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MELSEC-Q QD73A1 Positioning Module User's Manual

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1. Section 6 4 The sequence program that sets variable parameters and positioning data is unnecessary when the data were set through GX Works2 tt SET M20 M20 X1024 Y1032 Y1033 E M At Vt MOVP K1 pao J KO gt M240 M241 i MW RST M20 KO 2 Z4ZP REMTO J1 K1 K1 H2 K25 D40 K1 M240 1 X2A tt SET M21 M21 X1024 Y1032 Y1033 1 E E A A DMOVPK5000 D42 DMOVPK1000 D44 Jf KO gt M242 M243 ME RST M21 J KO _ ZP REMTO J1 K2 K1 H2 K302 D42 K4 M242 X2B PLS M50 M50 X1021 X1024 Y1037 Y1032 X1032 Y1036 E H M M YF SET v1032 SET Y103C X2D i PLS M52 M52 X1021 X1024 Y1037 Y1032 Y1033 l H Zi A M SET Y1036 SET Y103C Y1032 X1032 X1024 1036 1 M M RST _ v1032 X1027 X1028 Y1036 X1032 X1024 d M RST v1036 X1033 X1027 X1028 1 Variable parameters and positioning data can be set through GX Works2 also CHAPTER 7 PROGRAMMING Command to change variable parameters Positioning mode Speed position control switch mode Completes changing the variable parameters Set variable parameters to the QD73A1 Command to change positioning data Positioning address P1 5000pulse Positioning speed V1 1000pulse s Completes changing the positioning data Set positioning data to the QD73A1 Command the start of the speed position control s
2. H M M A DMOVPK100 D20 DMOVPK5000 D22 r DMOVPK500 D24 T DMOVPK2000 D26 i Un BMOVPD20 G40 K8 sET M34 M34 MO X24 E Y2D X31 PLS M35 M35 X11 X14 Y27 Y20 X20 E M YF Yr M PLS M37 M37 SET Y20 Y20 X20 DX14 A RST Y20 X17 X18 END Lb OP address 100pulse OPR speed 5000pulse s Creep speed 500pulse s Movement amount after near point dog ON 2000pulse J Set OPR parameters to the QD73A1 Completes the OPR parameter settings Turn on off PLC READY signal Command OPR Turn on OPR start one scan Turn on OPR start signal Turn off OPR start signal 1 OPR parameters can be set through GX Works2 also Page 106 Section 6 3 The sequence program that sets OPR parameters is unnecessary when the parameters were set through GX Works2 7 3 3 Programs in this section execute major positioning control 1 Positioning control program This program executes positioning control in the absolute system Suppose that the parameter setting and OPR were completed gt Page 115 Section 7 3 1 Page 117 Section 7 3 2 a Program detail Major positioning control program As X33 is turned on the following positioning data are written CHAPTER 7 PROGRAMMING Item Setting detail Positioning pattern 0 Positioning control Positioning address P1 100000pulse
3. Device Description X32 Fixed feed positioning data write command X33 Fixed feed start command D50 Positioning address P1 lower 16 bits D51 Positioning address P1 upper 16 bits D52 Positioning speed V1 lower 16 bits D53 Positioning speed V1 upper 16 bits D100 New current value lower 16 bits D101 New current value upper 16 bits D104 Current value change request D106 Current value change result check M35 Variable parameter change M55 Fixed feed positioning data write command pulse M56 Current value change result reading M260 Z P REMTO instruction completion M261 Z P REMTO instruction failure M262 Z P REMTO instruction completion M263 Z P REMTO instruction failure M264 Z P REMTO instruction completion M265 Z P REMTO instruction failure M266 Z P REMFR instruction completion M267 Z P REMFR instruction failure 4 Program example X1027 X1028 X32 tt SET M35 X1024 W DMOVP K20000 DMOVP K1000 ZP REMTO ji D50 K4 M260 M261 E RST X33 E tt SET M55 M55 X1021 X1024 Y1037 A M DMOVP KO D100 KO gt M262 i MOV Ki D104 K1 gt M264 RST M55 SET M56 HKO 2 ZP REMTO Ji D100 K2 M262 K1 gt ZP REMTO J1 D104 K1 M264 M56 A ZP REMFR J1 D106 K1 M266 RST M56 M266 M267 VAL KO D106 SET M56
