 1 0 No 0000 Module model name 0070 8 Module information Module type 0070 Model Module Stat No 0000 Module model name 0070 8 Setting it
123. ION 2 CONTROL DETAILS AND SETTING are installed in the positioning control operation programs explained in Section 7 3 2 To monitor control add a necessary monitor program according to the system Refer to Section 4 6 List of monitor data for monitor items 7 3 1 General configuration of program The general configuration of the positioning control operation program is shown below Start of program creation we Set using the sequence program Set using the Parameter and data GX Configurator PT setting program Initialization program Refer to section 7 5 1 Parameter and data are Start method setting program Refer to section 7 5 2 Start program Refer to section 7 5 3 JOG operation program Refer to section 5 7 Sub program Refer to section 7 5 4 Stop program Completion of program creation Positioning control operation program 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 3 2 Positioning control operation program The following are individual programs which comprise the positioning control operation programs When creating a program refer to the explanation item of the corresponding program and Section 7 4 Positioning control program example and create an operation program according to the positioning control system The following programs are numbered It is recommended to comprise the programs in order of these numbers Start of program creation Set using sequence
124. Movement amount after Unfixed X 0 near point dog ON 1 1 X Current feed value Unfixed Traveled value is stored OP address 1 Fig 8 9 When the zero signal is input before the stop at the stopper 2 Ifthe axis is started during zero signal ON the Zero signal ON error error code 202 occurs PR NTROL Mass MELSEC Q 8 2 7 OPR method 5 Count 1 The following shows an operation outline of the count 1 OPR method lll Operation chart Machine OPR control is started 1 Acceleration starts in the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR and the axis moves at OPR 4 OPR speed Near point dog ON is detected and deceleration starts at the time set in OPR 6 ACC DEC time at OPR The machine decelerates to the OPR 5 Creep speed and subsequently moves at that speed On detection of the first zero signal after the axis has traveled the movement amount set in OPR 8 Setting for the movement amount after near point dog ON after near point dog ON the pulse output from the QD70 stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 After a deviation counter clear output is output to the drive unit the OPR complete flag 7 Status b1 turns from OFF to ON and the OPR request flag Md 7 Status 60 turns from ON to OFF
125. N e The parameter and OPR data setting range is checked e The module READY signal X0 turns ON d The following processes are carried out when the Programmable controller READY signal turns from ON to OFF In these cases the OFF time should be set to 100ms or more The module READY signal turns OFF e The operating axis stops Positioning start OFF OPR control and positioning control is started Positioning start not e The positioning start signal is valid at the rising edge and the requested operation is started ON When the positioning start signal turns ON during BUSY the Positioning start operation starting warning will occur warning code 10 requested Axis stop OFF e When the axis stop signal turns ON the OPR control positioning Axis stop not control and JOG operation In these cases the ON time should be requested set to 4ms or more ON Turning ON the axis stop signal during operation decelerates the Axis stop requested axis to a stop At this time Md 4 Axis operation status changes from Deceleration Axis Stop to Stopped OFF When the JOG start signal is ON JOG operation will be carried JOG not started out at the JOG 1 JOG speed When the JOG start signal turns ON OFF the operation will decelerate and stop At this time 4 JOG started Axis operation status changes from Deceleration JOG Start OFF to Standby Set the rotation direction in JOG 4
126. OFF 4 Axis error No error This signal turns ON if an error occurs in any of axes 1 to 8 and turns OFF when occurrence Error 1 Axis error reset is set for all axes occurrence Use 10 Error status to confirm the error status of the corresponding axis Axis warning No waming e This signal turns ON if a warning occurs in any of axes 1 to 8 and turns OFF when occurrence Warning 1 Axis error reset is set for all axes occurrence Use Md 11 Warning status to confirm the warning status of the corresponding axis Not BUSY e This signal turns ON at the start of positioning control OPR control or JOG operation BUSY It turns OFF when the 7 Dwell time has passed after positioning control stops This signal remains ON during positioning control This signal turns OFF at error or stop Start This signal turns ON when the positioning start signal turns ON and the QD70 starts incomplete the positioning control process Start The start complete signal also turns ON during OPR control complete ON Positioning start signal Y8 OFF Start complete signal X10 OFF Positioning OFF Positioning e This signal turns ON for the time set in 7 Positioning complete signal output complete 2 incomplete time from completion of position control of the corresponding axis Positioning It does not turn ON if 0 is set in 7 Positioning compl
127. ON eese 2 1102 9 CHAPTER SPECIFICATIONS AND FUNCTIONS esee 3 1 to 3 13 CHAPTER 4 DATA USED FOR POSITIONING CONTROL sees 4 1 to 4 31 CHAPTER 5 SETUP AND PROCEDURES BEFORE 5 1 to 5 20 CHAPTER 6 UTILITY PACKAGE ntes 6 1 to 6 19 CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7 1 to 7 20 NOILOAS 1 PRODUCT OUTLINE MELSEC Q CHAPTER 1 PRODUCT OUTLINE This User s Manual provides the specifications handling programming methods and other information of the QD70 positioning module used with the MELSEC Q series CPU module When diverting any of the program examples introduced in this manual to the actual system fully verify that there are no problems in the controllability of the target system 1 1 Positioning control 1 1 1 Features of 2070 The following are the features of the QD70 1 4 5 Wide assortment of 4 axes and 8 axes modules The QD70 is a positioning module used in a multi axes system that does not need complex control It is not compatible with the MELSEC A series AD70 positioning module in I O signals functions etc About positioning control functions a The QD70 has a number of functions required for a positioning control System such as positioning control to any position and equal speed control 1 You can set up to 10 pieces of positioning data
128. ON This value is used for both forward run JOG and reverse run JOG JOG 3 JOG DEC time Set the time taken to make a stop after reaching Pr 6 Bias speed at start from JOG 1 JOG speed at a JOG operation stop JOG start signal OFF error occurrence This value is used for both forward run JOG and reverse run JOG JOG 4 JOG direction flag Set the forward reverse direction for JOG operation 0 Forward run JOG 1 Reverse run JOG 4 DATA USED FOR POSITIONING CONTROL 4 5 List of positioning data MELSEC Q Before explaining the positioning data setting items 1 to 7 the configuration of the positioning data will be shown below The positioning data stored in the QD70 buffer memory has the following type of NM Positioning data No 1 2 ll all Da 1 Da 1 Operation pattern 800 820 s TL 891 Da 2 Control method E Is 882 892 Da 3 ACC DEC time 802 E caen e 884 894 814 824 5 Command speed en 815 825 885 895 886 896 887 897 ET Axis 2 EI 806 816 826 EI 807 817 827 amount Da 7 Dwell time 808 889 899 Buffer A address Used Positioning data No 1 2 lll To
129. ON to OFF JOG 1 JOG speed Acceleration according to i 2 JOG ACC time i Forward run JOG operation 1 12 Bias speed at start Programmable controller OFF READY signal YO Module READY signal X0 JOG start signal Y18 to Y1F JOG 4 JOG direction flag 1 Reverse run JOG BUSY signal X8 to XF Fig 10 1 JOG operation starting timing chart 10 1 10 1 1 PERATION MELSEC Q ll JOG operation monitor When using GX Developer to directly monitor the buffer memory refer to Section 4 6 List of monitor data When using the monitor function of GX Configurator PT to monitor refer to Section 6 6 Monitor test Precautions during operation Before starting JOG operation you must know the following information 1 Setthe JOG data before starting JOG Setting cannot be changed during JOG operation 2 Setting a great value to JOG 1JOG speed from the beginning is dangerous For safety set a small value at first and check the movement After that gradually increase the value and adjust the speed optimal for control 3 1 JOG speed is higher than the speed set in 5 Speed limit value operation is performed at Pr 5 Speed limit value and the Outside speed warning warning code 20 occurs 4 If JOG 1 JOG speed is lower than Pr 6 Bias speed at start operation starts at Pr 6 Bias speed at start
130. On completion of machine OPR control the OP address is stored e Under speed control of speed position switching control whether the current feed value is updated or not or cleared to zero can be selected by parameter setting e The software stroke limit can be activated by parameter setting e If the current value has been changed by the current value change function the new value is stored Range 2147483648 to 2147483647 pulse e At a machine OPR control start is stored e After a machine OPR control start the movement amount from near point dog ON up to machine OPR control completion is stored Movement amount Indicates the movement amount up to completion of machine OPR control when near point dog ON is defined as 0 For near point dog free stopper type method the value is always O Range 0 to 2147483647 pulse The current speed is stored The fraction is ignored 0 may be displayed if the speed is less than 1 pulse s Update timing 1ms for QD70P4 2ms for QD70P8 Range 0 to 200000 pulse The operating status of the axis is stored 1 Error Standby Stopped JOG Operation OPR Position e Control during speed control of speed position Switching control Speed e Position Speed during position control of speed position Switching control Deceleration Axis Stop ON Deceleration JOG Start OFF 9 Fast OPR At axis error occurrence the error code corresponding to the error
131. PR t flag OFF req co i Sd Refer to section 4 7 List of control data for details on the setting details OPR OFF requesting timing chart Programmable controller READY signal Module READY signal X0 OPR request flag Md 7 Status 60 OPR request flag OFF request 0 Fig 7 1 OPR OFF requesting timing chart 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 5 2 Start method setting program This program sets which control out of OPR control or positioning control to execute Data requiring setting 1 Set Cd 3 Start method according to the control to be started Positioning control starting from No 1 Cd 3 Start method 3 Machine OPR control Fast OPR control Refer to Section 4 7 List of control data for more information on the setting details 2 Setthe following control data for speed position switching control Setting item Setting value Buffer memory address Cd 8 Speed position switching 1 The speed position switching signal is 54 154 254 354 454 554 654 754 request made valid enabled Refer to Section 4 7 List of control data for more information on the setting details 7 5 3 Start program This program is designed to start OPR control or positioning control using the positioning start signal Y8 to YF Refer to Chapters 8 and 9 for details of OPR control and positioning control Buffer
132. PT can be checked in GX Developer s Product information screen Operating procedure GX Developer Help gt Product information GX Developer display screen Product information Programming and Maintenance tool GX Developer Version 8 270 SW8D5C GPPW E COPYRIGHT C 2002 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED This Product is licensed to Name MITSUBISHI Company MITSUBISHI ELECTRIC CORPORATION ProductlD List of version information on Add in software Version1 20w S W1DS5C QPTU E COPYRIGHT C 2007 TRUBTSA ELECTRIC CORPORATION ALL RIGHTS RESERVED Software version Warning This product is protected by copyright law and international treaties Unauthorized reproduction or distribution of this program 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 SYSTEM CONFIGURATION MELSEC Q MEMO 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q CHAPTER 3 SPECIFICATIONS AND FUNCTIONS This chapter describes the performance specifications of the QD70 and the specifications of the I O signals transferred to from the programmable controller CPU and external device For the general specifications of the QD70 refer to the User s Manual hardware of the CPU module used 3 1 Performance specifications m Point To Point control path control linear only speed position
133. QD70 8 1 Outline of OPR control 8 1 1 Two types of OPR control OPR control is exercised to set up a position OP as a reference for carrying out positioning control It is used to return a machine system at any position other than the OP to the OP when the QD70 issues OPR request with the power turned ON or others or after a positioning control stop In the QD70 the following two types of control are defined as OPR control in the sequence of OPR operation Either of these two types of OPR control can be executed by setting the data setting 9000 or 9001 in 3 Start method and turning ON the positioning start signal 1 Establish a positioning control OP Machine OPR control Start method 9000 2 Carry out position control toward the OP Em Fast OPR control Start method 9001 The machine OPR control in 1 above must always be carried out before executing the fast OPR control in 2 E When OPR control is not needed In the system that does not require OPR control setting 1 in 2 OPR request flag OFF request forcibly turns OFF the OPR request flag Md 7 Status bO When OPR control is not to be exercised operation starts using the position at power on 1 Current feed value as 0 Also the OPR data OPR 9 must all be set to the initial values or the values that will not result in an error OPR request The OPR request fl
134. QUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL This chapter describes sequence programs of the positioning control system using the 0070 7 1 Precautions for creating program 1 System configuration Unless otherwise specified in this section and later the sequence programs shown are those for the following system Refer to Section 7 2 for the applications of the devices used power 5 9 supply P 7 1 module 0 T e gt gt lt 9 9 o amp x 2 Communication with QD70 There are two methods for communication with QD70 using the sequence program a method using an intelligent function device and a method using a FROM TO command When using the FROM TO command for communication with QD70 change the circuit incorporating the intelligent function device as follows a When the circuit uses the intelligent function device on the destination D side of aMOV command change the command to a TO command Intelligent function device x21 U0 0 MOVP K1 G50 Y X21 Se 0 1 TOP HO Ps K1 Ki Designated Designated value value Number of at UO at G50 write data 1 b When the circuit uses the intelligent function device on the source s side and the destination D side of a MOV command change the command to a FROM command and a TO command X15 Uo U6 0 MOVP G79 G1
135. SIGN 50mA 1 point 5 to 24VDC 4 75 to 30VDC 200mA 10ms or 0 5VDC TYP 0 1mA or less less Deviation counter clear 0 1A 1 point 0 4A 1VDC TYP 2ms or less CLEAR 5 to 24VDC 4 75 to 30VDC 2 5VDC MAX 0 1mA or less resistance load 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q Pulse rising falling edge time Unit for tr and tf us unit for Duty 96 When ambient temperature is room temperature Load voltage V gt Cable length m Load current Pulse mE Dut Dut mA Keps m edge edge y d edge edge y Load current Pulse mE Dut Dut mA Keps edge edge y o edge edge y External power source For driving the pulse output circuit Rated input voltage Current consumption 24VDC External power source input 24V 24G 20 15 Ripple rate within 5 QD70P4 0 065A QD70P8 0 12A ol witnl 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 4 2 Signal layout for external device connection connector The specifications of the connector section which is the input output interface for the QD70 and external device are shown below The signal layout for the QD70 external device connection connector is shown mq 4 QD70P4 QD70P8 RUN RUND Ax
136. Set the same Ld a L device 10100 K1 i X15 1 1 TOP H6 K1 D100 K1 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q c When the circuit uses the intelligent function device for a COMPARISON command change the command to a FROM command and a COMPARISON command MO UO 0 G51 KO 1 RST MO 0 K51 D102 K1 Kk Dat d out 102 1 SEMBRA CRST d When the circuit uses the intelligent function device for a WAND command change the command to a FROM command and a WAND command 2 U0 0 1 WANDP G79 H1 DO y pamer K7 y J3 0 FROMP HO 9 D101 K1 gt Data read out WANDP D101 DO H1 Refer to QCPU Q mode User s Manual Functions and Programs Basic Part for the intelligent function devices Refer to QCPU Q mode Programming Manual Common Commands Part for detail commands used in those programs 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 7 2 List of devices used In Section 7 4 Positioning control program examples the used devices are assigned as indicated in the following table The I O numbers for QD70 indicate those when QD70 is mounted in the O slot of the main base If it is mounted in the slot other than the O slot of the main base change the I O number to that for the position where QD70 was installed In addition change the external inputs internal re
137. Us MELSEC Q 1 2 2 Outline of stopping The possible causes of a control stop are as follows 1 Control ended normally 2 An error occurred in the programmable controller CPU 3 An error occurred in the QD70 4 The axis stop signal from the programmable controller CPU turned ON Stop processings ops in the above cases are outlined in the following table Except the case 1 where control stopped normally Axis operation Stop processing Stopped Stop factor status Md 4 Positioning axis OPR control JOG operation after stop control Programmable controller CPU error Deceleration stop Software stroke limit 2070 error upper lower limit error Axis by axis Error Deceleration stop Deceemtonstp Axis stop signal from programmable x3 Axis by axis Stopped Deceleration stop controller CPU turned ON 1 By making parameter setting you can set the software stroke limit valid invalid When the stroke limit is set invalid a deceleration stop is not made Refer to Section 4 2 2 If an illegal positioning data setting value caused an error during position control operation pattern continuous path control an immediate stop is made at the positioning data preceding that illegal setting value Refer to Section 9 1 2 x3 For position control operation pattern continuous path control you can make parameter setting to select the stopping method position match stop or deceleration stop Refer
138. User s Manual 2 1 2 1 2 SYSTEM CONFIGURATION aas sabias 2 MELSEC Q 2 2 Component list A positioning system using the QD70 consists of the following components Positioning module ar Cono axes Open collector output type GX Be cee SWI D5C GPPW E For details refer to the GX Developer Operating Manual and GX Configurator PT SW 105 CHAPTER 6 UTILITY PACKAGE GX Configurator PT DOS V personal User prepared Personal computer computer Refer to the GX Developer Operating Manual for details User prepared RS 232 cable for connection of the CPU module and DOS V personal 4 RS 232 cable QC30R2 computer Refer to the GX Developer Operating Manual for details User prepared USB cable for connection of the CPU module and DOS V personal 5 USB cable computer Refer to the GX Developer Operating Manual for details User prepared Drive unit Refer to the drive unit manual for details User prepared Connection cable Cable for connection of the QD70 and drive unit or mechanical system for connection of input signals QD70 and drive unit To be fabricated in reference to the connected device manual and Section 3 4 2 2 SYSTEM CONFIGURATION 2 3 Applicable systems MELSEC Q This section describes applicable systems 1 Applicable modules and base units and No of modules a When mounted with a CPU module The table below s QD70 and quantit hows the CPU modules
139. X8 to XF Positioning complete signal X18 to X1F Axis error occurrence signal X1 Axis operation status Restart request Fig 7 9 Restarting timing chart for position control SECTION 2 CONTROL DETAILS AND SETTING Section 2 is configured for the following purposes shown in 1 to 3 1 Understanding of the operation and restrictions of each control 2 Carrying out the required settings in each control 3 Dealing with errors The required settings in each control include parameter setting positioning data setting control data setting by a sequence program etc Carry out these settings while referring to UHAPTER 4 DATA USED FOR POSITIONING Also refer to CHAPTER 7 SEQUENCE PROGRAMS USED IN POSITIONING CONTROL the sequence programs required in each control and consider the entire control program configuration when creating each program OPR GONTROL 5 t bee i ee e tab e et eio 8 1108 16 CHAPTER 9 POSITIONING eese 9 1109 17 CHAPTER 10 JOG 10 1to 10 6 CHAPTER 11 SUB FUNGCTIONGS etui itera trn eee nete ttu ds 11 1to 11 13 CHAPTER 12 COMMON 12 1to 12 3 CHAPTER 13 TROUBLESHOOTING 13 1to 13 14 N Z O O o MEMO 235 8 OPR CONTROL MELSEC Q CHAPTER 8 OPR CONTROL This chapter details the OPR control of the
140. Y1F Start complete X10 to X17 Positioning complete X18 to X1F Parameter OPR data Data read write Positioning data Positioning data e Control data Control data Monitor data Peripheral device GX Configurator PT The QCPU and peripheral device make the following communications Refer to Chapter 6 for details ber QCPU gt Peripheral device Peripheral device QCPU Communication Initial setting Data Auto refresh setting Monitor data 70 buffer Operation monitor memory XY devices E QD70 Drive unit The QD70 and drive unit communicate the following data via the external device connection connector om QD70 gt Drive unit Drive unit QD70 Communication Signals related to commands Signal indicating OP Deviation counter clear signal Zero signal PGO CLEAR Pulse train output PULSE F Pulse train PULSE R External 24 must be supplied to output the pulse train Mechanical system inputs switches QD70 The input signals from the mechanical system inputs switches are entered into the 0070 via the external device connection connector Near point dog signal DOG Mechanical system inputs switches Speed position switching 1 PRODUCT OUTLINE MELSEC Q 1 2 Positioning control 1 2 1 Outline of starting The outline for starting each control is shown with the following fl