4. 4 As a JOG start signal is turned on acceleration starts in the specified direction according to _Pr 6_ Acceleration time BUSY signal X14 turns on at this time 2 As the accelerating operation reaches the speed set in ca3 JOG speed the move continues maintaining the speed The workpiece moves at the constant speed between 2 to 3 in the graph below 3 As the JOG start signal is turned off deceleration starts from the speed set in ca 3 JOG speed according to A Deceleration time 4 As the speed reaches 0 the operation stops BUSY signal X14 turns off at this time Cd 3 JOG speed Deceleration according to Forward JOG L Pr _ Deceleration time operation Acceleration according to Pre Acceleration time Reverse JOG operation uoge1edo Sor jo uonelado 0 Forward JOG start signal Y24 OFF 1 I i 1 I 1 1 i l 1 1 ON i PLC READY signal 3 i Y2D OFF 1 T ON i 1 D QD73A1 READY signal 3 i X11 OFF i T 1 D ON i i i 1 i BUSY signal NJ X14 OFF eee P Executed by the QD73A1 i L E i ON Reverse JOG start signal y i Y25 OFF 75i i ONE D I V D Ty t 1 ON ON i Speed can be changed by writing data to the control change area of the buffer memory using a sequence program For details refer to the following C gt Page 2
5. Md 14 Error occurrence Day Hour Error history 179 183 171 175 159 163 167 451 155 122 Md 15 Error occurrence Minute Second A set of buffer memory data is organized as an error history record 4 with a pointer number 123 Ex Pointer No 0 Buffer memory addresses 120 to 123 Pointer No 1 Buffer memory addresses 124 to 127 Pointer No 2 Buffer memory addresses 128 to 131 Item Buffer memory address Pointer No 15 Buffer memory addresses 180 to 183 Error history records are stored from the pointer No 1 up to No 15 After 16 records are stored the next record will be assigned the pointer No 0 The new record replaces the older record eyeq JO UoN G S 89 9 6 Control Data This section describes the details of control data Item Description Setting range Default value Buffer memory address decimal Cd 1 New current value Set a new current feed value when changing the current value Writing data in this area and setting 1 in cd 7 Current value change request Current feed a changes the value in va value For details on the current value change function refer to the following 3 Page 215 Section 11 5 2147483648 to 214748
6. range error 2 Fixed parameter 3 10 11 Setting data range error 12 Variable parameter 13 14 Error classification ERR 1 Error name Stroke limit lower limit Description The set value in Numerator of command pulse multiplication for electronic gear Outside the setting range Pr2 Stroke limit lower limit is outside 2147483648 to LPr1 Stroke limit upper limit The set value in Pr3 Numerator of command pulse multiplication for electronic gear is outside the setting Operation at the error occurrence If a setting is outside the setting range the error occurs and all of the fixed parameters use the default values for Action Set a value within the setting range and turn on PLC READY signal Y2D Set a value within the setting range and turn on PLC READY signal Y2D Setting range 1 to 9999 range the control The set value in Set a value within the Denominator of Pr4 Denominator setting range and turn command pulse uu of command pulse on PLC READY signal multiplication for multiplication for Y2D electronic gear Setting range i i uste electronic gear is g rang l outside the setting 1 to 9999 and besides setting range range 1 50 x CMX CDV lt 50 The set value in Set a value within the speed setting ran
7. module Please consult your local Mitsubishi representative 260 APPENDICES APPENDICES Appendix 1 Functions Added or Changed Ap pendix 1 1 Functions added The following lists the function added to the QD73A1 and corresponding product information QD73A1 product information Function K vh Reference first five digits Accumulated pulse error detection function 14082 or later Page 221 Section 11 9 261 peppe suonjouny p xipueddy paBueyy Jo peppy suonounJ xipueddy Appendix 2 Connection Examples Appendix 2 1 Example of connection with a servo amplifier manufactured by Mitsubishi Electric Corporation 1 Connection with MR J3LIA Differential driver QD73A1 CN1 MR J3 OA DOG Near point dog signal 1 N C 2 N C 3 N C 4 Power supply 5 to 24V 5 CONT RLS Lower limit signal 6 connector FLS Upper limit signal l External CHANGE Speed position switching command signal 8 power supply STOP Stop signal ANA al 24V ov 2 Mee ee ae nae I READY Servo READY signal side 1 READY Servo READY signal side 2 49 RD Ready PULSE A Phase A feedback pulse side 13 4 LA Encoder A phase pulse differential line driver PUL