141. a is started on completion of the calculation The axis remains stopped until the calculation is completed However the BUSY signal does not turn OFF In this case the warning can be avoided by adding 2ms to the setting value of IDa 7 Dwell time POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 3 Continuous path control 1 Operation of continuous path control A speed change is made between the command speeds of the positioning data No currently executed and positioning data No to be executed next without a deceleration stop A speed change is not made if the current speed is equal to the next speed b Dwell time will be ignored even if set c In operation performed by continuous path control operation pattern 2 the positioning control of the next data No is automatically exercised Always set the operation pattern O in the last positioning data to terminate the positioning control If the operation pattern is continuation 1 or 2 operation will continue until the operation pattern 0 is found If the operation pattern 0 is not found operation is performed up to the positioning data No 10 If the operation pattern of the positioning data No 10 is not terminated operation is started again from the positioning data No 1 d A speed change at positioning data No switching is made at the beginning of the next positioning control Continuous path control 2 Continuous p
142. ag Md 7 Status signal b0 must be turned ON in the QD70 and a machine OPR control must be executed in the following cases When the power is turned ON When machine OPR control is started The OPR request flag turns OFF and the OPR complete flag Md 7 Status signal b1 turns ON if the machine OPR control is executed and is completed normally PR NTROL MELSEC Q 8 2 Machine OPR control 8 2 1 Outline of the machine OPR operation 1 Always set the OP in the same direction as viewed from any position in the workpiece moving area set the OP near the upper or lower limit of the machine Correctly set the OPR direction as the direction in which the workpiece moves toward the OP When the following two conditions hold operation is performed at the OPR speed since the near point dog is not detected at a machine OPR control start Machine OPR control is started in the position where the near point dog is OFF e The near point dog does not exist in the OPR direction as seen from the position where machine OPR control is started In such a 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 Refer to Chapter 10 for details of JOG operation In deceleration operation from the OPR speed the data used as the deceleration time differs between deceleration
143. al 1 0 Signal Near Point Dog Signal External 1 0 Signal Deviation Counter Clear Flash ROM setting Details Current value display Monitoring Cannot execute test Make text file Stop monitor If the QD70 is faulty or does not recognize necessary signals such as the point dog and speed position switching signals an unexpected accident e g the axis collides with the stopper without decelerating at the near point dog during machine OPR control or speed control is not switched to position control Always make connection confirmation not only when the positioning control System has been configured but also when any modifications have been made to the system e g modules have been changed or the system has been rewired 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 5 6 Switch setting for intelligent function module By making the intelligent function module switch setting the QD70 allows you to set the pulse output mode external I O signal logic and rotation direction However you cannot set the speed position switching signal CHG logic It is fixed at the negative logic Make the intelligent function module switch setting in the assignment setting PLC parameter of the QCPU using GX Developer There are intelligent function module switches 1 to 5 which are set with 16 bit data When you do not make the intelligent function module switch setting switches
144. alue to within the software stroke limit range Current value changing Change the new current value to within the software stroke limit range Refer to Section 9 2 4 During operation Correct 6 Positioning address movement amount Refer to Section 4 5 Review the sequence program that turns ON OFF the Programmable controller READY signal YO Perform JOG operation Refer to Chapter 10 to move the axis to the position where the near point dog turns OFF and then start machine OPR control Refer to Section 8 2 3 Section 8 2 7 and Section 8 2 8 After turning OFF the zero signal start machine OPR control Refer to Section 8 2 5 and Section 8 2 6 Before starting fast OPR control perform machine OPR control Refer to Section 8 2 13 4 13 TROUBLESHOOTING MELSEC Q Error Error name Error Operation status at error occurrence code Setting range outside start method New current change not possible Continuous path control not possible Setting range outside operation pattern Speed 0 error Setting range outside control method Setting range outside ACC DEC time 505 Setting range outside DEC STOP time Illegal direction for continuous path control Insufficient movement amount for continuous path control Not complete calculation for continuous path control Setting range outside movement amount at speed position switching control 13 5 The setting value of Cd
145. ameter a 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 Project Program Parameter PLC parameter Network parameter Intelligent function module parameter b 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 Onthe intelligent function module selection screen of the utility select Intelligent function module parameter Open parameters Save parameters 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 3 From GX Developer select Online Read from PLC Write to PLC Intelligent function module parameters Alternatively from the intelligent function module selection screen of the utility select Online Read from PLC Write to PLC Text files a Atext file can be created by clicking the Make text file button on the initial setting Auto refresh setting or Monitor Test screen The text files can be utilized to create user documents Y GX Developer poo Wess mp sien GX Configurator PT Intelligent function module parameters B Data saved by Make text file Figure 6 1 Correlation chart for data created with the utility package 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 3 2 Operation overview GX Developer screen D
146. an 50 times after the first use of the product IEC 61131 2 compliant Failure to do so may cause malfunction Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately if a hazardous state occurs e Always make sure to touch the grounded metal to discharge the electricity charged in the body etc before touching the module Failure to do so may cause a failure or malfunctions of the module DISPOSAL INSTRUCTIONS N CAUTION e When disposing of the product handle it as industrial waste REVISIONS The manual number is given on the bottom left of the back cover Print Date Manual Number Jun 2001 SH NA 080171 A First edition Feb 2002 SH NA 080171 B About Manuals Section 2 3 Section 2 4 Section 4 6 1 Section 5 3 Section 5 7 Section 6 2 2 Section 8 2 3 Section 8 2 4 Section 8 2 5 Section 8 2 6 Section 10 3 Appendix 8 Jul 2002 SH NA 080171 C CONTENS Section 1 1 1 Section 4 2 Section 11 3 Section 11 4 Section 11 5 Section 13 2 Appendix 2 Appendix 8 INDEX Feb 2003 SH NA 080171 D Modifications SAFETY INSTRUCTIONS CONTENTS Section 2 1 Section 3 1 Section 5 3 Section 6 2 2 Section 6 4 Section 6 5 Appendix 3 3 Appendix 8 INDEX May 2003 SH NA 080171 E CONTENTS Appendix 6 Appendix 7 Oct 2003 SH NA 080171
147. and base units applicable to the ies for each CPU model Depending on the combination with other modules or the number of mounted modules power supply capacity may be insufficient Pay attention to the power supply capacity before mounting modules and if the power supply modules Applicable CPU module CPU type CPU model QOOJCPU Basic model ery QCPU Q01CPU QO2CPU QO2HCPU High Performance model QCPU Process CPU Redundant CPU Programmable controller CPU Universal model QCPU capacity is insufficient change the combination of the Base unit 1 No of modules Extension base Main base unit Up to 8 Up to 64 Up to 64 Up to 53 x Up to 64 Applicable X N A 2 SYSTEM CONFIGURATION sis sabias 2 MELSEC Q Applicable CPU module Base unit 1 No of modules Extension base CPU type CPU model Main base unit i uni Programmable Safety CPU QS001CPU controller CPU QO6CCPU V C Controller module Up to 64 O QO6CCPU V B 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 3 Use the QD70 whose serial No first five digits is 09012 or later b Mounting to a MELSECNET H remote l O station The table below shows the network modules and base units applicable to the QD70 and quantities for each network module model Depending on the combination with other
148. 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 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 Use a USER authorization or higher in Windows Vista 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 3 Utility Package Operation 6 3 1 Common utility package operations 1 Control keys Special keys that can be used for operation of the utility package and their applications are shown in the table below Application Cancels the current entry in a cell Closes the window Moves between controls in the window Used in combination with the mouse operation to select R multiple cells for test execution Deletes the character where the cursor is positioned When a cell is selected clears all of the setting contents in the cell Back Deletes the character where the cursor is positioned P Moves the cursor one page up Page Down Moves the cursor one page down Completes the entry in the cell 2 Data created with the utility package 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 Intelligent function module par
149. arried out successively in order of data Nos with one start signal The operation does not stop at each positioning data Note Refer to CHAPTER 9 POSITIONING CONTROL for details of the operation pattern 4 23 4 23 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Da 2 Control method Set the control method for positioning control 0 No control method 1 1 axis linear control ABS 2 1 axis linear control INC 3 Speed Position Ctrl Forward Speed position switching control forward run 4 Speed Position Ctrl Reverse Speed position switching control reverse run 5 Current value changing Note Refer to CHAPTER 9 POSITIONING CONTROL for details of the control method e Setting 0 No control method will result in the Setting range outside control method error error code 506 Da 3 ACC DEC time Da 4 DEC STOP time Set the acceleration deceleration time for positioning control Da 1 Operation pattern is 0 Positioning termination or 1 Continuous positioning control Da 3 ACC DEC time Set the time taken to reach Da 5 Command speed from Pr 6 Bias speed at start Da 4 DEC STOP time Set the time taken to make a stop after reaching Pr 6 Bias speed at start from 5 Command speed at position control completion or axis stop factor occurrence axis stop signal ON or error occurrence
150. at start 4 Count 1 1 Start machine OPR control Start movement at the OPR 4 OPR speed in the IOPR 2 OPR direction Y 4 OPR speed OPR 8 Setting for the movement 2 amount after near point dog ON 2 Detect the near point dog ON and start deceleration 6 3 3 Decelerate to OPR 5 Creep speed and move with the s 4 creep speed m i i 2 Movement amount after near point dog ON 4 When the first zero signal one pulse of which is output 5 Near point dog should be when the motor turns one revolution is detected after the tumed OFF with enough distance Near point dog OFF provided from OP position movement amount set in OPR 8 Setting for the First zero after movement amount movement amount after near point dog ON has been zeroisignal ades sic been travaled dog OFF travelled after near point dog ON the pulse output from the QD70 stops and machine OPR control is completed 5 Count 2 1 Start machine OPR control Start movement at the 4 OPR speed in the V 2 OPR direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to OPR 5 Creep speed and move with the creep speed 1 4 OPR speed OPR 8 Setting for the movement amount after near point dog ON OPR 5 Creep speed
151. at the axis is operating when the BUSY signal is ON 2 When the positioning start signal turns OFF the start complete signal also turns OFF If the positioning start signal is ON even after OPR control positioning control is completed the start complete signal will remain ON 3 Ifthe positioning start signal turns ON again while the BUSY signal is ON the warning operating start warning code 10 will occur 4 The process taken when positioning control is completed will differ according to case a and b below a When next positioning control is not to be carried out After the preset time of the dwell time has elapsed positioning control is completed On completion of positioning control the BUSY signal turns OFF and the positioning complete signal turns ON However it does not turn ON if the positioning complete signal output time is O When the positioning complete signal output time elapses the positioning complete signal turns OFF b When next positioning is to be carried out After the preset time of the dwell time has elapsed next positioning control is started Dwell time Dwell time gt _ lt Dwell time Positioning control Positioning start signal Y8 to YF Start complete signal X10 to X17 BUSY signal X8 to XF Positioning complete signal OFF X18 to X1F 1 Fig 7 3 ON OFF timing of each signal start of positioning control The BUSY signal X
152. ath Dwell time control 2 X Positioning Address direction termination 0 Address direction Positioning start signal Y8 to YF Start complete signal X10 to X17 BUSY signal X8 to XF Positioning complete signal X18 to X1F Fig 9 3 Operation for continuous path control POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 2 Errors If any of the following errors occurs during operation in the operation pattern of 2 Continuous path control the axis stops immediately on completion of executing the previous positioning data a The moving direction in the currently executed positioning data differs from the moving direction in the next positioning data Illegal direction for continuous path control error error code 510 b The movement amount to be executed in the next positioning data is small and a constant speed status does not exist Insufficient movement amount for continuous path control error error code 511 c The movement amount in the currently executed positioning data is small and the calculation of the next positioning data cannot be performed until completion of positioning control Not complete calculation for continuous path control error error code 512 In the positioning data whose operation pattern is 2 Continuous path control set 5 Command speed and Da 6 Positioning address movement amount so that the execution time of that data is
153. attern 1200 1210 1220 yel 1281 1291 1214 5 Command speed 1215 6 Positioning 1206 1216 1226 address movement 1207 1217 1227 amount 1229 Buffer A address 1282 1292 1293 1284 os 1285 Axis 1 1286 1296 1287 1297 1298 1289 1299 Used Positioning data 1 2 aca No TIEN 1490 Da 1 Da 1 Operation pattern 1400 1410 1420 Ta 1481 1491 Da 2 Control method 1401 1411 1421 1492 3 ACCIDEC time 1402 1412 1422 1483 1493 1414 1424 Da 5 ne 1415 1425 1486 1496 1487 1497 E 1406 1416 1426 E 1417 1427 1407 amount Ife deem 7 Dwell deem mM 1489 1499 Reserved Cannot Be 419 1429 Ere Buffer memory address Write to Reserved Cannot be used is prohibited 1484 1494 1485 1495 1 3 The descriptions that follow relate to the positioning data set items Da 1 to Da 7 MELSEC Q Positioning data No 1 2 isl Le 1390 1381 1391 1314 cn Da 5 Command speed e 1315 Da 6 Positioning 1306 1316 1326 address movement 1307 1317 1327 amount Reserved Cannot Be 319 1329 eds Buffer A address 1382 1392 1393 1384 Kig 1385 1386 1396 1387 1397 1398 1389 1399
154. by 4 Restart request Position control that can be restored The restart function can be used only when the axis is stopped during operation under position control or speed control of speed position switching control Position control that cannot be restored When the axis has been stopped during operation under position control of speed position switching control do not restart it If the axis is restarted it will not be stopped at the end point of the positioning data Refer to 2 5 in this section for operation details The following will be described for the restart function 1 Control details 2 Precautions for control 11 11 11 11 11 SUB FUNCTIONS MELSEC Q 1 Control details 1 Restart during position control Setting 1 With restart request in 4 Restart request when 4 Axis operation status is Stopped resumes position control from the stop position to the end point of the positioning data where the axis had stopped independently of the absolute or incremental system Example for incremental system The following is the operation performed when the axis is stopped during execution of position control 1 axis linear control at the axis 1 movement amount of 600 and a restart request is executed after the axis stop signal turns OFF Stop position at axis stop A Stop position at axis stop Specified end i iti Restart us Starting point point position Ope
155. ching request must be turned ON in addition to the setting of the positioning data If Cd 5 Speed position switching request and the speed position switching signal are ON at a start only position control is carried out ll Operation chart The following chart shows the operation timing for speed position switching control Command speed Movement amount set in Da 6 Positioning address movement amount T t Bias speed at start Speed control Position control Dwell time x gt ON Positioning start signal OFF Y8 to YF BUSY signal X8 to XF Positioning complete signal X18 to X1F Speed position switching signal CHG Speed position switching request Fig 9 8 Speed position switching control operation timing POSITIONIN NTROL 9 POSITIONING CO MELSEC Q ll Current feed value during speed position switching control INC mode The following table shows the Md 1 Current feed value during speed position switching control corresponding to the Pr 4 Current feed value during speed control settings Pr 4 Current feed value during Md 1 t feed val speed control setting The current feed value at control start is maintained during 0 No update speed control and updated from the switching to position control The current feed value is updated during speed control 1 Update
156. d deceleration time can be deceleration S pattern processing x acceleration deceleration Acceleration deceleration time time can be set set 0 to 32767ms 1 to 8388608ms Speed command range 1 to 200000pulse s App 13 App 13 APPENDIX MELSEC Q QD75P1 QD75P2 QD75P4 QD70P4 QD70P8 QD75D1 QD75D2 QD75D4 OPR sub function OPR retry OP shift Electronic gear backlash compensation near pass M Speed limit Speed limit torque limit software stroke limit Control limit function en software stroke limit hardware stroke limit Speed change override torque limit value Control details change function Speed change change Absolute position restoration function a Restart continuous operation interrupt step skip Other sub functions Restart M code output teaching target position change command in position pre reading start Compensation function Sub functions Y device of programmable controller CPU Y device of programmable controller external command signal start command from CPU peripheral device Y device of programmable controller CPU external command signal stop command from peripheral device Y device of programmable controller CPU Deceleratin step 1 o o Ee suddenstop oO Ef limmediatestop o J 2JeOo 9 History data storage Yes 3 types 16 Start error warning 3 Peripheral
157. direction the current setting is O K When the workpiece W is moving toward the address decrement direction set 1 3 Carry out forward run JOG operation again and if W moves toward the increment direction the setting is complete Address decre Address incre QD70 1 Forward run pulse NOME 2 ment direction ment direction Workpiece Switch 4 Near point dog signal input logic selection Set the near point dog signal DOG input logic according to the externally connected device Incorrect setting of any signal logic may disable normal operation Make the setting carefully when changing the initial setting 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Operating procedure Using GX Developer make settings starting with the QCPU PLC parameter I O assignment setting screen Parameter a l O assignment setting screen PLC name PLC system PLE PLC RAS Device Program Bootfie 1 0 assignment Sp e cify the followin g for the slot where the QD70 120 Assignment is mounted Switch sting Switch settini I Select Intelli Model name Enter the module s model name Points Select 32 points Assigning the 120 address is not necessary as the CPU does it automatically Start XY Enter the start VO signal for the Leaving this setting blank will not cause an error to occur Q D70 Base se
158. dule model 0070 8 Setting Current value Module READY PLC READY Setting value Axis error occurrence Axis warning occurrence 1 BUSY Axis 2 BUSY Axis 3 BUSY Axis 4 BUSY Axis 5 BUSY 6 BUSY Axis 7 BUSY Flash ROM setting Details Current value display Cannot execute test Make text file Stop moritor Refer to Section 6 6 MELSEC Q 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 3 3 Starting the Intelligent function module utility Operating procedure Intelligent function module utility is started from GX Developer Tools Intelligent function utility Start Setting screen Intelligent function module utility D MELSEC Gppw PT Intelligent function module parameter Online Tools Help Select a target intelligent function module Start 1 0 No Module type 0000 0070 Model Module Module model name QD70P8 xl Parameter setting module Intelligent function module parameter Start 1 0 No Module model name Initial setting Auto refresh 0000 00720 8 Available Available Initial setting Auto refresh Explanation of items 1 Activation of other screens Following screens can be displayed from the intelligent function module utility Screen a Initial setting screen Start I O No Modul
159. dule side Setting item Buffer size Transfer word count PLC side Transter Device direction This one row is counted as one setting Blank rows are not counted taba Count up all the setting items on this Screen and 5 add the total to the number of settings for other 1 3 1 2 intelligent function modules to get a grand total _ 3 Make text file End setup Cancel 6 UTILITY PACKAGE GX Configurator PT MELSEC Q 6 2 2 Operating environment This section explains the operating environment of the personal computer that runs GX Configurator PT Installation Add in target 1 Add in to GX Developer Version 4 English version or later 2 Computer Windows based personal computer Refer to the following table Used operating system and performance required for personal computer Hard disk For installation _ 65 space 10 Microsoft Windows 95 Operating System English version Microsoft Windows 98 Operating System English version Microsoft Windows Millennium Edition Operating System English version Microsoft Windows NT Workstation Operating System Version 4 0 English version Microsoft Windows 2000 Professional Operating System English version Microsoft Windows XP Professional Operating System English version Microsoft