8. 1 A O L Da 3 Positioning speed V1 1 1 1 1 is Da 5 Positioning speed V2 ON Positioning start signal Y21 to Y23 OFF x 1 ON BUSY signal d X14 OFF IM Il Y 1 ON Positioning complete signal X15 OFF Ee P Executed by the QD73A1 190 CHAPTER 9 MAJOR POSITIONING CONTROL b Deceleration distance If the movement amount from the positioning address P1 to the positioning address P2 is less than the deceleration distance from the positioning address P1 two phase trapezoidal positioning control is not formed In this case the deceleration from the positioning speed V1 starts before the workpiece reaches the positioning address P1 so that the operation stops at the positioning address P2 c d Positioning speed V1 and V2 gt Positioning Da 3 Positioning speed V1 speed V1 Positioning Da 5 Positioning speed V2 speed V2 Deceleration stop fails L Da 2 Positioning address P1 Da 2 Positioning address P1 Da 4 Positioning address P2 Da 4 Positioning address P2 ZZ Deceleration distance from Da 2 Positioning address P1 To execute two phase trapezoidal positioning set the positioning data so that the deceleration distance from the positioning address P1 does not exceed the movement amount from the positioning address P1 to the position
9. 4 Prs Acceleration time P 7 Deceleration time Pre JAcceleration time Set the time takes for speed 0 to reach the value in _Pr 5 Speed limit value Prz JDeceleration time Set the time takes for the speed the value in Pr5 Speed limit value to reach 0 v x Pr5 Speed limit value e Pw Positioning speed o E t Actual Actual L acceleration deceleration time time Pr6 Acceleration time Pr7 Deceleration time O The parameters are active for OPR control major positioning control and JOG operation When the set positioning speed is lower than the value in Pr5 Speed limit value the actual acceleration deceleration time is shorter than the set value of the parameters 5 In position range Set the accumulated pulse amount where In position signal X16 turns on In position signal X16 can be used as the signal right before Positioning complete signal X15 For details on the in position function refer to the following C gt Page 219 Section 11 8 6 Pro Positioning mode Select a control mode of major positioning from the position control mode or the speed position control switch mode Point If a value other than 0 and 1 is set the error Positioning mode Outside the setting range error code 14 occurs Although the QD73A1 checks the setting range
10. uoneunBijuo wajs s pyepueis e ul ejnpoyy au Buisn ueuM 7 Device Description X42 JOG speed write command X43 Forward JOG command X44 Reverse JOG command D72 JOG speed lower 16 bits D73 JOG speed upper 16 bits M55 JOG command 133 4 Program example X42 x14 Y24 Y25 H r n H H DMOVPK10000 D72 JOG speed 10000pulse s un k BMOVPD72 G84 K2 j Set JOG speed data to the QD73A1 X43 x11 X14 Y27 J E YF A SET M55 Turn on JOG command X44 M55 X43 Y25 H Y24 y Turn on off Forward JOG start signal X4 Y24 Mt Y25 X Turn on off Reverse JOG start signal X43 X44 RST M55 Turn off JOG command X1D END 134 CHAPTER 7 PROGRAMMING 7 3 6 Control change program 1 Current value change program This program changes the current value to 0 a Program detail As X45 is turned on the current value is changed Item Setting detail Cd 1 New current value Opulse b Execution condition Check item Condition Note WDT error H W error signal X10 OFF BUSY signal X14 OFF I O signal Error detection signal X18 OFF Synchronization flag X24 ON c Device used by the user 7 Device Description X45 Current value change command D100 New current value lower 16 bits D101 New current value upper 16 bits D90 Curren
11. E Status Monitoring Mount Position Product Information Production Number Main Base 1 Slot 141010000000000 8 E Module Information Module Access Fuse Blown Status Status of I O Address Verify Status of External Power Supply E Possible E Agree IO Clear Hold Setting E Noise Filter Setting E Input Type E HIW Information Remote Password Setting Status E Error Information y Error and Solution Latest Error Code Update Error History pi Contents Numerator of command pulse multiplication for electronic gear E sto Outside the setting range The set value in Pr 3 Numerator of command pulse Code multiplication for electronic gear Outside the setting range is outside the setting range Solution Set a value within the setting range and turn on PLC READY signal Y2D Setting range 1to 9999 old error The latest error is displayed at he bottom line ne error history is sequentially displayed from in Stop Monitor 238 CHAPTER 14 TROUBLESHOOTING CHAPTER 14 TROUBLESHOOTING This chapter describes errors that may occur in the QD73A1 and troubleshooting for them 14 1 Checking an Error on GX Works2 The error codes that occurred in the QD73A1 can be checked by the following Choose a method depending on the purpose and application Checking on the Module s Detailed Information window Checkin
12. 7 Program example Refer to the following Program example Reference Parameter setting program Page 147 Section 7 4 1 Near point dog method OPR program Page 149 Section 7 4 2 1 Count method OPR program Page 152 Section 7 4 2 2 Positioning control program Page 155 Section 7 4 3 1 Two phase trapezoidal positioning control program Page 157 Section 7 4 3 2 Speed position control switch mode program Page 159 Section 74 3 3 Speed control operation program Page 162 Section 7 4 3 4 Fixed feed operation program Page 165 Section 7 4 4 JOG operation program Page 168 Section 7 4 5 Current value change program Page 170 Section 7 4 6 1 Speed change program Page 172 Section 7 4 6 2 Deviation counter clearing program Page 174 Section 7 4 6 3 Stop program during positioning Page 175 Section 7 4 7 146 CHAPTER 7 PROGRAMMING 7 4 1 Parameter setting program This program sets fixed parameters and variable parameters Point Parameters described in this section can be set through GX Works2 also 5 Page 106 Section 6 3 The sequence program in this section is unnecessary when the parameters were set through GX Works2 1 Program detail As X20 is turned on the following fixed parameters are set Item Setting detail Pr1 Stroke limit upper limit 20000000pulse Pr2 Stroke limit lower limit Opulse Pr3 Numerator of command pulse multi
13. The moving direction depends on the start signal to turn on Forward start signal Y22 or Reverse start signal Y23 i Movement amount Start point Movement amount a 100 1 End point 100 i i Movement amount 100 Movement amount Movement 100 amount 150 t a Movement amount 100 Movement amount 50 ee J j i OP Reference point 100 150 300 A point B point C point Within the stroke limit range je gt 186 CHAPTER 9 MAJOR POSITIONING CONTROL 9 5 Checking the Current Value In the QD73A1 two types of address are used to indicate position 1 Addresses to be used The two types of address current feed value and actual current value are stored to the monitor data area They can be monitored when necessary Item Description Update cycle This is the value stored in Current feed value Current feed value The address established through OPR is the value of reference The address can be changed through a current value change This is the value stored in a2 Actual current value 0 5ms The actual servomotor movement amount calculated based on feedback pulses Actual current value is stored as an actual current value the number of feedback pulses Actual current value Current feed value Accumulated pulses in the deviation counter 2 Precaution When the value stored in Md 1 Current feed value or a