160. during machine OPR control at axis stop factor occurrence axis stop signal ON or error occurrence When OPR method is Count 2 When axis stop signal is turned ON during machine OPR control Common to all OPR methods V E OPR 4 V iie stop factor occurrence xS gt t 7 e OPR 8 Setting for the movement amount after near point dog ON When the OPR method is Count 1 or 2 set a value not less than the deceleration distance after the near point dog signal has turned ON Setting example of OPR 8 Setting for the movement amount after near point dog ON When 10kpulse s is set OPR 4 OPR speed 2kpulse s in OPR 5 speed and 320ms in 6 ACC DEC time at OPR calculate OPR 8 Setting for the movement amount after near point dog ON as indicated below j n ttt Machine OPR control operation Deceleration distance Vz x 1000 OPR 4 OPR speed Vz 10kpulse s _ Vz x ttt 2000 Creep speed Vc 2kpulse s bu 10 x 10 x 320 80 2000 g 2000 80ms t Set 2000 pulse or more in OPR 8 Setting for the movement amount after near point dog ON OPR 6 ACC DEC time at OPR t 320ms Near point dog OFF f ON OPR 9 OPR dwell
161. e If the value set in Cd 7 New speed value is lower than Pr 6 Bias speed at start the Outside speed warning warning code 20 occurs and the speed is controlled at Pr 6 Bias speed at start 11 4 11 4 11 SUB FUNCTION MELSEC Q 6 Ifthe axis is stopped by the axis stop signal after a speed change has been made during speed control of speed position switching control the speed at a restart is as set in Da 5 Command speed F Command speed Speed change command JN Restart New speed value Stop command command gt t Fig 11 4 Restart speed after speed change during speed control of speed position switching control 11 4 Software stroke limit function The software stroke limit function is designed not to execute the movable command to outside the setting range that has been set by the upper and lower limits of the workpiece movable range using the address 1 Current feed value established by the machine OPR control The software stroke limit function is valid for Md 1 Current feed value and Da 6 Positioning address movement amount New current value The software stroke limit function is made valid at an operation start and during operation The upper and lower limits of the moveable range of the workpiece are set in Pr 1 Software stroke limit upper limit value Pr 2 Software strok
162. e gt t OPR 6 Pr 6j Bias speed at start 4 OPR speed OPR 5 Creep speed OPR 6 ACC DEC time at OPR OPR 7 DEC STOP time at OPR 11 10 11 10 11 SUB FUNCTIONS MELSEC Q 2 Precautions for control 1 Atthe set speed of 1 pulse s the set acceleration deceleration time is ignored 2 In the acceleration deceleration pattern where the movement amount is small relative to the acceleration deceleration time and a constant speed part does not exist operation is not performed at the set acceleration deceleration time In such a case review the setting details 3 If operation is performed with O set as the bias speed at start in the control method of 1 axis linear control ABS or 1 axis linear control INC positioning control an error Movement amount shortage at 0 bias speed error code 514 may occur due to shortage of the movement amount Perform either of the following operations a b as the corrective action at error occurrence Set 1 pulse s or more to Pr 6 bias speed at start b If the movement amount is 32 pulse or less set the value equal to or less than the initial value 1000ms to Da 3 ACC DEC time and 4 DEC STOP time 11 6 Restart function When the axis is stopped by the axis stop signal during operation position control is resumed from the stop position to the end of the positioning data
163. e MELSECNET H remote l O station is explained 1 Number of QD70 that can be installed when the remote I O station is used See Section 2 3 concerning the number of QD70 that can be installed when the remote I O station is used Limitations when using the remote station When the QD70 is used the MELSECNET H remote I O station a delay will occur due to the link scan time Therefore fully verify that there will be no problem with controllability in the target system Example Depending on the ON time of the positioning completed signal the ON status may not be detected due to a delay in the link scan time TION 2 SYSTEM CONFIGURATIO MELSEC Q 2 6 How to Check the Function Version Serial No Software Version Check the function version and serial No of the QD70 and the GX Configurator PT software version by the following methods 1 Checking the rating plate on the module side The rating plate is situated on the side face of the 2070 MITSUBISHI MODEL Serial No Upper 6 digits function version Relevant regulation standards wa MITSUBISHI ELECTRIC MADE IN JAPAN 2 Checking on the front of the module The serial No on the rating plate is also indicated on the front of the module lower part QD70P4 RUN O xt AX ERR Lx
164. e limit lower limit value The details shown below explain about the software stroke limit function 1 About movable range 2 Software stroke limit check details 3 Relation between the software stroke limit function and various controls 4 Precautions during software stroke limit check 5 Setting the software stroke limit function 1 About movable range The following drawing shows the moveable range of the workpiece when the software stroke limit function is used Workpiece moveable range Limit switch for Limit switch for emergency stop emergency stop Software stroke limit lower limit value Software stroke limit upper limit value Fig 11 5 Workpiece moveable range 11 5 11 5 11 SUB FUNCTION MELSEC Q 2 Software stroke limit check details Check details Md 1 Current feed value outside the software stroke limit range is defined as an error An error occurs Da 6 Positioning address movement amount New current value Error code 103 104 outside the software stroke limit range is defined as an error 3 Relation between the software stroke limit function and various controls The following are the relationships between the software stroke limit function and various controls when Valid is set in Pr 3 Software stroke limit value valid invalid setting Software stroke limit check OPR contr FastOPRconro
165. e logic of each I O terminal can be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector To output the command pulse PULSE F PULSE R always connect an external power source 24VDC When outputting the command pulse of any of Axes 5 to also connect to A1 and B1 of the CON1 connector provided for Axes 1 to 4 These are limit switches for servo amplifier for stop For details of connection refer to the MR J2 series Servo Amplifier Specification and Installation Guide or MR J2S series Servo Amplifier Instruction Manual App 7 This indicates the distance between the QD70PL_ and servo amplifier App 7 APPENDIX MELSEC Q Appendix 3 3 Connection example of QD70P and MR C JA PULSE COM1 B3 PULSE R1 B2 1 Regenerative resistor is an external option Configure a sequence to turn OFF the de HC PQ MC at alarms and emergency stops m NF i zT esr cc Hc d Maie MY Power supply i T VY i i 1 1 T 1 Single phase 200VAC A type or single phase 100VAC A1 type ST
166. e 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 negligence 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 Failu
167. e moving range provide a safety circuit externally If an external safety circuit is not provided the workpiece may exceed the moving range causing accidents JOG operation is a control method to move a workpiece by only desired movement amount without using the positioning data the pulse is kept output while the JOG start signal is ON It is used to move the workpiece to within the software stroke limit range if operation has been stopped by the positioning control system connection confirmation or by the software stroke limit function lll JOG operation In JOG operation turning ON the JOG start signal Y18 to Y1F outputs pulses from the QD70 to the drive unit while it is ON to move the workpiece in the direction set in 4 JOG direction flag The following is an example of JOG operation Turning ON the JOG start signal starts acceleration in the direction set in JOG 4 JOG direction flag at the acceleration time set in JOG 2 JOG ACC time At this time the BUSY signal turns from OFF to ON When the accelerating workpiece reaches the speed set in JOG 1 JOG speed the workpiece continues moving at this speed The workpiece moves at constant speed at 2 to 3 Turning OFF the JOG start signal starts deceleration from the speed set in JOG 1 JOG speed at the deceleration time set in 3JOG DEC time When the speed falls to 0 the workpiece stops At this time the BUSY signal turns from
168. e of QD70P and MINAS A series App 10 QD70PO PULSE F1 PULSE COM1 Within 2m 4 A MINAS A series 2Kq 14W PULSE2 PULSE R1 CLEAR1 CLEAR1 COM PGO1 PGO1 COM 7 COM 29 SRV ON 9 CCWL 8 CWL 1 The logic of each I O terminal be changed making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector To output the command pulse PULSE F PULSE R always connect an external power source 24VDC When outputting the command pulse of any of Axes 5 to also connect to A1 and B1 of the CON1 connector provided for Axes 1 to 4 Refer to the manual of the servo amplifier for the servo amplifier side wiring other than the above and for the shield of each signal cable This indicates the distance between the QD70P and MINAS A series App 10 APPENDIX MELSEC Q Appendix 6 Connection examples with servo amplifiers manufactured by SANYO DENKI Co Ltd Appendix 6 1 Connection example of QD70P and PZ series App 11
169. e type Module model name gt Initial setting b Auto refresh setting screen Start I O No Module type Module model name gt Auto refresh c Select monitor test module screen Online Monitor Test 1 Enter the start I O No in hexadecimal 2 Command buttons Deletes the initial setting and auto refresh setting of the selected module Closes this screen 6 UTILITY PACKAGE GX Configurator PT 3 2 Intelligent function module utility D ELE Online To Open parameters Close parameters Save parameters Ctri S Delete parameters h Exit utility C MELSEC Q fei Tools Help Monitor Test 1 From PLC It Write to PLC MELSEC Q Menu bar a File menu Intelligent function module parameters of the project opened by GX Developer are handled Open Reads a parameter file parameters Close Closes the parameter file If any data are modified a parameters dialog asking for file saving will appear Save Saves the parameter file parameters Delete Deletes the parameter file parameters Exit Closes this screen b Online menu Monitor Test Activates the Select monitor test module screen Read from PLC Reads the intelligent module parameters from the CPU module Write to PLC Writes the intelligent module parameters to the CPU module 1 Saving intelligent function module parameters in
170. ear point dog was ON Machine OPR control is not carried out With 1 OPR method being either of stopper 2 202 2 signal ON and stopper 3 the zero signal is input when machine OPR control is started 203 Machine OPR not execute Fast ORR Control Was started though machine OPR Fast OPR control is not exercised control was not yet carried out 13 3 13 3 13 TROUBLESHOOTING MELSEC Q Related buffer memory address Setting range Remedy Software stroke limit upper limit value 0 100 200 300 400 500 600 700 1 101 201 301 401 501 601 701 Software stroke limit lower limit value 2147483648 to 2147483647 pulse Positioning address movement amount Refer to Section 4 5 Start method 0 Positioning control 9000 Machine OPR control 9001 Fast OPR control 13 4 Check that there is no influence from noise Check hardware for possibility of fault After switching power from OFF to ON resetting the programmable controller CPU turn ON the Programmable controller READY signal YO again make sure that the module READY signal X0 is ON and then make a start The module is faulty if the module READY signal XO does not turn Check whether the axis stop signal Y10 to Y17 is ON or OFF and turn OFF the axis stop signal that is ON At start Perform JOG operation Refer to Chapter 10 to change 1 Current feed v
171. ection and electronic parts of the module Failure to observe this could lead to module malfunctioning or trouble Make sure that foreign matter such as cutting chips or wire scraps do not enter the module Failure to observe this could lead to fires trouble or malfunctioning Never disassemble or modify the module Failure to observe this could lead to trouble malfunctioning injuries or fires Completely turn off the externally supplied power used in the system before installing or removing the module Failure to turn all phases OFF could lead to module trouble or malfunctioning While pressing the installation lever located at the bottom of module insert the module fixing tab into the fixing hole in the base unit until it stops Then securely mount the module with the fixing hole as a supporting point Improper mounting of the module may lead to malfunctioning faults or dropping When using the module in the environment subject to much vibration secure the module with a screw Tighten the screw within the range of the specified tightening torque Insufficient tightening may lead to dropping short circuit or malfunctioning Excessive tightening may damage the screw or module leading to dropping short circuit or malfunctioning 5 SETUP AND PROCEDURES BEFORE OPERATION 2 MELSEC Q Main body The main body case is made of plastic Take care not to drop or apply strong impacts onto the case Do not remove
172. ed OPR request flag Refer to Chapter 8 for details 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 Refer to Chapter 8 for details This flag turns ON on normal completion of machine OPR control and turns OFF at an OPR control positioning control or JOG operation start 0 speed Refer to Section 11 3 for details This flag turns on when JOG operation or speed control of speed position switching control is started with the speed set to O When a speed change is made this flag turns ON when a speed change request of new speed value 0 is given and turns OFF when a speed change request of other than new speed value 0 is given b12 b8 b4 b0 ii Storage item OPR request flag OPR complete flag 79 b15 Not used Meaning 0 OFF 1 0 speed The ON OFF states of the external I O signals are stored The following items are stored Zero signal Near point dog signal Speed position switching signal Deviation counter clear signal b15 b12 b8 54 bO 80 Storage item Meaning Zero signal Near point dog signal Speed position switching signal Deviation counter clear signal The positioning data No currently being e
173. ed Set the minimum starting speed for OPR control positioning control and JOG operation When using a stepping motor or like set this speed to start the motor smoothly A stepping motor does not start smoothly if the motor speed is low at a start Set a value not more than Pr 5 Speed limit value If it is more than Pr 5 Speed limit value the Setting range outside bias speed error error code 906 will occur 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Pr 7 Positioning complete signal output time Set the output time of the positioning complete signal X18 to X1F output from QD70 Positioning complete indicates that the preset dwell time has elapsed after the QD70 ended pulse output If the setting value is 0 ms or if the axis stop signal was used to make a stop during JOG operation or speed control of speed position switching control the positioning complete signal is not output Programmable controller Programmable Positioning QD70 controller CPU start signal Y8 to YF Positioning complete signal X18 to X1F Positioning control Positioning start signal Start complete signal Positioning complete signal BUSY signal after elapse of dwell time Positioning complete signal Output time Positioning complete signal output time Pr 8 Deviation counter clear si
174. ed control i Position control V 1 1 Speed change 1 Speed change request i 1 request 2 bo PE EP OR BERN a 1 1 E Speed position switching command Vi a ae x 1 1 1 1 1 1 1 1 Da 5 i i Da 6 i 1 8 1 1 8 1 1 1 l em E i i i i 1 1 1 1 1 1 1 1 1 f 1 1 1 1 1 Epio LEI T T T T lt gt Da 3 t 2 Pr 6 Bias speed at start 3 ACC DEC time 4 DEC STOP time Da 5 Command speed Da 6 Positioning address movement amount Cd 8 ACC DEC time at speed change Cd 9 DEC STOP time at speed change If a speed change is not made during speed control deceleration is made 11 9 Da 4 Cd 7 New speed value V1 New speed value at time t1 V2 New speed value at time t2 DEC STOP time gt t 1 7 Dwell time 11 9 11 SUB FUNCTIONS MELSEC Q The following is the operation performed during machine OPR control in each OPR method When OPR method is any of near point dog method stopper 1 stopper 2 and count 1 gt V A Near point dog ON Pr 6 control complete i CPR lt When OPR method is stopper 3 gt V A I Eee Machine OPR control complete Pair V OPR 5 Machine OPR 6 control complet
175. ed to control the movement amount speed must be controlled to perform equal speed operation This speed is controlled by the pulse frequency output from the QD70 to the drive unit Pulse frequency This area is hte total pps No of commanded Positioning Servo pulses module amplifiter gt gt Detector Pulse encoder Speed Pulses frequency Feedback pulses Movement amount No of puleses Feedback pulses Pulses generated by detector Movement amount t 2 Fig 1 1 Relationship between position control and speed control e The movement amount per pulse is the value determined on the machine side Refer to Section 1 1 3 The QD70 uses the total No of pulses to control the position and uses the pulse frequency to control the speed 1 PRODUCT OUTLINE MELSEC Q 1 1 3 Outline design of positioning control system The outline of the positioning control system operation and design using the QD70 is shown below 1 Positioning control system using QD70 Programmable controller Positioning module T rive uni Forward run Servomotor pulse train Speed wur D A C Program Read write etc converter amplifiter Buffer memories Reverse run IXY pulse train 1 Intelligent s device Interface Monitor date read function module parameter Feedback pulse wur Initial setting Auto rofresh setting M
176. em Version 1 13P or later Single CPU system Q12PH Q25PHCPU Version 7 10L or later Multiple CPU system Q12PRH Q25PRHCPU Redundant CPU system Version 8 45X or later Version 1 14Q or later Q02U Q03UD Single CPU system Version 8 48A or later QO4UDH QO6UDHCPU Multiple CPU system Single CPU system Q13UDH Q26UDHCPU Version 8 62Q or later Multiple CPU system Version 1 23Z or later QO03UDE Q04UDEH Single CPU system QO6UDEH Q13UDEH Version 8 68W or later Q26UDEHCPU Multiple CPU system If installed in a MELSECNET H remote I O station Version 6 or later Version 1 10L or later 2 SYSTEM CONFIGURATION aae e 2 MELSEC Q 2 4 About Use of the QD70 with the Q12PRH Q25PRHCPU Here use of the QD70 with the Q12PRH Q25PRHCPU is explained 1 GX Configurator PT connection GX Configurator PT cannot be used when accessing the Q12PRH Q25PRHCPU via an intelligent function module on an extension base unit from GX Developer Connect a personal computer with a communication path indicated below of ef Main base unit g Extension base unit lt GX Configurator PT cannot be used e Direct connection to the CPU Connection through intelligent function module on the main base unit Through Ethernet module MELSECNET H module or CC Link module 2 SYSTEM CONFIGURATION MELSEC Q 2 5 About Use of the QD70 on the MELSECNET H Remote I O Station Here use of the QD70 on th
177. em Setting value Axis 1 Parameter setting Axis 1 Parameter setting Axis 1 OPR data setting Axis 1 OPR data setting Axis 2 Parameter setting Axis 2 Parameter setting jAxis 2 OPR dala setting Axis 2 OPR data setting Axis 3 Parameter setting Axis 3 Parameter setting 3 data selling Axis 3 OPR data setting Axis 4 Parameter setting Axis 4 Parameter setting Module side Transfer word count Module side Buffer size Transfer Setting item direction Warning status Axis 1 Current feed value Axis 1 Current speed Axis 1 Axis error code Axis 1 Axis waming code Axis 1 Executing positioning data No 2 Current feed value Details Move to sub window gt gt gt gt Axis 1 Axis operation status E gt gt gt gt Make text End setup Refer to Section 6 5 Make text file End setup Refer to Section 6 4 6 UTILITY PACKAGE GX Configurator PT 1 Online Monitor Test Selecting monitor test module screen Select monitor test module Select monitor test module Start 1 0 No Module type 000 fo Module model name QD70P8 Module implementation status Start 1 0 No Module model Monitor Test Monitor Test Select a module to be monitored tested Monitor Test screen Monitor Test Module information Module type 0070 Model Module Start 1 0 No 0000 Mo
178. endix 3 3 Connection example of QD70P and App 8 Appendix 4 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co Ltd bite iso E rre am tec utr e D HERE Res App 9 Appendix 4 1 Connection example of QD70P and VEXTA App 9 Appendix 5 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co etd sce din A Th s em I eue Sid od App 10 Appendix 5 1 Connection example of QD70P and MINAS A App 10 Appendix 6 Connection examples with servo amplifiers manufactured by SANYO DENKI Co Ltd App 11 Appendix 6 1 Connection example of QD70P and PZ App 11 Appendix 7 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation D 12 Appendix 7 1 Connection example of QD70PL_ and App 12 Appendix 8 Comparisons with type QD75 positioning App 13 Appendix 9 List of buffer memory App 16 INDEX Index 1 to Index 5 Using This Manual The symbols used in this manual are shown below Pr OPR JOG
179. ero signal ON error error code 202 occurs 5 Ifthe axis stop signal is turned ON during operation performed at OPR 4 OPR speed the axis decelerates to a stop at the time set in OPR 7 DEC STOP time at OPR 8 9 8 9 8 OPR CONTROL 8 2 6 OPR method 4 Stopper 3 MELSEC Q The following shows an operation outline of the stopper 3 OPR method The stopper 3 method is effective when a near point dog has not been installed Note that the operation is carried out from the start at the OPR 5 Creep speed so it will take some time until the machine OPR control completion ll Operation chart the motor may fail at 2 n OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR Machine OPR control is started 1 Acceleration starts in the direction set i and the axis moves at OPR 5 Creep speed At this time the motor torque must be limited If the torque is not limited The machine presses against the stopper at the creep speed and stops On detection of the zero signal after the stop the pulse output from the QD70 stops immediately and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 After a deviation counter clear output is output to the drive unit the OPR complete flag OFF to ON and the OPR request flag Md
180. ete signal output time complete e While ON this signal turns OFF if a positioning control start including OPR control or JOG operation start is made This signal does not turn ON at the termination of JOG operation This signal does not turn ON if position control is stopped midway Important 1 The BUSY signal turns ON even when position control of movement amount 0 is executed However since the ON time is short the ON status may not be detected in the sequence program 2 Position control complete of the QD70 refers to the point when the pulse output from QD70 is completed Thus even if the QD70 s positioning complete signal turns ON the system may continue operation 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 3 3 Details of output signals Programmable controller CPU QD70 The ON OFF timing and conditions of the output signals are shown below Programmable controller OFF a This signal notifies the QD70 that the programmable controller READY Programmable CPU is normal controller READY It is turned ON OFF with the sequence program OFF The Programmable controller READY signal is turned ON ON during positioning control OPR control and JOG operation Programmable b When parameters and OPR data are changed the controller READY Programmable controller READY signal is turned OFF ON c The following processes are carried out when the Programmable controller READY signal turns from OFF to O