14. 4 1 0 signals of the QD73A1 The following is the I O signal assignment viewed from the master station side a Input signal list Input signal CPU module lt QD73A1 CHAPTER 7 PROGRAMMING Input signal CPU module lt QD73A1 Device No Signal name Device No Signal name X1020 WDT error H W error signal X1030 OPR start complete signal X1021 QD73A1 READY signal X1031 Absolute positioning start complete signal X1022 OPR request signal X1032 Forward start complete signal X1023 OPR complete signal X1033 Reverse start complete signal X1024 BUSY signal X1034 Synchronization flag X1025 Positioning complete signal X1035 X1026 In position signal X1036 X1027 Excessive error signal X1037 Use prohibited X1028 Error detection signal X1038 X1029 Overflow signal X1039 Zero gain adjustment data writing complete X102A Underflow signal X103A flag X102B Servo READY signal X103B Zero gain adjustment change complete flag X102C Near point dog signal X103C Set value change complete flag Operating status of the speed position X102D External stop signal X103D control switch mode X102bE Upper limit signal X103E Use prohibited X102F Lower limit signal X103F 5 Output signal list Output signal CPU module gt QD73A1 Output signal CPU module gt QD73A1 Device No Signal name Device No Si
15. Default value occurs utvaue 14800 to i i i or selection For details on zero gain adjustment refer to l 14800 the following 4 Page 60 Section 4 5 Set this area to change movement amount of after a switchover to position control in the speed position control switch mode The set value is reflected at the input of Speed position switching command signal New speed position 88 CHANGE 1 to 2147483647pulse Opulse ad The setting is cleared to 0 when the next operation starts For details on the Speed position control Switch mode refer to the following lt gt Page 193 Section 9 6 2 movement amount 91 Item Description Setting range Default value Buffer memory address decimal Cd 7 Current value change request Use this area to request a current value change After setting ca 1 New current value set 1 in this area If a value other than 1 is set the setting is ignored After the current value change was accepted 0 is stored automatically A current value change cannot be requested while BUSY signal X14 is on Check that BUSY signal X14 is off before requesting a current value change If a current value change is requested while BUSY signal X14 is on the error Current value change error error code 110 occurs For details on the current value change function
16. Place signal lines away from power cables Use shielded twisted pair cables for signal lines Ground cables without fail Place each device in the system away from noise source 246 14 2 7 OPR error CHAPTER 14 TROUBLESHOOTING 1 When OPR cannot be completed Check item Action Does Near point dog signal DOG stay off Check if Near point dog signal DOG is wired properly Does the speed change to the creep speed after Near point dog signal DOG turned on Does analog output from the QD73A1 continue after a Zero signal input The QD73A1 may be broken Please consult your local Mitsubishi representative Does Zero signal stay off Check if Zero signal is wired properly 2 When the OP position is in error Check item Action Do the position errors occur by regular amount Near point dog method If the position where the near point dog turns off is near the position of a Zero signal input the Zero signal input may be misread Adjust the position where the near point dog turns off to be closer to the center of Zero signals Count method If the position after the move according to Pr 13 Setting for the movement amount after near point dog ON is near the position of a Zero signal input Pr 13 the Zero signal input may be misread Adjust Setting for the movement amount after near point dog ON so that the position after the move b
17. pik This function controls moving distance and speed by multiplying Page 207 compensate Electronic gear function command pulse output of the QD73A1 Section 11 1 control This function limits command speed to the value set in Page 209 Speed limit function Pr5 Speed limit value Section 11 2 This function controls operation not to execute positioning when Functions to Page 211 Te Stroke limit function a command that moves the workpiece outside the specified limit control Section 11 3 stroke limit range is given 2 A This function decelerates and stops operation according to the Upper limit switch FLS lower limit MEC Page 213 detection on limit switches placed at the upper and lower stroke Switch RLS function x Section 11 4 limits z This function changes the value set in a 1 Current feed Page 215 Current value change function value to a specified value Section 11 5 This function changes speed during major positioning control or Page 216 Functions to Speed change function ges Sp g major p 9 ge JOG operation Section 11 6 change control details This function clears the accumulated pulses in the deviation counter When the servomotor power was turned off due to an Page 218 Deviation counter clear function emergency stop during positioning clearing the accumulated da 7 i i pulses in the deviation counter prevents servomotor rotation at power recovery This function turns on In posi
18. 00 86 Differential output method 41 Disabling the stroke limit function 212 Drive unit le cias eed ee Poe EE 17 275 Duty ratio 2i oie se EI ioo eO kates ER 41 Electronic gear ocius lel E VE 207 Emergency stop circuit 109 Encoder uo zin wow id ES dee DEA 66 67 274 Encoder I F setting 69 101 105 ERR LEDa ue ctack aio READ RE io ga 57 ERR 1 and ERRi2 2 24 00 o444 n64 obo daa erg 249 Error Cleo iced teh ate ask Mae eh bes ate ded 238 Error Code sco ede a Lal ac ae aa aca 87 Error code ERR 1 2000 eee eee 86 Error code ERR 2 us ati paese tgo Rug 86 Error code list 2l 250 Error detection signal X18 35 Error history ul ede ee ee 236 240 Error history pointer 00005 88 Error occurrence Day Hour 87 Error occurrence Minute Second 88 Error occurrence Year Month 87 Error reset eric Whedbee ace hk ERU 249 Error reset signal Y28 o o o o o 39 Example of connection with a servo amplifier manufactured by Mitsubishi Electric Corporation 262 Excessive error 2 2 ee ee eee 60 104 Excessive error signal X17 34 External device connector 70 External dimensions 4 26 276 External input leen 16 External output 2 0 cee ee 16 External stop signal X1D 35 E
19. Parameters Positioning Fixed parameters parameters depending on the mechanical system Pr 1 to Pr 13 If a setting of fixed parameters is outside the setting range to Pr 9 Note default values will be set to all of the fixed parameters for the control Set parameters that vary depending on each positioning control Variable parameters If a setting of variable parameters is outside the setting range Note a default value will be set to only the corresponding parameter for the control parameters OPR OPR parameters Set data for OPR Pr 10 to Pr 13 Positioning data Positioning data Set start data for major positioning control Da 1 to Da 5 Point The data can be set using GX Works2 Default values are determined for setting data parameters and are set as the factory default Keep the unused parameters to the default Fixed parameters and OPR parameters are activated when PLC READY signal Y2D is turned on O Variable parameters and positioning data can be changed even when PLC READY signal Y2D is on Although the change that is made during operation is not reflected since the data set at the start of major positioning control or JOG operation are valid The change will be reflected at the next start Moni
20. is on using JOG operation or major positioning then start another OPR 253 SI epoo 10403 P S vL SJOJJ3 JO SJIeJ9Q vl Error Error Error Des Operation at the R code SUE Error name Description Action category classification error occurrence decimal Speed position mode restart signal Y26 Start operation using was turned on when n Forward start signal positioning was j Y22 or Reverse start complete in the 5 signal Y23 speed position control The operation does Start error 85 ERR 1 Restart error Switch mode not start Start operation using Speed position mode Absolute positioning restart signal Y26 start signal Y21 was turned on in the Forward start signal position control mode Y22 or Reverse start signal Y23 A movement amount Set movement amount Movement change was i The movement so that the workpiece is outside the attempted with a value in NX 87 ERR 1 au amount does not positioned within the stroke limit that moves the LEM change stroke limit range after range workpiece outside the PEE the move stroke limit range Servo READY signal Check the drive unit READY turned off Servo READY The operation runs and turn on Servo 90 during major OFF while BUSY SM freely READY signal positioning OPR or READY Operation JOG operation i error Upper limit signal Upper limit FLS turned off during 91 ERR 2