181. etting for the movement amount after near point dog ON is less than the deceleration distance from OPR 4 OPR speed to speed machine OPR control is completed normally 2 When the near point dog is ON starting the axis will cause the Start during near point dog ON error error code 201 Perform JOG operation to move the axis to the position where the near point dog turns OFF 3 Ifthe axis stop signal is turned ON during operation performed at OPR 5 OPR 4 OPR speed the axis decelerates to a stop at the time set in STOP time at OPR OPR 7 Creep DEC PR NTROL XB uite ase MELSEC Q 8 2 8 OPR method 6 Count 2 The following shows an operation outline of the count 2 OPR method The count method 2 method is effective when a zero signal cannot be received ll Operation chart Machine OPR control is started 1 Acceleration starts in the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR and the axis moves at OPR 4 OPR speed Near point dog ON is detected and deceleration starts at the time set in OPR 6 ACC DEC time at OPR The machine decelerates to the OPR 5 Creep speed and subsequently moves at that speed As soon as the axis has traveled the movement amount set in OPR 8 Setting for the movement amount after near point dog ON after near point dog ON the pulse outpu
182. f the following controls can be defined as positioning control depending on the setting of Da 2 Control method Positioning control Description 4 Control method Using the specified one axis positioning control is exercised from the starting point address current stop position to the specified position Speed control is first carried out and the speed position Speed position switching Speed Position Ctrl Forward switching signal is then turned ON to perform position control Speed Position Ctrl Reverse control positioning control of the specified movement amount 7 The current feed value Md 1 is changed to the address Current value changing Current value changing set to the positioning address 9 1 1 Data required for positioning control DE The following table shows an outline of the positioning data configuration and setting details required to carry out the positioning controls Setting item Setting details Set how consecutive positioning data example positioning data No 1 No 2 No 3 will be controlled Refer to Section 9 1 2 Da 2 Control method Set the control method defined for positioning control Refer to Section 9 1 Da 3 ACC DEC time Set the acceleration deceleration time for positioning control Da 4 DEC STOP time Set the deceleration stop time for positioning control Command speed Set the speed for exercising control mE Set the target value or movement amount for p
183. flag Ma 7 Status bo 1 Machine OPR control start OPR complete flag status b1 Deviation counter clear output Deviation counter clear signal output time am 1 1 Md 4 Axis operation status Standby During OPR X Standby i near point dog ON i Md 1 Current feed value Unfixed X Traveled value is stored K OP address Fig 8 4 Stopper 1 machine OPR control 8 OPR CONTROL MELSEC Q Bl Restrictions 1 Always limit the motor torque after the OPR 5 Creep speed is reached If the torque is not limited the motor may fail when the machine presses against the stopper Refer to section 12 4 2 Torque limit function For a torque limit refer to the manual of the drive unit used ll Precautions during operation 1 Seta value in the OPR 9 OPR dwell time that is equal to or higher than the movement time from the near point dog ON to the time the machine presses against the stopper 2 The following is the operation performed if OPR 9 OPR dwell time elapses during deceleration from 4 OPR speed 4 speed Deceleration started when near point dog turns ON Dwell time out during deceleration Creep speed Stopper Pr 6 Bias speed at start P gt t Torque limit Near point dog OFF ME DU dwell time out dwell time counting Machine OPR control start OFF Positio
184. g to satisfy upper limit value 2147483648 to 2147483647 pulse lower limit value Software stroke limit lower limit value Refer to Section 11 4 2 102 202 302 402 502 602 702 3 103 203 303 403 503 603 703 Pr 9 PULSE SIGN method selection setup hold time 12 112 212 312 412 512 612 712 0 10us 1 100us 2 1ms 3 2ms Pr 3 Software stroke limit valid invalid 7 ir Change the setting to within the setting 4 104 204 304 404 504 604 704 setting range and turn the Programmable 0 Valid 1 Invalid controller READY signal YO from OFF Pr 4 Current feed value during speed to ON control 5 105 205 305 405 505 605 705 0 No update 1 Update 2 Clear to 0 and no update 6 106 206 306 406 506 606 706 Pr 5 Speed limit value 7 107 207 307 407 507 607 707 1 to 200000 pulse s Pr 5 Speed limit value 6 106 206 306 406 506 606 706 1 to 200000 pulse s Change a Te punt a 2 107 207 407 507 607 707 Ma a MM M bd ers Speed limit value and turn the Pr 6 Bias speed at start Programmable controller READY signal 108 208 308 408 508 608 708 0 to 200000 pulse s YO from OFF to ON 109 209 309 409 509 609 709 ix Change the setting to within the setting Pr 8JD t t output 11 41414 2414 511 611
185. gnal Near point dog signal 0 OFF Speed position switching signal 1 ON Deviation counter clear signal Example Checking the external I O signals of Axis 1 lt GX Developer display screen Module start address ooo Hex Bon bec HEX Display 16bit integer DEC Start monito C 32bit integer C HEX Suo Real number Buffer memory address Monitor format amp Word Bit C Word ASCII character 0011 Set the buffer memory address of External I O signal of Axis 1 in decimal E ption setup Address F EDC 4HA 98 765 4 bO Zero signal ON b1 Near point dog signal ON b2 Speed position switching signal OFF b3 Deviation counter clear signal OFF The states of the external I O signals can also be checked by system monitor For details refer to Section 12 3 External I O signal monitor function 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 2 Method using GX Configurator PT Monitor the external I O signal states on the Monitor Test screen For details refer to Section 6 6 Monitor test Example Checking the external I O signals of Axis 1 1 Axis OPR Monitor GX Configurator PT display screen Axis 1 OPR Monitor Module information Module type 0070 Model Module Start 170 No Module model 0070 8 Setting item Current value Status OPR Complete Flag 1 0 Signal Zero Signal Extern
186. gnal output time Set the duration of the deviation counter clear signal output during a machine OPR control operation using any of the following methods the near point dog method stopper 1 to 3 and count 1 For details refer to your drive unit manual 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Pr 9 PULSE SIGN method selection setup hold time Set the setup hold time when PULSE SIGN is selected in the pulse output mode to output inverted pulses 0 10 5 1 100us 2 1ms 3 2ms The following is an example for negative logic C Set in Set in SIGN E lt Forward Reverse run lt lt lt gt Movement in Movement in direction direction PULSE SIGN mode set the pulse output mode with the intelligent function module switch Refer to Section 5 6 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Pr 10 Stop mode during path control Set the stopping method using the axis stop signal input when the operation pattern for position control is continuous path control 0 Position match stop Deceleration starts when the axis stop signal is input and the axis stops immediately when the address preset to the positioning data in execution is reached 1 Deceleration stop When the axis stop signal is input the axis stops after decelerating to Pr 6 Bias speed at start The axis does no
187. han 5 Speed limit value Setting range outside 907 counter clear signal output time The setting value of Pr 8 Deviation counter clear signal output time is outside the setting range e 13 TROUBLESHOOTIN noe MELSEC Q Related buffer PEERS address Setting range Remedy Pr 6 Bias speed at start 0 to 200000 pulse s 108 208 308 408 508 608 708 p e Set 1 pulse s or more to Pr 6 bias 109 209 309 409 509 609 709 si speed at start Da 3 ACC DEC time 0 to 32767 ms e If the movement amount is 32 pulse or less set the value equal to or less than Da 4 DEC STOP time the initial value 1000ms to Da 3 Ole Serarame ACCIDEC time and Da 4 Da 6j Positioning address movement DEC STOP time amount Refer to Section 11 5 2147483648 to 2147483647 pulse For position control Refer to Section 4 5 List of positioning data Change the setting of the Error time output mode of PLC parameter to Clear Refer to the QCPU User s Manual Set the intelligent function module Switches to within the setting ranges refer to Section 5 6 Switch power from OFF to ON or reset the programmable controller CPU Refer to the QCPU User s Manual Software stroke limit upper limit value 200 300 400 500 600 700 exit aoa aor soi 501 701 Make settin
188. hand for the software stroke limit function to function properly 2 If an error is detected in the continuous path control operation pattern of positioning control the axis comes to an immediate stop upon completion of the execution of the positioning data that precedes the positioning data where the error occurred r Example m eeommme eee nn ss eee nnnm ss ns nn Operation pattern Continuous executed Positioning Positioning path control If the positioning address of positioning data No 8 is outside the software stroke limit range the operation immediately stops after positioning data No 7 has been Positioning date Immediate stop at error detection Operation pattern Continuous No 5 path contro Operation pattern Continuous No 6 path contro Positioning Positioning positioning control dataNo 5 dataNo 6 data No 7 data No 8 Operation path contro No 8 Operation pattern Continuous path contro Axis operation Position control Emor Operation Salam Conihibis status i 1 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 QD70 The set details are validated at the rising edge OFF ON of the Programmable controller READY signal YO
189. he axis stops but Md 4 Axis operation status is Speed Position Speed or JOG Operation and the BUSY signal remains ON When the axis stop signal is turned ON the BUSY signal turns OFF and Md 4 Axis operation status changes to Stopped In this case making a speed change with the setting of other than 0 in 7 New speed value and 1 in 6 Speed change request turns OFF 0 speed Md 7 Status b2 enabling operation to be continued Positioning start signal op Y8 to YF BUSY signal OFF X8 to XF New speed value Speed change request 0 speed Status b2 Fig 11 3 Speed change at new speed value during speed control of speed position switching control 3 A speed change cannot be made during the following deceleration The speed change request is ignored During deceleration started by turning ON the axis stop signal During deceleration started by turning OFF the JOG start signal 4 If the speed change request is made during position control of speed position switching control or during OPR control the Speed change not possible warning warning code 22 occurs and a speed change cannot be made 5 If the value set in Cd 7 New speed value is equal to or higher than 5 Speed limit value the Outside speed warning warning code 20 occurs and the speed is controlled at Pr 5 Speed limit valu
190. he precautions for wiring the QD70 Read these precautions together with Section 5 1 Handling precautions to ensure work safety 5 4 1 Wiring precautions 1 2 8 Always confirm the terminal layout before connecting the wires to the Correctly solder the external device connection connector An incomplete soldering could lead to malfunctioning Make sure that foreign matter such as cutting chips and wire scraps does not enter the QD70 Failure to observe this could lead to fires faults or malfunctioning A protective label is attached on the top of the QD70 to avoid foreign matter such as wire scraps from entering inside during wiring process Do not remove the label until the wiring is completed Before starting the system however be sure to remove the label to ensure heat radiation Securely mount the external device connection connector to the connector on the QD70 with two screws Do not disconnect the external wiring cable connected to the QD70 or drive unit by pulling the cable section When the cable has a connector be sure to hold the connector connected to the QD70 or drive unit Pulling the cable while it is connected to the QD70 or drive unit may lead to malfunctioning or damage of the QD70 drive unit or cable Do not bundle or adjacently lay the connection cable connected to the QD70 external input output signals or drive unit with the main circuit line power line or the load line other than that for
191. he pulse output from the QD70 stops and machine OPR control is completed MELSEC Q OPR 4 OPR speed OPR 5 Creep speed 9 8 Bias speed at start 4 t ON Near point dog OFF First zero after Zero signal 4 near point dog OFF OPR 4 OPR speed 2 OPR 5 speed 6 Bias speed at start 1 Range where motor rotation is forcibly stopped by stopper Near point dog OFF Dwell time i Dwell time out counting y M OPR 4 OPR OPR 5 Creep speed 2 Stopped by stopper rt Pr 6 Bias speed at sta gt 1 1 5 Zero signal Near point dog OFF i 4 15 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 3 Stopper 3 1 Start machine OPR control Start movement at the OPR 5 Creep speed in the 2 OPR direction At this time a torque limit is V needed for the motor If there is no torque limit the motor may fail at 2 2 The axis contacts against the stopper at OPR 5 Creep speed and then stops Zero signal 3 When the zero signal signal output on detection of contact 8 with the stopper is detected after a stop the pulse output from the QD70 stops and machine OPR control is completed 5 Creep speed Stopped by stopper Pr 6 Bias speed
192. his signal is used for detecting the near point dog during machine OPR Near point dog signal A9 B9 DOG control The near point dog signal is detected at turning from OFF to ON This signal is input as a control switching signal in speed position switching A TE A12 B12 Speed position switching signal A11 B11 control Common for near point dog signal and speed position switching control Common A8 B8 COM signal i Input the zero signal for machine OPR control A19 B19 Use the pulse encoder s zero signal and so on Zero signal A17 B17 PGO Also use this signal when the OPR method is the stopper method and the OPR complete is input from an external source The zero signal is detected at turning from OFF to ON A20 B20 Zero signal common A18 B18 PGO COM e Common for zero signal External power input 0V A1 COM1 These signals are used to input 24 power for driving the pulse output External power input 24V B1 1 circuit Common to all axes B7 This signal is used to output command pulses to the open collector Pulse output F M B4 PULSEF compatible drive unit CW CCW mode CW PULSE SIGN mode PULSE A5 B5 This signal is used to output command pulses to the open collector Pulse output R A2 B2 PULSER compatible drive unit CW CCW mode CCW PULSE SIGN mode SIGN CEN EIE DN Pulse output common Common for pulse output and pulse output R A3 B3 COM This
193. i Soi Stee cea Y i MR CDA or 1 i EMG amp 1 gt 98 2 sail i 24VDC Y Electromagnetic brak i Cutoff by servo ON signal i OFF alarm signal Detector i 1 1 Within 2m 5 CN2 lt 1 QD70PO CON1 x1 he cime EAA ee ae ETA ae CN1 4 i PULSE F1 B4 i 1 PG01 COM B18 24G At Lp Fav TB 24VDC 3 2 Near point dog DOG1 B9 CHG1 B11 Speed position 2 Bs BS switching 5V power 9 supply 5VvGND 24V 0 2 A or higher supply REMARK 1 The logic of each I O terminal can be changed by making switch setting for intelligent function module Refer to Section 5 6 The above example assumes that all terminals are set to the negative logic The above example assumes connection to Axis 1 For the pin layout for connection to any of Axes 2 to 8 refer to Section 3 4 2 Signal layout for external device connection connector 2 To output the command pulse PULSE F PULSE R always connect an external power source 24VDC When outputting the command pulse of any of Axes 5 to 8 also connect to A1 and B1 of the CON1 connector provided for Axes 1 to 4 3 These are limit switches for servo amplifier for stop 4 For details of connection refer to the MR C series Servo Amplifier Instruction Manual 5 This indicates the distance between the QD70PL_ and servo amplifier App 8 App
194. ignal to lt Mechanical QD70 system inputs positioning Switches module f 7 Stores the parameter and data Y Outputs to the drive unit according to the i instructins from the programmable i controller CPU i Dive vv unit Receives pulses commands from QD70 1 and drives the motor j Motor f Caries out the actual work according to commands from the drive unit j Workpiece 1 PRODUCT TLINE MELSEC Q The principle of position control and speed control operation is shown below Position control The total No of pulses required to move the designated distance is obtained in the following manner Total No of pulses Designated distance No of pulses required to move required for motor to designated distance Movement amount of machine load rotate once side when motor rotates once K The No of pulses required for the motor to rotate once is the encoder resolution described in the motor catalog specification list When this total No of pulses is issued from the QD70 to the drive unit control to move the designated distance can be executed 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 min value for the workpiece to move and is also the electrical positioning control precision ll Speed control Though the above total No of pulses is an element need
195. ing 7000 the movement amount movement amount Da 7 Dwell time 500ms Set the time the machine dwells after the position control stop pulse output stop to the output of the positioning complete signal Refer to Section 4 5 List of positioning data for the setting details 2 g D c o 2 POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 2 3 Speed position switching control In speed position switching control Da 2 Control method lt Speed Position Ctrl Forward Speed Position Ctrl Reverse the pulses of the speed set in Da 5 Command speed are kept output on the axial direction set to the positioning data When the speed position switching signal is input position control of the movement amount set in Da 6 Positioning address movement amount is exercised Speed position switching control is available in two different types Speed Position Ctrl Forward which starts the axis in the forward direction and Speed Position Ctrl Reverse which starts the axis in the reverse direction ll Switching over from speed control to position control 1 The control is switched over from speed control to position control by the external signal speed position switching signal CHG 2 To switch from speed control to position control Cd 5 Speed position swit
196. ion of more than 10 pieces of positioning data Since the number of positioning data that can be executed by the QD70 axis by axis is up to 10 pieces perform continuous operation of more than 10 pieces of data in the following procedure 1 Initial setting Set 1 Continuous positioning control or 2 Continuous path control in Da 1 Operation pattern of positioning data No 1 to No 10 2 Positioning data rewrite during operation During operation read Md 9 Executing positioning data No and rewrite the positioning data of the read value 1 No However when Md 9 Executing positioning data No is 1 rewrite the positioning data No 10 Refer to Section 4 6 List of monitor data for details of Md 9 Executing positioning data No When the time required to execute the positioning data No 1 to No 10 continuously is assume to be a a maximum of delay a will occur if a is small until the new positioning data is made valid Hence set Da 5 Command speed and Da 6 Positioning address movement amount so that the execution time of each positioning data is 2ms or more POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 1 3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data ll Absolute system Positioning control is carried out to a designated position ab
197. irection is determined by the sign of the movement amount Start point address current stop position Reverese direction gt Forward directior Movement direction for Movement direction for a negative movement amount a positive movement amount When the start point address is 5000 and the movement amount is 7000 position control is carried out to the 2000 position Start point address 1 1 1 1 1 1 1 Address after positioning control 1 current stop position 1 i 1 1 1 1 1 1 1 1 1 1 1 1 3000 2000 1000 1000 2000 3000 4000 5000 6000 p control in the reverse direction movement amount 7000 H Positioning data setting example The following table shows setting examples when 1 axis linear control INC is set in positioning data No 1 of axis 1 Setting item Setting example Setting details Da 1 Operation pattern Positioning Set Positioning termination assuming the next positioning data will not Mm termination be executed Da 2 Control method ans linear Set incremental system 1 axis linear control X control INC 3 ACC DEC time 1000ms Set the acceleration deceleration time for position control DEC STOP time 1000ms Set the deceleration stop time for position control 5 50000pulse s the speed during movement Position
198. is is Stopper 2 brought into contact with the stopper at OPR 5 Creep speed to a stop After the stop the zero signal signal that is output on detection of contact with the stopper is detected 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 OPR 5 Creep speed from the beginning and is brought into contact Stopper 3 with the stopper at OPR 5 Creep speed to a stop After the stop the zero signal signal that is output on detection of contact with the stopper is detected and on completion of the deviation counter clear output machine OPR control is completed Deceleration is started when the near point dog turns from OFF to ON and the axis moves at OPR 5 Creep speed After the axis has moved the distance preset in OPR 8 Setting for the movement amount Count 1 after near point dog ON from the position where the near point dog turned from OFF to ON it stops on detection of the zero signal one pulse of which is output when the motor rotates one revolution e g Zero signal output from the drive unit and on completion of the deviation counter clear output machine OPR control is completed Deceleration is started when the near point dog turns from OFF to ON and the axis moves at OPR 5 Creep speed Count 2 The axis stops after moving the distance preset in OPR 8 Setting for the movement amount after near point dog ON from
199. ith the ON OFF of the direction sign SIGN of the direction sign SIGN The motor will forward run when the direction sign is HIGH e The motor will forward run when the direction sign is LOW The motor will reverse run when the direction sign is LOW The motor will reverse run when the direction sign is HIGH purse purse SIGN Jd Forward Forward Reverse run run run lt lt Move in Move in Move in Move in direction direction direction direction PULSE is output from the PULSE external I O signal and SIGN from PULSE R Refer to Section 3 4 3 Switch 2 Pulse output logic selection deviation counter clear output logic selection Set the pulse output signal PULSE F PULSE R logic and deviation counter clear output signal CLEAR logic according to the externally connected device 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Switch 3 Zero signal input logic selection rotation direction setting Zero signal input logic selection Set the zero signal PGO input logic according to the externally connected device Rotation direction setting Set the relation of the motor rotation direction and current value address increment decrement Setting procedure 1 Set 0 and carry out forward run JOG operation 0 is set as the default value 2 When the workpiece W is moving toward the address increment
200. ition switching signal Signal name Value 0 OFF 1 ON 12 COMMON FUNCTION E MELSEC Q HAN SW Information The setting states of the intelligent function module switches are displayed Corresponding switch PLS MODE Pulse output mode Switch 1 PLS OUT Pulse output logic selection 8 lower bits Switch 2 DCC CLR Deviation counter clear output signal logic selection 8 upper bits Refer to Section 5 6 Switch ZERO SIG Zero signal input logic selection suena 8 lower bits setting for intelligent function Switch 3 ROT DIR Rotation direction setting 8 upper bits module for details DOG SIG Near point dog signal input logic selection Switch 4 nop fo 12 3 12 3 13 TROUBLESHOOTIN oe MELSEC Q CHAPTER 13 TROUBLESHOOTING This chapter describes the details of errors and warnings that may occur during use of the 2070 13 1 Error and warning details 1 Errors Types of errors Errors detected by the QD70 include parameter and OPR data setting range errors and errors at the operation start or during operation 1 Parameter and OPR data setting range errors The parameters and the OPR data are checked when the power is turned ON and at the rising edge OFF ON of the Programmable controller READY signal YO An error will occur if there is a mistake in the parameter and the OPR data setting details at that time When this kind of error occurs the module READY signal does not turn ON
201. lays and data resisters according to the system used 1 Inputs outputs external inputs and internal relays of 2070 Device icati i XO X1 X2 Inputs X8 X9 XA XB XC XD XE BUSY signal BUSY running outputs X10 X11 X12 X13 X14 X15 X16 X17 Start complete signal Start complete lt lt lt o 0 gt lt N o External input command BE NIN gt z ojoj N O m Internal relay Bo X19 X1A Positioning complete signal Positioning control complete YO Programmable controller Programmable controller CPU READY signal ready Y9 YA Positioning start signal Start being requested Y11 Y12 Axis stop signal Stop being requested Y19 JOG start signal JOG being started OPR request OFF bein Machine OPR control Machine OPR control being Fast OPR control being Positioning control start Positioning control start being control command being commanded Speed position switching Speed position switching enable disable command being commanded command being commanded Forward run JOG operation bein Reverse run JOG operation bein peed change command Speed change being commanded S Restart command Restart being commanded Error reset being commanded S Stop being commanded Parameter OPR data setting Parameter OPR data setting complete OPR request OFF command request OFF being requested
202. leted OPR speed Position set up by machine OPR control Pr 6 Bias speed at start Fast OPR control start o Positioning start signal Y8 to YF Md 4 Axis operation status Standby X Fast OPR in progress Standby OP Position control to OP Fig 8 12 Fast OPR control ll Precautions for operation 1 Start fast OPR control after setting up the machine OP by exercising machine OPR control If fast OPR control is started without machine OPR control being exercised the Machine OPR not execute error error code 203 will occur 2 In fast OPR control the OPR compete flag Md 7 Status b1 and Md 2 Movement amount after near point dog ON are unchanged 3 On completion of fast OPR control OPR 3 OP address is not stored into Md 1 Current feed value POSITIONIN NTROL 9 POSITIONING CO MELSEC Q CHAPTER 9 POSITIONING CONTROL This chapter details the positioning control control functions using positioning data of the 2070 9 1 Outline of positioning controls Positioning control uses the positioning data stored in the QD70 Position control speed position switching control and current value changing are executed by setting the necessary items of these positioning data As the control method of positioning control set the Da 2 Control method setting item of the positioning data Any o
203. ll TI 1090 1081 1091 1024 Da 5 en 107 3 1025 Positioning 1006 11016 1007 1017 amount Reserved Cannot Be 1009 1019 1029 Used Buffer address Write to Reserved Cannot be used is prohibited 4 21 1082 1092 1083 1093 1084 1094 1085 1095 1 1086 ice 1087 1098 1089 1099 SS oo x Positioning data No 1 2 Da 1 Da 1 Operation pattern 910 920 Sy 991 Ere l 914 924 2 5 Da 5 Command speed ane 915 925 Da 6 Positioning 906 916 926 address movement 907 917 927 amount Buffer memory address Positioning data No 1 2 Ll No Tat Ld 1180 1190 118111191 5 Da 5 Command speed Da 6 Positioning 1116 address movement 1117 amount 1128 zl Reserved Cannot Be pepe 1119 Used Buffer memory address 982 992 983 993 984 994 985 995 Reserved Cannot Be H 1182 1192 1183 1193 1184 1185 Axis 4 1186 1187 1198 1189 1199 I T p CN oo NO 4 21 4 DATA USED FOR POSITIONING CONTROL Positioning data 1 2 3 ll TIEN 1290 Da 1 Da 1 Operation p
204. lowing axis monitor data with the monitor function Buffer memory batch Axis monitor data Monitor details Buffer memory address Axis 1 Axis 2 1 Monitor th t positi 170 270 370 470 570 670 770 urrent feed value onitor the current position 171 271 374 471 571 671 771 174 274 374 474 574 674 774 175 275 375 475 575 675 775 3 Current speed Monitor the current speed Monitor the operation status 2 JOG Operation Md 4 Axis operation status of the axis 76 176 276 376 476 576 676 776 For more information on the monitor details refer to Section 4 6 List of monitor data Example Operation status of Axis 1 lt GX Developer display screen Module start address 0000 Hex Buffer memory address 70 DEC C HEX Monitor format Bit amp word Display 16bit integer Value DEC Start monite X Bit 32bit integer HEX Ginny C Word C Real number ASCII character Address F EDC A98 47654 4321 Option setup 00070 0 0 0 0 0 321490 00071 0000 0000 0000 0100 l 00072 0000 0000 0000 0000 0 00073 0000 0000 0000 0000 Deve ten 00074 0001 0011 1000 1000 5000 00075 0000 0000 0000 0000 00076 0000 0000 0000 0010 2 Close 00077 0000 0000 0000 0000 b Method using GX Configurator PT Monitor the current feed value current speed axis operation status and axis err
205. lowing shows an operation outline of the stopper 1 OPR method ll Operation chart Machine OPR control is started Acceleration starts in the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR and the axis moves at OPR 4 speed Near point dog ON is detected and deceleration starts at the time set in OPR 6 ACC DEC time at OPR Speed is reduced to OPR 5 Creep speed and the axis then moves at the creep speed At this time the motor torque must be limited If the torque is not limited the motor may fail at 4 When PR 9 dwell time elapses after near point dog ON the pulse output from the QD70 stops immediately 5 and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 After a deviation counter clear output is output to the drive unit the OPR complete flag Md 7 Status b1 turns from OFF to ON and the OPR request flag Md 7 Status bO turns from ON to OFF 6 OPR speed Deceleration at the near point dog ON Creep speed Stopper Pr 6 Bias Speed at start gt t 4 15 6 Range in which the motor rotation is forcibly stopped by the stopper i 1 lt gt Near point dog OFF OPR dwell time Time out of OPR dwell time omemweme Positioning start signal Y8 to YF OPR request
206. lows you to confirm the error code at axis error occurrence 1 Operation of GX Developer Choose Diagnostics System monitor QD70 module and choose Module s Detailed Information 2 Confirmation of error code The error code stored in Md 5 Axis error code appears in the latest error code field Any of axes 1 to 8 By pressing the button the error code of the error that has occurred in each axis is displayed in order of axes 1 to 8 Note that this display does not give a history 5 Detailed Information Module Module Name QD70P8 Product information 031010000000000 B Address 0 Implementation Position Main Base 0510 Module Information Module access Possible 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 Error Display Display format Na EuaCode Present Error 1 1103 n Select Decimal The display sequehce of the error history is from the oldest error The error codes indicated in The latest error is displayed in the line as under Section 13 2 List of errors are in decimal Informati Stop monitor Error display details Present Error Means error code 103 js x Software stroke limit V Error code of Axis n Axis n 1 S nS8 13 14 13 14 App APPENDIX
207. ls of the drive unit refer to the manual of the drive unit used The following is the way to perform simple reciprocating operation 1 Operation method Using a sequence program perform forward run reverse run of JOG operation Refer to Chapter 10 for details of JOG operation 2 Setting items Set JOG data in the sequence program The other data parameters positioning data etc may be initial values Change the JOG data setting values according to the machine specifications JOG data Setting value Setting details addresses ing valu i i s Ass Ass a nes ves ve e is rri Set the speed for JOG 40 140 240 340 440 540 640 740 JOG 1j JOG speed 5000pulse s operation 41 141 241 341 441 541 641 741 Set the acceleration time JOG 2 JOG ACC time 1000ms 42 142 242 342 442 542 642 742 for JOG operation BEEN Set the deceleration time JOG 3 JOG DEC time 1000ms 43 143 243 343 443 543 643 743 for JOG operation TN 0 Forward run JOG Set the rotation direction JOG 4 JOG direction flag 44 144 244 344 444 544 644 744 1 Reverse run JOG for JOG operation Refer to Section 4 4 List of JOG data for more information on the setting details 3 Reciprocating operation program using JOG operation The following is a program example for Axis 1 When the 0070 is installed slot O of the main base unit
208. memory Drive unit ositioning data 0 15 started Programmable controller CPU Input output signal When starting positioning with the scan after the completion of positioning insert X10 as an interlock so that positioning is started after Y8 is turned OFF and X10 is turned OFF Set Cd 3 Start method according to the control to be started Positioning control in the above example Enter the positioning start signal Y8 Positioning data No 1 is started Fig 7 2 Procedures for starting control for axis 1 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q lll Starting conditions To start the control the following conditions must be satisfied The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied Programmable controller READY ON Programmable controller CPU signal ready c 8 8 1 Axis stop signal OFF Axis stop signal being OFF Y10 Y11 Y12 Y13 Y14 Y15 Y16 Y17 Start complete signal OFF Start complete signal being OFF X10 X11 X12 X13 X14 X15 X16 X17 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q Operation when starting 1 When the positioning start signal turns ON the start complete signal and BUSY signal turn ON and the OPR control or positioning control starts It can be seen th
209. ming occurence __f 2 lt Use prohibited lt lt Use prohibited Positioning start Axis 1 Y10 Yn Start complete sti Axis stop X15 15 Y16 X17 Y17 Axis 8 X18 Y18 Axis 1 x19 19 accel a IM Positioning complete JOG start X1E Axis 8 Important Y1 to Y7 and X3 to X7 are used by the system and cannot be used by the user If these devices are used the operation of the QD70 will not be guaranteed xD EE EXEC 1 xm u 2 o xa xt xe ia xm xe 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 3 2 Details of input signal QD70 Programmable controller CPU The ON OFF timing and conditions of the input signals are shown below 1 Module READY Prepared When the Programmable controller READY signal YO turns from OFF to ON the Not parameter and the OPR data setting range is checked If no error is found this signal prepared turns ON When the axis error occurrence signal X1 is ON this signal does not turn watch dog ON if the Programmable controller READY signal YO is turned from OFF to ON timer error e When the Programmable controller READY signal YO turns OFF this signal turns OFF When a watch dog timer WDT error occurs this signal turns OFF This signal is used for interlock in a sequence program etc Programmable controller ON READY signal YO OFF Module READY signal XO
210. modules or the number of mounted modules power supply capacity may be insufficient Pay attention to the power supply capacity before mounting modules and if the power supply capacity is insufficient change the combination of the Base unit Applicable network module No of modules puce base unit of remote peut base unit of puce remote peut station modules QJ72LP25 25 J72LP25G Up to 64 QJ72LP25GE QJ72BR15 Applicable X N A 1 Limited within the range of I O points for the network module 2 Can be installed to any I O slot of a base unit The Basic model QCPU or C Controller module cannot create the MELSECNET H remote I O network 2 SYSTEM CONFIGURATION MELSEC Q 2 Support of the multiple CPU system When using the QD70 in a multiple CPU system refer to the following manual first QCPU User s Manual Multiple CPU System Intelligent function module parameters Write intelligent function module parameters to only the control CPU of the QD70 3 Supported software packages Relation between the system containing the QD70 and software package is shown in the following table GX Developer is necessary when using the QD70 idR ar un GX Developer GX Configurator PT Version 7 or later Q00J Q00 Q01CPU Version 8 or later Version 1 10L or later Q02 Q02H Q06H Version 4 or later Q12H Q25HCPU Version 6 or later Single CPU system Q02PH Q06PHCPU Version 8 68W or later Multiple CPU syst
211. mount set Da 6 Positioning address movement amount is executed from the position where the axis is restarted Axis stop signal Restart request ON ON Speed Position control control Position control 11 13 12 COMMON FUNCTIONS MELSEC Q CHAPTER 12 COMMON FUNCTIONS This chapter details the common functions of the QD70 12 1 Outline of common functions Common functions are executed according to the user s requirements regardless of the control system etc These common functions are executed by GX Developer For details of GX Developer refer to the GX Developer Operating Manual The following table shows the functions included in the common functions This function changes the external I O Switch setting on the QCPU PLC parameter I O signal logic according to the device assignment screen using GX Developer External I O signal logic switchin 9 connected to the QD70 Intelligent function module switches This function monitors the external I O signal monitor This function monitors the states of the information in the module s detailed information External I O signal monitor external I O signals which can be displayed on the system monitor of GX Developer 12 2 External I O signal switching function This function switches the signal logic according to the equipment connected to the QD70 The following external I O signals can be changed in logic
212. mputer A 11 1 Operation 4 6 Da 2 Control 4 6 Da 3 4 6 Da 4 DEC STOP 4 6 Da 5 Command 4 6 Da 6 Positioning address movement amount e o de ad 4 6 Da 7 Dwell time 4 6 Deceleration 1 12 Details of input signals QD70 to programmable controler 3 5 Details of output signals programmable controller CPU to QD70 tct rende 3 6 Deviation counter clear signal 3 7 Deviation counter droop pulse amount 1 5 Electrical specifications 3 7 Error and warning details 13 1 Error reset program 7 12 External 24V current consumption 3 1 External I O logic switching function 12 1 External I O signal monitor 12 1 External device connection connector 5 6 External dimension drawing App 1 External power source input 3 8 Fast OPR control 8 16 Fast OPR control starting timing chart 7 20 GX
213. n Microsoft Windows Windows NT and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries Pentium and Celeron are trademarks of Intel Corporation in the United States and other countries Ethernet is a registered trademark of Xerox Corporation in the United States Other company names and product names used in this document are trademarks or registered trademarks of respective companies SPREAD Copyright C 1996 FarPoint Technologies Inc SH NA 080171 N SH NA 080171 N 0808 MEE MODEL QD70P U S E MODEL CODE 13JR39 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
214. nction 1 Control details 2 Precautions during control 1 Control details The following is the operation performed during a speed change for JOG operation Speed change to V2 Speed change to V3 Operation performed when speed ISO I JOS Speed change is not made Acceleration made at Pr 6 Bias speed value set in at start T gt QN JOG 2 JOG ACC time R Deceleration stop made at 1 value set in 9 9 JOG start Fig 11 1 Speed change operation 11 2 11 2 11 SUB FUNCTIONS MELSEC Q 2 Precautions during control 1 The time required to reach a new speed from an old speed at speed change is ICd 8 ACC DEC time at speed change For a deceleration stop made by axis stop signal ON or JOG start signal OFF after the new speed is reached following a speed change request the time required to make a stop after reaching Pr 6 Bias speed at start from the operating speed is Cd 9 DEC STOP time at speed change However if the new speed 7 New speed value is less than the old speed the time required to make a stop from axis stop signal ON or JOG start signal OFF may exceed the preset deceleration stop time 9 when a deceleration stop is made by axis stop signal ON or JOG start signal OFF right after the speed change command before Cd 7 New speed value is reached See below Note that the deceleration stop time is the time required to make a sto
215. ne of common 12 1 12 2 External I O signal switching 12 1 12 3 External I O signal monitor 12 2 13 1 Error and warning detalls 2 5 0 tite uim tite ian tie ig m etie Ea an 13 1 13 21LISEOf eFTOTS cred catt dic a 13 3 19 3 Listo Warhlligs E aere tre ERE RES ERR tere AEI e Rd eR RENS e SRM 13 11 13 4 Error check by LED 13 13 13 5 Confirming the error definition using system monitor of GX 13 14 Appendix 1 External dimension App 1 Appendix 2 Operation timing and processing time in each App 2 Appendix 3 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation Dx had t Mac dM M AR Mo E MM tur Mi App 6 Appendix 3 1 Connection example of QD70P and App 6 Appendix 3 2 Connection example of QD70P and MR J2 J2S4 App 7 App
216. nected to QD70 axis 4 axis 5 axis 6 axis 7 axis 8 1 axis 2 axes 3 axes Indicates the number of axes Example 2 axes Indicates two axes such as axis 1 and axis 4 axes 5 axes 6 axes 2 axis 2 and axis 3 and axis 3 and axis 1 7 axes 8 axes Generic term for the following Microsoft Windows Vista Home Basic Operating System Windows Vista Microsoft Windows Vista Home Premium Operating System Microsoft Windows Vista Business Operating System Microsoft Windows Vista Ultimate 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 Component List The component list of this product is given below 1 SW1D5C QPTU E GX Configurator PT Version 1 1 license product CD ROM BWIDSC OPTUEA A 12 SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING Z O O on Section 1 is configured for the following purposes 1 to 4 1 To understand the outline of positioning control and the QD70 specifications and functions 2 To carry out actual work such as installation and wiring 3 To set parameters and data required for positioning control 4 To create a sequence program required for positioning control Read Section 2 for details on each control CHAPTER 1 PRODUCT 1 1 to 1 14 CHAPTER 2 SYSTEM CONFIGURATI
217. ng 4 7 7 Status ieee 4 7 Md 8 External I O 5 4 7 Md 9 Executing positioning data No 4 7 Md 10 Error 4 7 11 Warning 4 7 Mechanism of positioning 1 2 Module READY 3 5 Module information monitor data 4 27 Module s detailed information 5 17 6 16 Movement amount per pulse 1 3 Multiple CPU 2 5 Multiple axes simultaneous start control 9 17 Near point dog method machine OPR COnttOl 1 iiic eti pas en beats 8 4 Near point dog 3 7 No 3 1 Number of mountable modules 2 3 No of occupied I O points 3 1 OPR complete 4 28 OPR data setting 7 9 OPR 8 3 OPR method 1 Near point dog method 8 4 OPR method 2 Stopper 1 8 6 OPR method 3 Stopper 2
218. ng function 1 Control details 2 Precautions for control 1 Control details The following is the operation of the acceleration deceleration processing function of the QD70 Target speed zs Bias speed at start X isother than 0 7 Bias speed at start is 0 Set acceleration time 7 actual acceleration time Set deceleration time actual deceleration time Set acceleration deceleration time actual acceleration deceleration time if Pr 6 Bias speed at start is either 0 or other than 0 The set acceleration deceleration time is the actual acceleration deceleration time and Pr 5 Speed limit value does not influence the acceleration deceleration time The acceleration deceleration time slope varies if the setting of Pr 6 Bias speed at start is changed The set acceleration time and set deceleration time are available individually for the functions For details refer to CHAPTER 4 DATA USED FOR POSITIONING CONTROL Jog operation Set acceleration time JOG 1 JOG ACC time set deceleration time 2 JOG DEC time Positioning control Operation pattern Positioning termination continuous positioning control Set acceleration time 3 ACC DEC time set deceleration time 4 DEC STOP time Fig 11 6 Operation of acceleration deceleration processing function of QD70 Slope of acceleration deceleration
219. ng made on Switch setting error B GX Developer is in error Programmable controller CPU error At start Start is not made 8 Programmable controller The watchdog timer error of the programmable During operation The axis decelerates to a CPU watch dog timer error CPU occurred stop 840 A module power off error occurred 820 30 The programmable controller CPU resulted in an error Software stroke limit Upper limit value lt lower limit value in the software upper lower limit value error stroke limit upper lower limit values Setting range outside 902 PULSE SIGN method selection setup hold time The setting value of Pr 9 PULSE SIGN method selection setup hold time is outside the setting range Setting range outside The setting value of Pr 3 Software stroke limit Software stroke limit valid invalid setting is outside the setting range Setting range outside The module READY signal does not turn The setting value of Pr 4 Current feed value during ON speed control is outside the setting range 904 current feed value during speed control Setting range outside The setting value of Pr 5 Speed limit value is speed limit value outside the setting range The setting value of Pr 6 Bias speed at start is Setting range outside bias outside the setting range speed The setting value of Pr 6 Bias speed at start is higher t
220. ning start signal Y8 to YF OPR request flag Md 7 Status bO OPR complete flag status b1 Deviation counter clear output Deviation counter clear signal output time ba i bog L 1 1 4 Axis operation status Standby X During OPR Standby f 2 Movement amount after Unfixed 0 near point dog ON UUO Oo o o o 1 Current feed value Unfixed Traveled value is stored OP address D 1 D 1 Fig 8 5 Operation when the dwell time elapses during deceleration from the OPR speed 3 Ifthe axis is started during near point dog ON it starts at OPR 5 speed Creep 4 Ifthe axis stop signal is turned ON during operation performed at OPR 4 OPR speed the axis decelerates to a stop at the time set in OPR 7 DEC STOP time at OPR 8 7 8 OPR CONTROL MELSEC Q 8 2 5 OPR method 3 Stopper 2 The following shows an operation outline of the stopper 2 OPR method ll Operation chart Machine OPR control is started Acceleration starts in the direction set in OPR 2 OPR direction at the time set in OPR 6 ACC DEC time at OPR and the axis moves at OPR 4 OPR speed Near point dog ON is detected and deceleration starts at the time set in OPR 6 ACC DEC time at OPR Speed is reduced to OPR 5 Creep speed and the axis then moves at the creep speed At this time the motor
221. ntrol acceleration is started after specified time has elapsed 2 In operation by continuous positioning control operation pattern 1 the next positioning data No is automatically executed Always set operation pattern 0 in the last positioning data to terminate the positioning control If the operation pattern is set to continue 1 or 2 the operation will continue until operation pattern O is found If the operation pattern cannot be found the operation may be carried out until the positioning data No 10 If the operation pattern of the positioning data No 10 is not terminated the operation will be started again from the positioning data No 1 Dwell time Continuous positioning control 1 Continuous positioning control 1 Address direction Address direction Dwell time not specified Positioning termination 0 Positioning start signal Y8 to YF 9 Start complete signal X10 to X17 9 BUSY signal X8 to Positioning complete signal X18 to X1F I fL Fig 9 2 Operation during continuous positioning control The Insufficient movement amount warning warning code 41 occurs if the movement amount of the currently executed positioning data is too small to reserve the calculation processing time approx 2ms of the next positioning data in the operation pattern of 1 Continuous positioning control The execution of the next positioning dat
222. o 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 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 discretio
223. od is the INC system ABS system under speed position switching control 3 The near pass function is valid for continuous path control only 4 Added into GX Developer for use Refer to Chapter 6 App 14 App 14 APPENDIX MELSEC Q Comparison of acceleration deceleration processing function method QD70 Refer to Section 11 5 for details Position control in operation pattern of Time taken to reach the speed limit value from speed 0 Set acceleration time Set deceleration Time taken to reach speed 0 from the time speed limit value Speed change continuous path control Time taken to reach the OPR speed from the bias speed at start Time taken to reach Time taken to reach the new speed from the the new speed from the command speed old speed before positioning data No changing Time taken to reach the creep speed from the OPR speed Other than the three items on the left Machine OPR control Time taken to reach the set speed from the bias speed at start Time taken to reach the bias speed at start from the set speed Operation of acceleration deceleration processing function of Set acceleration time Bias speed at start is 0 Actual acceleration time Speed limit value Target speed Actual acceleration time Bias speed at start is other than 0 ee Set deceleration time When bias speed at start is
224. ol system is achieved through the execution of necessary controls Data required for controls are given through the default values when the power is switched ON which can be modified as required by the sequence program Controls are performed over system data or machine operation Controlling the operation Setting operation parameters changing speed during operation restarting operation through the axis control data 1 to 9 Refer to Section 4 7 List of control data for details of the control data Control data Change OPR request flag from ON to OFF Restart request Speed position switching request Validate speed position switching signal from external source Issue instruction to change speed in operation to 7 value Speed change request Made valid during speed control of speed position switching control or during JOG operation New speed value Set new speed when changing speed during operation Set the time taken at a speed change to reach the new speed from ACC DEC time at speed change the old speed Set the time taken at axis stop factor occurrence axis stop signal ON DEC STOP time at speed change or error occurrence to make a stop after reaching Pr 6 Bias speed at start from the speed after a speed change 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 2 List of parameters item Setting value setting Bietaul value Setting value buffer memory address
225. on 5 14 5 7 Simple reciprocating 5 18 6 UTILITY PACKAGE GX Configurator PT 6 1 to 6 19 6 1 Utility package functions orco een eee tette tete eee lee da ea a e dae ee da 6 1 6 2 Installing and Uninstalling the Utility 6 2 6 2 1 Handling precautions e rm a OeRS sacs gues cadeduek A ADR 6 2 6 2 2 Operating environmiernt 2 n co dene dtes ni eder md eH C Ene d eria 6 4 6 3 Utility Package 6 6 6 3 1 Common utility package 6 6 6 3 2 Operation 6 8 6 3 3 Starting the Intelligent function module 6 10 6 4 Initial settlnig eie ei et ede e e dab etd reete e edet dte P Peta 6 12 6 5 Auto refresh settirig o oreet ture tte Ee Do P Ue ee 6 14 6 6 Monitoririg T6St 6 epe E tL t Dd tL t D P Lh ge 6 16 6 6 1 Monitoring Test screen nr nnn nnns 6 16 7 1 Precautions for creating
226. onfigurator PT Refer to Section 5 5 Drive unit operation confirmation Make confirmation with a simple program in the factory set status Refer to Section 5 7 Do you use GX Configurator PT Yes Initial setting Using the FROM TO instructions create an initial value write sequence program Refer to Chapter 7 Initial setting Using GX Configurator PT make initial setting Refer to Section 6 4 Do you make auto refresh setting Auto refresh setting Using GX Configurator PT make auto refresh setting Refer to Section 6 5 Programming debugging Create and confirm a sequence program Refer to Chapter 7 System operation 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 5 3 Part identification nomenclature 1 The following are the part names of the QD70 1 RUN indicator LED ERR indicator LED QD70P RUN AX5 AX1 AX2 uc 1 AX3 2 Axis display LED ERR AX8 AX4 QD70P8 CON2 CON 0 0 0 0 0 0 0 4 3 External device connection connector 1 40 pins 0 For details refer to Section 3 4 2 Signal layout for 0 external device connection connector 0 0 0 0 0 0 0 0 Oo oe 41 4 Serial number plate umm 1 RUN indicator LED ERR indicator LED Refer to the ne
227. oning complete signal X18 to X1F OFF Axis error occurrence signal X1 OFF Cd 7 New speed value 9 6 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q Restart program This program is used to resume position control by 4 Restart request from the stop position to the end point of the positioning data when the axis has been stopped by the axis stop signal during operation under position control or speed control of speed position switching control excluding position control ll Data requiring setting Set the following data Setting item Setting value Buffer memory address Refer to Section 4 7 List of control data for more information on the setting details Start conditions When a restart is to be made Md 4 Axis operation status must be 1 Stopped and the following conditions satisfied Necessary conditions are included in the sequence program as interlocks Device EU iot Programmable controller READY ON Programmable controller CPU YO signal ready Axis error occurrence signal OFF x1 BUSY signal orrjaD70notoperang xs xo xA x8 xc xp xe ll Restarting timing chart Interface signal Dwell time Positioning start signal Y8 to YF Axis stop signal Y10 to Y 17 Programmable controller READY signal YO Module READY signal XO Start complete signal X10 to X17 BUSY signal
228. onitor GX Configurator PT Fig 1 2 Outline of the operation of positioning control system using QD70 a Positioning operation by the QD70 1 The QD70 output is a pulse train The pulse train output by the QD70 is counted by and stored in the deviation counter in the drive unit The D A converter outputs an analog DC current proportionate to the count maintained by the deviation counter called pulse droop The analog DC current serves as the servomotor speed control signal 2 The servomotor rotation is controlled by the speed control signal from the drive unit As the servomotor rotates the pulse encoder PLG attached to the servomotor generates feedback pulses the frequency of which is proportionate to the rotation speed The feedback pulses are fed back to the drive unit and decrements the pulse droop the pulse count maintained by the deviation counter The motor keeps on rotating as the pulse droop is maintained at a certain level 3 When the QD70 terminates the output of a pulse train the servomotor decelerates as the pulse droop decreases and stops when the count drops to zero Thus the servomotor rotation speed is proportionate to the pulse frequency while the overall motor rotation angle is proportionate to the total number of pulses output by the QD70 Therefore when a movement amount per pulse is given the overall movement amount can be determined by the number of pulses in the pulse train The pulse f
229. or code on the Monitor Test screen For details refer to Section 6 6 Monitor test Example Operation monitor of Axis 1 Axis 1 Monitor Test GX Configurator PT display screen Axis 1 Monitor Test Module information Module type 0070 Model Module Start 1 0 No 0000 Module model name 0070 8 Setting item Current value Setting value Current Feed Value Current Speed Axis Operation Status JOG Operation Executing Positioning Data No Axis Error Code Axis Waming Code Axis Error Reset Reset Complete Error Reset Complete Status Except 0 Speed OSpeed External 1 0 Signal OFF Speed Position Switching Command Flash ROM setting Details Current value Monitoring display Cannot execute test Make text file Stop monitor 6 UTILITY PACKAGE GX Configurator PT MELSEC Q CHAPTER 6 UTILITY PACKAGE GX Configurator PT The QD70 utility package GX Configurator PT is software designed to make initial setting auto refresh setting monitor and others of the QD70 using dedicated screens without being conscious of the I O signals and buffer memory Use the utility package with GX Developer SW4D5C GPPW E or later 6 1 Utility package functions The following table lists the functions of the utility package Function Description Make initial setting axis by axis for the QD70 to operate Set the values of the items that need initial setting
230. or or programmable controller fault occurs Failure to observe this could lead to accidents for incorrect outputs or malfunctioning 1 Configure an emergency stop circuit and interlock circuit such as a positioning control upper limit lower limit to prevent mechanical damage outside the programmable controller 2 The machine OPR operation is controlled by the OPR direction and OPR speed data Deceleration starts when the near point dog turns ON Thus if the OPR direction is incorrectly set deceleration will not start and the machine will continue to travel Configure an interlock circuit to prevent mechanical damage outside the programmable controller 3 When the module detects an error deceleration stop will take place Make sure that the OPR data and positioning data are within the parameter setting values N CAUTION Do not bundle or adjacently lay the control wire or communication cable with the main circuit or power wire Separate these by 100mm 3 94in or more Failure to observe this could lead to malfunctioning caused by noise MOUNTING INSTRUCTIONS N CAUTION e Use the programmable controller in an environment that meets the general specifications contained in the CPU User s Manual Using the programmable controller outside the general specification range environment could lead to electric shocks fires malfunctioning product damage or deterioration e While pressing the installation lever located at the bottom
231. or that command Acceleration deceleration This function adjusts the acceleration deceleration processing of control process function This function resumes positioning control from where it had stopped while the axis is at a Restart function stop 11 2 Speed limit function The speed limit function limits the command speed to a value within the speed limit value setting range when the command speed during control exceeds the speed limit value The details shown below explain about the speed limit function 1 Relation between the speed limit function and various controls 2 Setting the speed limit function 1 Relation between the speed limit function and various controls The following table shows the relation of the speed limit function and various controls Control type Speed limit Speed limit value Operation when speed limit value is function exceeded Does not operate OPR Machine OF conte E Out of OPR speed setting range error 5 Speed limit value x control code 913 error or Out of creep speed Fast OPR control setting range error code 914 error occurs Ase Out of speed range warning warning code Speed limit value 20 occurs and the axis is controlled by the Positioning S eed osition NS cog ewm 0000 000 changing Out of speed range warning warning code JOG operation 5 Speed limit value 20 occurs and the axis i
232. ored into Md 5 Axis error code of all axes 13 1 13 1 13 TROUBLESHOOTIN noe MELSEC Q 2 Warnings Types of warnings A warning occurs during OPR control positioning control or JOG operation If a warning occurs operation is continued Also if a warning occurs Md 4 Axis operation status remains unchanged ll Warning storage If a warning occurs the axis warning occurrence signal turns ON and the warning code corresponding to the warning definition is stored into Md 6 Axis warning code Also the bit of Md 11 Warning status corresponding to the warning occurrence axis turns ON Axis warning Md 6 Axis warning code ede Eu Warning status Buffer memory bit address occurrence signal buffer memory address 278 378 478 578 678 778 Refer to Section 4 6 List of monitor data for the setting details o O The latest error code is always stored 3 Resetting errors and warnings Setting 1 in Cd 1 Axis error reset performs the following processing and then cancels the error warning status The axis error occurrence signal X1 is turned OFF 1 is set in Cd 1 of all axes The axis warning occurrence signal X2 is turned OFF 1 is set in of all axes Md 4 Axis operation status changes from Error to Standby Md 5 Axis error code is cleared
233. ormation on the setting details refer to CHAPTER 4 DATA USED FOR POSITIONING CONTROL Operating procedure Start I O No Module type Module model name Initial setting Enter the start I O No in hexadecimal Setting screen lt Initial setting of parameters and OPR data gt Initial setting Module information Module type 0070 Model Module Module model name QD70D8 Start 1 0 No 0000 Setting item Axis 1 Parameter Selling Axis 1 OPR Data Setting Axis 2 Parameter Setting Axis 2 OPR Data Setting Axis 3 Parameter Setting Axis 3 OPR Data Setting Axis 4 Parameter Setting Axis 81 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 84 Parameter Setting Select items to be moved to sub window Details Move to sub window Make test file End setup Move to sub window Axis 1 Parameter Setting 0000 Axis 1 OPR Data Setting 0000 Axis 1 OPR Data Setting Module information Module type 0070 Model Module Module model 007008 Start 1 0 No Start 1 0 No Setting item Software Stroke Limit Upper Limit Value Setting value Setting item 2147483647 NearPoint Dog Method Setting value Software Stroke Limit Lower Limit Value 21474836
234. osition Switching control will result in the following 0 speed Md 7 Status b2 turns ON Though the axis is at a stop 4 Axis operation status is Speed Position Speed and the BUSY signal remains ON Turning ON the axis stop signal turns OFF the BUSY signal and changes Md 4 Axis operation status to Stopped In this case setting other than 0 in Cd 7 New speed value 1 in 6 Speed change request turns OFF 0 speed 7 Status b2 enabling operation to be continued ow Positioning data setting examples The following table shows setting examples when speed position switching control by forward run is set in positioning data No 1 of axis 1 Setting item Setting example Setting details MM Set Positioning termination assuming the next positioning data will not Positioning E EROS AMAN be executed Continuous path control cannot be set in speed termination 5 nin position switching Speed Position NM P Control method Ctrl Forward Set speed position switching control by forward run ACC DEC time 1000ms Set the acceleration deceleration time for speed position switching control DEC STOP time 1000ms Set the deceleration stop time for speed position switching control Command speed 50000pulse s Set the speed to be controlled Positioning addre
235. osition control or the movement amount Positioning address Position control 1 axis linear 1 linear control ABS control 1 axis linear control INC Da 1 pattern S D 2 o new current value for position control of speed position switching control Refer to Section 9 1 3 Set the time taken from when the workpiece has stopped on completion of position Da 7 Dwell time control until the QD70 judges completion of position control The setting details of 1 to 7 vary with Da 2 Control method in whether setting is required or not and details movement amount Refer to Section 9 2 Setting the positioning data 10 pieces of the positioning data positioning data No 1 to 10 can be axis 9 1 9 1 9 POSITIONING CONTROL MELSEC Q 9 1 2 Operation patterns of positioning controls Positioning data No 1 No 2 No 3 No 4 No 5 No 6 Speed Positioning control starts with positioning data No 1 and allows you to set in Da 1 Operation pattern whether the subsequent consecutive data will be executed continuously or not There are the following three different operation patterns 1 to 3 e Termination 1 Positioning termination operation
236. other than 0 When bias speed at start is 0 t Actual deceleration time Bias speed at start is O Actual deceleration time Bias speed at start is other than 0 The operation of the acceleration deceleration processing function of the AD75 is the same as that of the QD75 For comparison between the QD75 and AD75 refer to the QD75P QD75D Positioning Module User s Manual App 15 App 15 APPENDIX MELSEC Q Appendix 9 List of buffer memory addresses Buffer memory address item Memory area 100 200 300 400 500 600 700 Pr 1 Software stroke limit upper limit value 101 201 301 401 501 601 701 102 202 302 402 502 602 702 HC Y r 2 Software stroke limit lower limit value Ed Ex 303 403 503 104 204 504 604 704 Pr 3 Software stroke limit valid invalid setting 5 105 4 Current feed value during speed control 6 106 9 Speed limit value 107 207 307 407 507 607 707 108 208 308 408 508 608 708 6 Bias speed at start RIS 09 209 309 409 509 EH EZ 110 510 610 710 Pr 7 Positioning complete signal output time Pr 8 Deviation counter clear signal output time 114 Reserved Cannot be used E ETE 219 319 419 519 ES 120 520 620 720 22 122 222 322 422 522 622 722 OPR 3 OP address 28 123 223 323 423 523 623 723 24 124
237. owchart It is assumed that each module is installed and the required system configuration etc has been prepared Flow of starting Installation and connection of module Preparation Setting of hardware Positioning control OPR control JOG operation Position control Machine OPR control Speed position switching control Current value changing Control functions Fast OPR control OPR data Set the parameters Pr 1 Pr 10 Set the OPR data OPR 1 to OPR 9 1 he positioning data Da 1 to 7 Positioning data UU Control data Set the start method Da 1 to Set the JOG data JOG 1 to JOG 4 Turn the QD70 JOG Positioning control can make a Turn ON the QD70 start signal start signal ON from multiple axes simultaneous start from the programmable controller CPU the programmable Refer to Section 9 3 for details controller CPU JOG data Start signal VY Y Control start m omm mm mom wm Operation Control end Gm Gm Gm OR M Stop 1 10 1 10 1 PRODUCT TLINE MELSEC Q MEMO 1 PRODUCT TLINE xni
238. p from the target speed and not the time required to make a stop from the current speed If axis stop signal ON or JOG start signal OFF occurs before the target speed is reached the time required to make an actual stop is determined by the current speed speed at axis stop signal ON or JOG start signal OFF and slope of deceleration from the target speed to a stop slope of deceleration found from the target speed 7 and deceleration stop time 9 When it is necessary to make a stop in a short time before the target speed is reached make adjustment using the Cd 9 value Speed change command Old speed Axis stop signal ON or JOG start signal OFF New speed value before target speed is reached ACCIDEC time at speed change Axis stop signal ON or JOG start DEC STOP time at speed change i OFF after t t di a b d Bias speed at start Same slope lt gt Preset deceleration stop time Actual deceleration time Fig 11 2 Operation performed when axis stop signal ON or JOG start signal OFF occurs before new speed value is reached 11 3 11 3 11 SUB FUNCTION MELSEC Q 2 When 0 is set in Pr 6 Bias speed at start making a speed change with the setting of 0 in Cd 7 New speed value results in the following A deceleration stop is made and 0 speed 7 Status b2 turns ON T
239. peed Movement amount setting control b Time Speed position switching command Da 7 Dwell time When the dwell time is set the setting details of the dwell time will be as follows according to Da 1 Operation pattern 1 When 1 Operation pattern 0 Positioning termination Position control Set the time from when the positioning control ends to when the positioning complete signal turns ON as dwell time Positioning complete signal OFF i i B Dwell time V T 2 When 1 Operation pattern is 1 Continuous positioning control Position control ee i Next position Setthe time from when position control ends to when control the next position control start as the dwell time Dwell time 3 When Da 1 Operation pattern is 2 Continuous path control Position control Next position The setting value irrelevant to the control control The dwell time is Oms No dwell time 0ms 4 DATA USED FOR POSITIONING CONTROL 4 6 List of monitor data 4 6 1 Axis monitor data Storage details Md 1 Current feed value 2 Movement amount after near point dog ON Current speed Md 4 Axis operation status Md 5 Axis error code Default value The current position using the position when OPR is completed as the base is stored Update timing 1ms for QD70P4 2ms for QD70P8
240. peed limit value Speed limit value A speed change request was given during other than Speed change not possible speed control of speed position switching control and is continued i JOG operation The axis decelerates to a stop once upon completion of the execution of the positioning The calculation processing time of the next positioning data in current execution and operation data was not reserved in Da 1j Operation pattern of resumes upon completion of the calculation Continuous positioning control processing of the next positioning data The BUSY signal does not turn OFF if the axis has stopped Insufficient movement amount 13 11 13 11 13 TROUBLESHOOTIN MELSEC Q Related buffer memory address Setting range Remedy Normalize the start request ON timing Do not make a restart request in Md 4 Axis operation status of other than Stopped Do not make a restart request during OPR control or JOG operation Restart request 1 Make restart Pr 5 Speed limit value 6 106 206 306 406 506 606 706 1 to 200000 pulse s Change the set speed or Cd 7 New 7 107 207 307 407 507 607 707 speed value to not less than Pr 6 Bias Pr 6 Bias speed at start speed at start and to not more than 108 208 308 408 508 608 708 0 to 200000 pulse s 5 Speed
241. point dog method After decelerating at the near point dog ON stop at the zero signal and complete the machine OPR control 1 Stopper 1 After decelerating at the near point dog ON stop with the stopper and complete the machine OPR control after the OPR dwell time has passed 2 Stopper 2 After decelerating at the near point dog ON stop with the stopper and complete the machine OPR control with the zero signal 3 Stopper 3 After starting with the creep speed stop with the stopper and complete the machine OPR control with the zero signal Count 1 nnus After decelerating at the near point dog ON move the designated distance and complete the machine OPR control with the zero signal COUM 2 uidi iuis After decelerating at the near point dog ON move the designated distance and complete the machine OPR control Note Refer to 8 2 2 Machine OPR method for details on the OPR methods 4 14 4 14 4 DATA USED FOR POSITIONING CONTROL OPR method 0 Near point dog method 1 Start machine OPR control Start movement at the 4 OPR speed in the IOPR 2 OPR direction 2 Detect the near point dog ON and start deceleration 3 Decelerate to OPR 5 Creep speed and move with the creep speed At this time the near point dog must be ON 4 When the first zero signal one pulse of
242. positioning 4 6 Setting the positioning data 9 10 Signal Axis error occurrence signal 3 5 Axis stop 3 6 Axis warning occurrence signal 3 5 3 5 Deviation counter clear signal 3 7 JOG start 3 6 Module READY signal 3 5 Near point dog 3 7 Programmable controller READY signal 3 6 Positioning complete signal 3 5 Positioning start signal 3 6 Speed position switching signal 3 7 Start complete 3 5 Zero signal 3 7 Signal layout for connector 3 9 Signal 3 4 Simple reciprocating operation 5 18 OU eather An KOC EC DA 2 4 Software 2 5 2 10 Specifications of input output signals 3 4 Speed change function 11 2 Speed change program 7 12 Speed limit 11 1 Speed position switching control 9 13 Speed position switching control starting timing ec E
243. program Parameter TO command and data are Parameter and data Creer CHI eerie setting program Set using the GX Configurator PT OPR data setting program not carrying out OPR control the OPR data do not need to be set Block start data setting program No 3 Nos Programmable controller READY signal YO ON program Required Not carried out OPR request OFF program i Carried out Continued on next page 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Continued from previous page MELSEC Q Se eee E Start method setting program Programs needed to exercise No 6 Start method setting program z M Start program 7 Positioning control start program c c EN mM aS JOG operation program No 8 JOG operation program Sub program No 9 10 No 11 Eee Stop program me No 12 End of program creation OPR control Positioning control k Program needed to perform JOG operation Programs added according to control exercised Create as necessary Program designed to stop control 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7 4 Positioning control program examples MELSEC Q An example of the Axis
244. r The connectors for use with the QD70 should be purchased separately by the user The connector types and pressure displacement tool are listed below a Connector types Type Model name Soldering type straight out A6CON1 Pressure displacement type straight out A6CON2 Soldering type usable for straight out and A6CON4 diagonal out Pressure displacement tool Applicable Type Model name Supplier s office wire size FUJITSU AMERICA INC 250E Caribbean Drive Sunnyvale CA 94089 U S A Tel 1 408 745 4900 e FUJITSU EUROPE B V Jupiterstaat 13 15 our 2132 Hoofddorp The Netherland Tel 31 23 5560910 FUJITSU EUROPE B V Zweiniederlassung Deutschland Schatzbogen 86 D 81829 Munchen Germany Tel 49 89 42742320 Pressure e FUJITSU EUROPE UK 363 Network House Morres Drive Maidenhead 005 Berkshire SL6 4FH United Kingdom Tel 44 1628 504600 e FUJITSU EUROPE B V 127 Chemin Des Bassins Europarc Cleteril 94035 Cleterll 94035 France Tel 33 145139940 e FUJITSU ASIA PACIFIC PTE LIMITED 102E Pasir Panjang Road 04 01 Citilink Warehouse Complex Singapore 118529 Tel 65 375 8560 e FUJITSU HONG KONG LTD Suite 913 Ocean Centre 5 Canton Road TST Kowloon Hong Kong Tel 852 2881 8495 5 SETUP AND PROCEDURES BEFORE OPERATION 5 4 Wiring MELSEC Q This section explains how to wire the drive unit and mechanical system inputs to the QD70 The following are t
245. r to the manual of the drive unit used 2 Use an external input signal as the zero signal ll Precautions during operation 1 Input a zero signal from an external source after the machine presses against the stopper The following is the operation performed if the zero signal is input before deceleration to OPR 5 Creep speed Deceleration started when near point dog turns ON OPR 4 OPR speed Zero signal input during deceleration 5 speed 6 speed at start i i E Zero signal Torque limit 1 1 1 Near point dog OFF Machine OPR control start Positioning start signal Y8 to YF OPR request flag Status bO Status b1 Deviation counter clear output LJ Pr 8 Deviation counter clear signal output time 1 gt lt x i i Axis operation status Standby X During OPR X Standby 2 amount after Unfixed X 0 near point dog ON 1 Current feed value Unfixed X Traveled value is stored OP address 1 Fig 8 7 Operation performed if zero signal is input before deceleration to creep speed 2 The near point dog must be turned ON until it presses against the stopper 3 Ifthe axis is started during near point dog ON it starts at OPR 5 Creep speed 4 Ifthe axis is started during zero signal ON the Z
246. ration at Stop position address restart after restart DUNS CARTER Axis 1 gt Axis 1 0 100 300 700 0 100 300 700 2 Restart during speed control Speed control is resumed at the speed used before a stop made by the axis stop signal Y10 to Y17 3 When restart is not made during position control When Md 4 Axis operation status is Stopped turning ON the positioning start signal Y8 to YF starts position control from the current stop position Example for incremental system The following is the operation performed when the axis is stopped during execution of position control 1 axis linear control at the axis 1 movement amount of 600 and position control is started after the axis stop signal turns OFF Stop position at axis sto m Stop position at axis stop P Specified end Positioning oint position Starting point P start Operation at position Stop position address control start after restart Axis 1 E epson Axis 1 0 100 300 700 0 100 300 900 11 12 11 12 11 SUB FUNCTIONS MELSEC Q 2 Precautions for control Speed position Switching signal ON OFF Speed position Switching signal 11 13 1 Setting 1 With restart request in 4 Restart request when 4 Axis operation status is other than Stopped results in the Restart not possible warning warning code 11
247. re 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 Note 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 t
248. requency on the other hand determines the servomotor rotation speed feed speed 1 PRODUCT OUTLINE MELSEC Q b Pulse train output from the QD70 1 As shown in Fig 1 3 the pulse frequency increases as the servomotor accelerates The pulses are sparse when the servomotor starts and more frequent when the servomotor speed comes close to the target speed 2 The pulse frequency stabilizes when the motor speed equals the target speed 3 The QD70 decreases the pulse frequency sparser pulses to decelerate the servomotor before it finally stops the output There will be a little difference in timing between the decrease in the pulse frequency and the actual deceleration and stopping of the servomotor This difference called the stop settling time is required for gaining a stopping accuracy Servomotor speed Speed V eration Pulse train Rough 1 Dense gt Rough Fig 1 3 QD70 output pulses 2 Movement amount and speed in a system using worm gears Movement amount per pulse mm pulse Command pulse frequency pulse s LV Pulse encoder resolution pulse rev Pulse encoder Workpiece Worm gear lead mm rev Worm pear PLG DWDD eae Deceleration ratio Movable section speed mm s Motor speed r min Position loop gain 1 s Servomotor Deviation counter droop pulse amount OP pulse Address pulse Fig
249. rnal signal ll Precautions during operation 1 When the near point dog is ON starting the axis will cause the Start during near point dog ON error error code 201 Perform JOG operation to move the axis to the position where the near point dog turns OFF 2 The near point dog must be ON during deceleration from OPR 4 OPR speed OPR 5 Creep speed The following is the operation performed if the near point dog turns OFF before deceleration to the creep speed 4 speed Deceleration started when near point dog turns ON Near point dog turns OFF during deceleration 2 amount after near point dog ON 1 Machine OPR control start Positioning start signal Y8 to YF OPR request flag Md 7 Status bo OPR complete flag OFF Ma 7 Status b1 1 Deviation counter clear output Deviation counter clear signal output time e Axis operation status Standby X During OPR Movement amount after near point dog ON Current feed value Unfixed X Traveled value is stored OP address Fig 8 3 Operation when the near point dog is turned OFF before the creep speed is reached 3 Ifthe axis stop signal is turned ON during operation performed at OPR 4 OPR speed the axis decelerates to a stop at the time set in OPR 7 DEC STOP time at OPR 8 OPR CONTROL MELSEC Q 8 2 4 OPR method 2 Stopper 1 The fol
250. roller READY signal YO ON program contact is not needed when GX Configurator PT is used to make initial setting of parameters OPR data and positioning data SM403 1 91 I d x30 0 x No 5 OPR request OFF program X20 103L isis 2 2 Y8 x10 109 4 E AW r see 3 M3 UO 113 H1 D36 87 x RST Ed Ml 004 126 MOVP 651 651 fr Mi 7k No 6 Start method setting program x 1 Machine OPR X21 136 move 9000 037 2 Fast OPR X22 UoN 144 WANDP 079 Hi D36 D36 s MOVE K9001 237 SET MS 3 Positioning control Starting from No 1 x23 162 4 jo D37 4 Speed position switching control X24 168 s 037 x25 174 ww mu 654 26 DON 179 L Move 654 MELSEC Q 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 5 Turning OFF fast OPR control command and fast OPR control command storage Not needed when fast OPR control is not used X21 184 RST M4 x23 887 5 24 No 7 Positioning control start program 4 and M5 contacts are not needed when fast OPR control is not carried out M8 contact is not needed when JOG operation is not performed X27 194 15 M6 M6 Y8 x10 M8 4 0 8 2211 A zm 4 5 7 UO 214 wove 37 952 ser B
251. ry names Current value Monitors the signal 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 UTILITY PACKAGE GX Configurator PT MELSEC Q 3 Command button 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 Creates a file containing the screen data in text file format Stop monitor a whether or not to monitor current values Performs a test on the selected items Axis Error Reset Click this button after selecting Error Reset Request in the Setting value field of Axis Error Reset on the Axis monitor test sub window m Reset Complete 4 Error Reset Request Select Error Reset Request Details Monitoring Select input Setting range Error Reset Complete Error Reset Request Error Reset Complete Eror Reset Request Place cursor at Error Reset Except 0 Speed Request OFF Details Monitoring Select input Setting range Error Reset Complete Error Reset Request Click Execute test Close Closes the currently open screen and returns to the previous screen 6 UTILITY PACKAGE GX Configurator PT MELSEC Q MEMO 7 SE
252. s controlled by the ocon piv speed limit value Always set Setting not required Setting value is invalid Use the initial values or setting values within a range where no error 11 1 11 1 11 SUB FUNCTION MELSEC Q 2 Setting the speed limit function To use the speed limit function set the speed limit value in the parameters shown in the following table and write it to the QD70 The speed limit value depends on the motor used Set it according to the motor used The setting is made valid when the Programmable controller READY signal YO turns from OFF to ON Setting Factory set Setting item Setting details value initial value 5 5 Speed limit value a Set the speed limit value max speed during control 10000 pulse s Refer to section 4 2 List of parameters for setting details 11 3 Speed change function The speed change function is designed to change the speed within the Pr 5 Speed limit value range at any point during speed control of speed position switching control or during JOG operation Set a new speed in Cd 7 New speed value and make a speed change using 6 Speed change request The acceleration and deceleration times after a speed change are the values set in 8 ACC DEC time at speed change and 9 DEC STOP time at speed change The details shown below explain about the speed change fu
253. s detailed information H W Information H W Information Module Module Name 070 8 LED Information Display format Product information 031010000000000 H w SW Information Item Value ltem Value RUN 0001 D0Gl ERR 0000 DOGZ 1063 1065 1056 DOG DOGS CHGl ZERO2 CHG2 ZERO3 CHG3 ZER04 CHG4 ZEROS CHGS ZERO6 CHG6 ZERO7 CHG CHGS H W LED Information H W LED information displays the following information ZERO Zero signal of Axis 1 ZERO2 Zero signal of Axis 2 ZEROS Zero signal of Axis ZERO4 Zero signal of Axis 4 ZEROS Zero signal of Axis 5 ZERO6 Zero signal of Axis 6 ZERO7 Zero signal of Axis 7 ZEROS Zero signal of Axis 8 DOG1 Near point dog signal of Axis 1 DOG2 Near point dog signal of Axis 2 DOG3 Near point dog signal of Axis 3 0 LED off 1 LED on flicker ltem Value 00A wor 0000 Stop monitor Near point dog signal of Axis 4 Near point dog signal of Axis 5 Near point dog signal of Axis 6 Near point dog signal of Axis 7 Near point dog signal of Axis 8 Speed position switching signal Speed position switching signal Speed position switching signal of Axis 3 Speed position switching signal of Axis 4 Speed position switching signal of Axis 5 Speed position switching signal Speed position switching signal Speed pos
254. s time an error occurs in the JOG data whose value has been set outside the setting range For details refer to CHAPTER 13 TROUBLESHOOTING 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 5 Setting items for positioning data Positioning data must be set for carrying out any positioning control The table below lists the items to be set for producing the positioning data 1 to 10 positioning data items can be set for each axis For details of the positioning controls refer to Chapter 9 POSITIONING CONTROL For details of the individual setting items refer to 4 5 List of positioning data Positioning control P Speed position Position control Current value changing zit Switching control Positioning data Positioning termination Continuous positioning Operation pattern ER control Continuous path control 1 axis linear control Speed Position Ctrl ABS Forward 1 axis linear control Speed Position Ctrl m as destination Control method Current value changing ee time AN Always set Setas required Read when not required x Setting not possible 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 ll Checking the positioning data Da 1 to Da 7 checked for the setting
255. screen Start I O No Module type gt Module model name 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 lt Axis Monitor Test OPR Monitor gt Monitor Test Module information Module 0070 Model Module Start 1 0 No 0000 Module modelname 007028 Selling ilem Curent value Setting value Axis 1 Monitor Test Axis 1 Monitor Test Axis 1 Monitor Axis 1 OPR Monitor Axis 2 Monitor Test Axis 2 Monitor Test Axis 2 Monitor Axis 2 DPR Monitor Select items to be moved 3 Monitor Test Axis 3 Monitor Test Avis 3 OPA Monitor Axis 3 OPR Monitor to sub window Axis 4 Monitor Test Axis 4 Monitor Test Axis 4 OPR Monitor Axis 4 OPR Monitor Avis 5 Monito Test Axis 5 Monitor Test 5 OPR Monitor 5 OPR Monitor Axis 6 Monitor Test Axis 6 Monitor Test Flash ROM setting Details Curent value Monitoring display Cannot execute test Make text file Stop morior Move to sub window Axis 1 Monitor Test Module information Module information Axis 1 OPR Monitor 0000 Axis 8 OPR Monitor Axis 1 Monitor Test Module 0070 Model Module Start 1 0 No 0000 Module 007
256. setting Switch 1 Pulse output mode PULSE SIGN mode CW CCW mode PULSE F PULSE R oom Pulse output logic selection Zero signal input logic selection ea a ee ee M Deviation counter clear output _ T SIER logic selection Except en dcs Rotation direction setting Reverse run pulse output increases the Forward run pulse output increases the current feed value current feed value DOG Near point dog signal input y x Switch 4 logic selection 00C3H Positive logic Negative logic 5 14 5 14 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q Switch 1 Pulse output mode Set the pulse output mode that matches the drive unit used Use Switch 2 to change between the positive logic and negative logic of the pulse The following are pulse output mode examples 1 CW CCW mode During forward run the forward run feed pulse CW will be output During reverse run the reverse run feed pulse CCW will be output Positive logic Negative logic cw ew CCW Forward Reverse Forward Reverse run run run run lt gt 4 5 CW is output from the PULSE external I O signal and CCW from PULSE Refer to Section 3 4 3 2 PULSE SIGN mode Positive logic Negative logic Forward run and reverse run are controlled with the ON OFF Forward run and reverse run are controlled w
257. sitioning termination of the started positioning data only the designated positioning data will be executed and then the positioning control will end When continuous positioning control is set for the operation f Tone pattern of the started positioning data after the designated Continuous positioning control Es positioning data is executed the program will stop once and then the next following positioning data will be executed When continuous path control is set for the operation pattern of the started positioning data the designated positioning data Continuous path control r will be executed and then without decelerating the next following positioning data will be executed 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 3 Specifications of input output signal with Programmable Controller CPU 3 3 1 List of input output signals with programmable controller CPU The QD70 uses 32 input points and 32 output points for exchanging data with the programmable controller CPU The input output signals when the QD70 is mounted in slot No 0 of the main base unit are shown below Device X refers to the signals input from the QD70 to the programmable controller CPU and device Y refers to the signals output from the programmable controller CPU to the QD70 Signal direction QD70 Programmable controller Signal direction Programmable controller CPU gt CPU QD70 x AWsemoocumece 0 _ Axis wa
258. solute address having the OP as a reference This address is regarded as the positioning address The start point can be anywhere Address 100 e Start point End point Address 100 Address 150 Address i 300 Address 150 Address 100 Address 150 1 1 1 1 0 IT OP 100 150 300 Reference point point point C point Within the stroke limit range Fig 9 5 Absolute system positioning control Incremental system The position where the machine is currently stopped is regarded as the start point and positioning control is carried out for a designated movement amount in a designated movement direction Movement amount Start point Movement amount 100 gt End point 100 Movement amount 100 Movement amount 100 Movement 1 1 1 1 1 1 1 1 1 1 1 amount 150 SS SS Movement amount 100 Movement 50 1 100 150 300 Reference point A point B point C point Within the stroke limit range Fig 9 6 Incremental system positioning control POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 1 4 Confirming the current value Values showing the current value The following address is used as value to show the position in the QD70 This address current feed value is stored in the monitor data area is used in monitoring the current value display etc
259. ss 10000pulse Set the movement amount after the switching to position control movement amount Set the time from when a stop pulse output stop is made under Dwell time position control until the positioning complete signal is output The setting value is ignored if a stop is made under speed control Operation pattern S z S c 9 o o a o gt lt lt Refer to Section 4 5 List of positioning data for the setting details 9 15 9 15 9 POSITIONING CONTROL MELSEC Q 9 2 4 Current value changing Current value changing performs control to change Md 1 Current feed value to any address ll Operation chart The following chart shows the operation timing for a current value changing The Md 1 Current feed value is changed to the value set in Da 6 Positioning address movement amount when the positioning start signal tums ON Positioning start signal OFF Y8 to YF ON Positioning complete signal OFF X18 to X1F Md 1 Current feed value 5000 X 10000 Current feed value changes to the positioning address designated by the positioning data of the current value changing The above chart shows an example Ds the positioning address is o Bl Restrictions 1 If Continuous path control is set in Da 1 Operation pattern the New current change not possible error error code
260. start Setting not required Setting value is invalid Use the initial values or setting values within a range where no error POSITIONIN NTROL 9 POSITIONING CO MELSEC Q 9 2 2 1 axis linear control In 1 axis linear control Da 2 Control method lt 1 axis linear control ABS 1 axis linear control INC one motor is used to carry out position control in a set axis direction 1 1 axis linear control ABS linear 1 ll Operation chart In absolute system 1 axis linear control addresses established by a machine OPR control are used Position control is carried out from the current stop position start point address to the address end point address set in Da 6 Positioning address movement amount When the start point address current stop position is 1000 and the end point address positioning address is 8000 position control is carried out in the positive direction for a movement amount of 7000 8000 1000 0 1000 8000 44 44 Positioning control movement amount 7000 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Start point address End point address current stop position positioning address 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 ll Positioning data setting example The following table shows setting examples when 1 linear
261. stop position address is changed to the address set in OPR 3 OP address At the same time the OPR 3 OP address is stored in Md 1 Current feed value Note The setting range for the OP address varies depending on the setting in 3 Software stroke limit valid invalid setting 0 Valid 0 to 2147483647 pulse 1 Invalid 2147483648 to 2147483647 pulse When the set value is outside the above range an OP address setting out of range error Error code 912 will occur OPR 4 OPR speed Set the speed for OPR control Note e Set the OPR speed to less than Pr 5 Speed limit value If the speed If the speed limit value is exceeded the Setting range outside OPR speed error error code 913 will occur Set the OPR speed to a value not less than 6 Bias speed at start If it is less than the bias speed at start the Setting range outside OPR speed error error code 913 will occur 4 17 4 17 4 DATA USED FOR POSITIONING CONTROL MELSEC Q OPR 5 Creep speed Set the creep speed after near point dog ON the low speed just before stopping after decelerating from the OPR speed The creep speed is set within the following range OPR 4 OPR speed gt OPR 5 Creep speed gt 6 Bias speed at start Note e The creep speed is related to the detection error when using the OPR me
262. switching control pulse Wien x1 10 pieces of data positioning data No 1 to 10 axis can be set using GX Configurator PT or sequence program GX Configurator PT option No Positioning control method PTP control Incremental system absolute system Speed position switching control Incremental system Path control Incremental system absolute system Absolute system 2147483648 to 2147483647pulse Positioning Incremental system control range 2147483648 to 2147483647pulse Speed position switching control 0 to 2147483647pulse Acceleration deceleration Trapezoidal acceleration deceleration processing deceleration time Position control External device connection A6CON1 A6CON2 A6CON4 option connector Pulse output method Open collector output Max output pulse 200kpps Max connection distance between 2m QD70 and drive unit Internal current consumption BVDC 0 55A 0 74A External 24V current consumption 24VDC 0 065A 0 12A No of occupied I O points 32 points I O assignment Intelligent function module 32 points Weight 0 15kg 0 17kg 1 Positioning data can be started from No 1 only Cannot be started from any of No 2 to No 10 2 A delay may occur depending on the operating conditions and starting conditions control method bias speed ACC DEC time etc of the other axes 3 SPECIFICATIONS AND FUNCTIONS MELSEC Q 3 2 List of functions The following table lists the functions of the QD70
263. t from the QD70 stops at this time the axis decelerates to a stop from OPR 5 Creep speed at the time set in OPR 7 DEC STOP time at OPR and the deviation counter clear output is output to the drive unit The deviation counter clear signal output time is set in Pr 8 After a deviation counter clear output is output to the drive unit the OPR complete flag Md 7 Status b1 turns from OFF to ON and the OPR request flag Md 7 Status 60 turns from ON to OFF Deceleration at the near point dog ON 4 speed OPR 8 Setting for the movement amount after near point dog ON 5 speed Pr 6 Bias speed at start Leave sufficient distance from the OP position to the near point dog OFF Near point dog Machine OPR control start Positioning start signal Y8 to YF OPR request flag Status bO OPR complete flag Status b1 Deviation counter clear output Deviation counter clear signal output time 4 Axis operation status Standby During OPR Standby Md 2 Movement amount after Unfixed X 0 X Value marked 1 near point dog ON Md 1 Current feed value Unfixed X Traveled value is stored X OP address Fig 8 11 Count 2 machine OPR control 8 OPR CONTROL MELSEC Q ll Precaution during operation 1 if OPR 8 Se
264. t stop at the address preset to the positioning data in execution Axis stop signal input 0 Position match stop P i Continuous path control performed Da 5 Command speed when axis stop signal is not input Immediate stop after the address set to Positioning address movement amount is reached Deceleration stop time i Pr 6 Bias speed at start Positioning address movement amount In a pattern where the positioning address is reached during deceleration an immediate stop is made when the positioning address is reached However if the positioning address is not reached during deceleration a position match stop cannot be made Refer to the following chart Deg stop signal input pu Continuous path control performed when axis stop signal is not input Command speed Deceleration stop before the address set to Da 6 Positioning address movement amount is reached Deceleration stop time Bias speed at start J4 1 Positioning address movement amount Axis stop signal input 1 Deceleration stop P f Continuous path control performed when axis stop signal is not input address movement amount is reached Deceleration stop Deceleration stop time 4 Bias speed at start Da 5 Command speed No stop if the address set to 6 Positioning Positioning address movement amount If the axis passes through the positioning address
265. tart positioning control will be carried out at the bias speed at start Da 6 Positioning address movement amount Set the address or movement amount as the target value of positioning control The setting value differs in the setting range depending on Da 2 Control method 1 to 3 1 1 axis linear control ABS current value changing Set the value positioning address for 1 axis linear control ABS or current value changing using the absolute address address from the OP Stopping position positioning control starting address 1000 1000 3000 lt gt Movement Movement amount 2000 amount 2000 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 2 1 axis linear control INC Set a signed movement amount as the setting value movement amount for 1 axis linear control INC When the movement amount is positive The axis moves in the positive direction address increasing direction When the movement amount is negative The axis moves in the negative direction address decreasing direction Stopping position positioning control starting position Movement amount Movement amount 30000 30000 lt Movement in negative direction e Movement in positive direction lt 3 Speed Position Ctrl Forward Reverse Set the movement amount value more than 0 after speed control has been Switched to position control S
266. tart or positioning control start is made Use GX Developer to set the intelligent function module switches For details refer to Section 5 6 Switch setting for intelligent function module 4 DATA USED FOR POSITIONING CONTROL MELSEC Q Monitor data Data related to the operations of the running axes e g the current positions and speeds are monitored 1 to Md 9 Storage destination QD70 buffer memory H Axis monitor data The error status and warning status of the QD70 are monitored Storage destination QD70 buffer memory Module information monitor data Ma 10 to 11 Control data Axis control data Make operation related settings and exercise such control as speed changing during operation and operation restart 1 Cd 9 Storage destination QD70 buffer memory E How to set setting data Setting means Sequence program GX Configurator PT GX Developer Parameters 0 intial setting X OPR data O Olmaseting x JOG data PEN re ae eee a Positioning data initia setting _ Intelligent function module x x switches Initial setting is made to the intelligent function module parameters of the QCPU Can be set Can be set in the I O assignment setting PLC parameter of the QCPU X Cannot be set 1 The setting data is created for
267. thod with zero signal and the size of the collision if a collision occurs during OPR using the stopper Set the creep speed to a value not more than OPR 4 OPR speed If the OPR speed is exceeded the Setting range outside creep speed error error code 914 will occur Set the creep speed to a value not less than Pr 6 Bias speed at start If itis less than the bias speed at start the Setting range outside creep speed error error code 914 will occur er OPR speed Machine OPR control start OPR 5 speed L Pr 6 Bias speed at start PAR ON Near point dog signal OFF Zero signal OPR 6 ACC DEC time at OPR Set the time taken under machine OPR control to reach OPR 4 OPR speed from Pr 6 Bias speed at start or to reach OPR 5 Creep speed from IOPR 4 OPR speed When OPR method is other than Stopper 3 When OPR method is Stopper 3 V OPR 4 V OPR 6 6 gt 6 gt 4 DATA USED FOR POSITIONING CONTROL MELSEC Q OPR 7 DEC STOP time at OPR Set the time taken to make a stop after reaching 6 Bias speed at start from IOPR 5 Creep speed under Count 2 machine OPR control or to make a stop after reaching Pr 6 Bias speed at start from the speed
268. tion JOG operation results in a deceleration stop Turning ON the JOG start signal when the axis stop signal is ON results in the Stop signal ON at start error error code 102 and does not start JOG It can be started by resetting the axis error then turning OFF the axis stop signal and turning the JOG start signal from OFF to ON again Error occurs if JOG start signal is turned from OFF to ON while axis stop signal is ON Programmable controller READY signal YO Module READY signal X0 Axis error Axis error occurrence signal X1 JOG start signal Y18 toY1F Axis stop signal Y10 to Y17 BUSY signal X8 to Fig 10 2 Operation when the axis stop signal is turned ON during JOG operation 10 4 10 4 1 PERATION MELSEC Q 2 When JOG direction flag is changed to reverse run JOG command during forward run JOG operation When 4 JOG direction flag is changed to the reverse run JOG command during forward run JOG operation forward run JOG operation is continued In this case the reverse run JOG command is made valid when the JOG start signal turns ON after the BUSY signal of the QD70 turned OFF However when forward run JOG operation is stopped by the axis stop signal or stopped due to an axis error reverse run JOG operation is not performed if JOG 4 JOG direction flag is changed to the reverse run JOG command Forward run JOG operation
269. tion switching control or JOG operation the axis decelerates to a hs stop as soon as Md 1 Current feed value Positioning control was carried out in a position in eri E 92 exceeds the software stroke limit range excess of Pr 2 Software stroke limit lower limit an T e During position control including position value d control of speed position switching control 04 Software stroke limit address movement amount New current value has exceeded Pr 1 Software stroke limit upper limit value Md 1 Current feed value or Da 6 Positioning the axis decelerates to stop as soon as address movement amount New current value has exceeded Pr 2 Software stroke limit lower limit value Md 1 Current feed value or Da 6 Positioning address movement amount exceeds the software stroke limit range 05 READY OFF during tumed OFF during operation The axis decelerates to a stop operation 10 Programmable controller The Programmable controller READY signal YO READY OFF during writing turned OFF immediately after turning ON With 1 OPR method being any of near point gt during near point dog dog method count 1 and count 2 machine OPR P bl troll aM iain The Programmable controller READY signal YO 1 1 2 control was started when the n
270. tioning data gt 1 2 Positioning start signal Y8 to YF Programmable controller READY signal Module READY signal X0 Start complete signal X10 to X17 BUSY signal X8 to XF Positioning complete signal X18 to X1F Axis error occurrence signal X1 Cd 3 Start method Fig 7 6 Positioning control starting timing chart 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC Q 4 Speed position switching control starting timing chart Operation pattern 0 Positioning data No 1 Speed control Position control Dwell time Pit Positioning start signal Y8 to YF OFF Programmable controller N READY signal YO OFF d ON Module READY signal X0 OFF Start complete signal X10 OFF BUSY signal X8 to XF OFF Positioning complete signal X18 to X1F OFF Axis error occurrence signal X1 ON 1 Speed position switching signal RR NN Cd 3 Start method Cd 5 Speed position switching request Fig 7 7 Speed position switching control starting timing chart For positioning control or OPR control multiple axes can be started simultaneously In this case turn ON the positioning start signals of the target axes within the same Scan However after multiple axes have been started simultaneously they cannot be stopped simultaneously 7 SEQUENCE PROGRAM USED FOR POSITIONING
271. to zero Md 6 Axis warning code is cleared to zero 4 Confirming the error and warning definitions The error and warning definitions can be confirmed in Md 5 Axis error code and Md 6 Axis warning code To confirm them GX Developer or GX Configurator PT is needed For details refer to Section 13 5 Confirming the error definitions using system monitor of GX Developer or CHAPTER 6 UTILITY PACKAGE GX Configurator PT Refer to Section 13 2 and Section 13 3 for details of the error codes and warning codes 13 2 13 2 13 TROUBLESHOOTIN MN MELSEC Q 13 2 List of errors The following table shows the error details and remedies to be taken when an error occurs Error Error name Error Operation status at error occurrence code 000 Normal status BEEN C SNENMNMAXAXVAMN MN QD70 not prepared Start was made when the QD70 was not ready Start is not made Y10 to Y17 is ON Stop signal ON at start A start request was given when the axis stop signal Positioning control was carried out in a position in At start Start is not made excess of Pr 1 Software stroke limit upper limit At current value changing analysis value Current value changing is not made 103 Software stroke limit Md 1 Current feed value or Da 6 Positioning 1 During operation During speed control including speed control of speed posi
272. ttina Base mode Auto C Detail 8 Slot Default 12510 Default Import Multiple CPU Parameter Read PLC data Settings should be set as same when using multiple CPU Acknowledge assignment Multiple CPU settinas Defaut Check End Cancel EIE E b Switch setting for and intelligent function Input format HEX xl m od le gt Click Switch setting on the assignment 1 1060 Intelli QD70P8 5500 55AA 0083 setting screen to display the screen at left and set switches 1 to 4 The setting can easily be done if amp 55 Le values are entered in hexadecimal Change the WEM input format to hexadecimal and enter values 13 1212 4 13 15 140 14 Cancel The values set in the assignment setting PLC parameter of the QCPU can be confirmed using the module s detailed information that can be displayed on the system monitor of GX Developer Refer to Section 12 3 for details 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 5 7 Simple reciprocating operation Before operating the system check the operation of the drive unit Make this check after making sure that the installation wiring intelligent function module switch setting and connection confirmation of the QD70 are normal For detai
273. tting for the movement amount after near point dog ON is less than the deceleration distance from OPR 4 OPR speed to OPR 5 Creep speed machine OPR control is completed normally 2 When the near point dog is ON starting the axis will cause the Start during near point dog ON error error code 201 Perform JOG operation to move the axis to the position where the near point dog turns OFF 3 Ifthe axis stop signal is turned ON during operation performed at OPR 4 OPR speed the axis decelerates to a stop at the time set in OPR 7 DEC STOP time at OPR PR NTROL MELSEC Q 8 3 Fast OPR control 8 3 1 Outline of the fast OPR control operation ll Fast OPR operation In a fast OPR control positioning control is carried out by a machine OPR control to the Md 1 Current feed value stored in the QD70 By setting 9001 in Cd 3 Start method and turning ON the positioning start signal Y8 to YF fast OPR control performs position control at high speed without using the positioning data and near point dog zero and other signals The following is the operation performed at a fast OPR control start 1 Set 9001 in 3 Start method and turn ON the positioning start signal Y8 to YF 2 Position control is started to reach Md 1 Current feed value according to the OPR data OPR 1 to OPR 9 defined when machine OPR control was carried out 3 Fast OPR control is comp
274. tting not required This is an irrelevant item so the setting value will be ignored If the value is the default value or within the setting range there is no problem Near point dog method ll Checking the OPR data OPR 1 to 9 are checked for the setting ranges when the Programmable controller READY signal YO output from the programmable controller CPU to the QD70 changes from OFF to ON At this time an error occurs in the OPR data whose value has been set outside the setting range For details refer to CHAPTER 13 TROUBLESHOOTING 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 1 4 Setting items for JOG data The JOG data must be set to perform JOG operation The following are the setting items of the JOG data The JOG data are set commonly for each axis Refer to CHAPTER 10 JOG OPERATION for details of JOG operation and to Section 4 4 List of JOG data for details of the setting items JOG data JOG operation JOG 1 joG speed JOG 2 JOG ACC time JOG 3 0 DEC time JOG 4 uoc direction flag Always set Setting not required This is an irrelevant item so the setting value will be ignored If the value is the default value or within the setting range there is no problem ll Checking the JOG data JOG 1 to 4 are checked for the setting ranges when JOG operation is started At thi
275. viations Unless specially noted the following generic terms and abbreviations are used in this manual Generic term abbreviation Details of generic term abbreviation Programmable controller term for programmable controller CPU which QD70 can be mounted CPU Generic term for type ATSD75P 1 S3 P2 S3 P3 S3 AD75P1 S3 P2 S3 P3 S3 Positioning module The module type is described to indicate a specific module QD70 Generic term for type QD70 positioning module QD70P4 QD70P8 The module type is described to indicate a specific module QD75 Generic term for positioning module QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 and QD75D4 The module type is described to indicate a specific module Peripheral device Generic term for DOS V personal computer where following GX Configurator PT and GX Developer have been installed GX Configurator PT Abbreviation for GX Configurator PT SW1D5C QPTU E utility package for QD70 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 DOSN personal computer IBM PC AT and compatible DOS V compliant personal computer Personal computer Generic term for DOS V personal computer Generic term for moving body such as workpiece and tool and for various control targets Axis 1 axis 2 axis 3 Indicates each axis con
276. xample if the operation pattern of positioning data No 1 is Continuous path control Speed position Switching control cannot be set in positioning data No 2 If such setting has been made the Continuous path control not possible error error code 503 occurs resulting in a deceleration stop Under speed control of speed position switching control the software stroke limit range is checked only when 1 Update has been set in Pr 4 Current feed value during speed control If the movement amount has exceeded the software stroke limit range during speed control at the setting of other than 1 Update the Software stroke limit error error code 103 or 104 occurs resulting in a deceleration stop 4 If the setting value of Da 6 Positioning address movement amount is negative the Setting range outside error code 513 occurs 5 Ifthe movement amount of position control set in Da 6 Positioning address movement amount is less than the deceleration distance from Da 5 Command speed deceleration processing is started at the input of the speed position switching signal 6 To suppress the variation of the stopping position after switching to position control turn ON the speed position switching signal in the stable speed region constant speed status 7 If O has been set in Pr 6 Bias speed at start starting operation at the setting of 0 in 5 Command speed for speed control of speed p
277. xecuted is stored The stored value is held until the next start is executed When JOG operation or machine OPR control is started 0 is stored When fast OPR control is started 1 is stored MELSEC Q Storage buffer memory address Axis 2 4 DATA USED FOR POSITIONING CONTROL MELSEC Q 4 6 2 Module information monitor data Storage buffer memory address Item Storage details Default value Common for axis 1 to axis 8 At error occurrence the bit corresponding to the error occurrence axis turns ON 0 Normal OFF 1 Error ON The error occurrence axis cannot be run When 1 Axis error reset axis control data of the corresponding axis is turned ON the error status of the corresponding axis is cleared to zero Refer to Chapter 13 for details b15 b12 b8 b4 bO Error pae 1 status NGEUSSd Storage item Meaning Axis 1 error Axis 2 error Axis 3 error Axis 4 error Axis 5 error Axis 6 error Axis 7 error Axis 8 error For the QD70P4 b4 to b7 are 0 fixed At warning occurrence the bit corresponding to the warning occurrence axis turns ON 0 Normal OFF 1 Warning ON When 1 Axis error reset axis control data of the corresponding axis is turned ON the warning status of the corresponding axis is cleared to zero Refer
278. xt page 2 Axis display LED Axn n Axis No 3 External device connection Connector for connection of the drive unit and connector mechanical system inputs Serial number plate Indicates the serial number of the QD70 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q 2 The LED display indicates the following operation statuses of the QD70 and axes QD70P8 RUN 50 AX1 AXel 2 AX7 O ERR 0 AXe AX4 d Attention point y Attention point AB N A O N gt x RUN is OFF ERR and AX1 to AX8 states are unfixed Hardware failure RUN illuminates ERR is OFF ERR Pe tn System error illuminates AX1 to AX8 are OFF AX or other axis illuminates ERR flashes AX or other axis flashes The axes are corresponding axis is in An error occurs on the The symbols in the Display column indicate the following statuses LI Turns OFF llluminates Flashes 3 The interface of each QD70 is as shown below ERR QD70P4 QD70P4 QD70P8 RUNO 1 RUNO 50 2 6 2 ERR AX8 4 QD70P8 CON2 p y O O 5 SETUP AND PROCEDURES BEFORE OPERATION MELSEC Q External device connection connecto

Type QD70 Positioning Module User`s Manual

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