21. oooo oo 113 7 83 1 Parameter setting program iiissssssssssssss see 115 12312 VOPR progralmitos os Arse aun Odd eara io dH Iano dona mee etre D d US ec eaa 117 7 3 3 Major positioning control program 2 2 III 123 7 3 4 Fixed feed operation program iiisssssssssssssssss e 131 7 3 5 JOG operation program 2 1 sss eee eee 133 7 3 6 Control change program 2 6 ooo 135 7 3 7 Stop program during positioning 0 00 eee cette eee 139 7 4 When Using the Module in a Remote I O Network 0 000 ccc cece cece nea 140 7 4 1 Parameter setting program 0 0 cc le 147 45412 OPR programis menter BoB ai ee aaa RU Shae ce nl cab ER ale gee a Lar abe tac 149 7 4 8 Major positioning control program 0 ee RII 155 7 4 4 Fixed feed operation program 0 06 c cece se 165 7 4 5 JOG operation program lle 168 7 4 6 Control change program 2 6 cence lle 170 7 4 1 Stop program during positioning 0 IRR 175 CHAPTER 8 OPR CONTROL 176 8 4 Overview of OPR Controli uii meei eed eer 176 11 12 8 2 Near point Dog Method 00 cece rr 177 8 3 Go untMeth d eoo ida HBR UE Wad med EE CR De eee dg 179 8 4 Operation Timing and Processing Time of OPR Control 00000 esses 181 8 5 OPR Parameter Setting 0 0 0 000 e teen eee 182 CHAPTER 9 MAJOR POSITIONING CONTROL 183 9 1 Overview of Major Positioning Control 2 0 cette
22. 1 Input signal list Input signal CPU module lt QD73A1 Input signal CPU module QD73A1 Device No Signal name Device No Signal name X10 WDT error H W error signal X20 OPR start complete signal X11 QD73A1 READY signal X21 Absolute positioning start complete signal X12 OPR request signal X22 Forward start complete signal X13 OPR complete signal X23 Reverse start complete signal X14 BUSY signal X24 Synchronization flag X15 Positioning complete signal X25 X16 In position signal X26 w w AR X17 Excessive error signal X27 Use prohibited 2 5 X18 Error detection signal X28 O o ma X19 Overflow signal X29 Sy oon Zero gain adjustment data writing complete gt X1A Underflow signal X2A 22 flag 3 A A A o X1B Servo READY signal X2B Zero gain adjustment change complete flag gt o X1C Near point dog signal X2C Set value change complete flag t Operating status of the speed position X1D External stop signal X2D control switch mode S e X1E Upper limit signal X2E o Use prohibited X1F Lower limit signal X2F Point If a Use prohibited area is turned on off through a sequence program the QD73A1 s function cannot be guaranteed 31 2 Output signal list Output signal CPU module gt QD73A1 Output signal CPU module QD73A1 Device No Signal name Device No
23. Error Error Error Des Operation at the E code SUE Error name Description Action category classification error occurrence decimal The measured reference value has Turn off and on the 133 Flash ROM write been consecutively power supply or reset exceeded written to the flash the CPU module or Accumulated ROM more than 25 clear the error The measured pulse error times f reference value is detection ERR 1 Write the value again ineton not saved in the i uncti e error occurs The measured flash ROM error again a failure might Flash ROM write reference value could 134 have occurred on the error not be written in the module Please consult flash ROM Pane your local Mitsubishi representative The setting for the Set Clear to the CPU QD73A1 is Hold on The module does module s parameter 800 Hold error a CPU module s not operate Error Time Output parameter Error Time Mode Output Mode I F error At start The module Check the error does not operate Programmable i occurring on the CPU The CPU has a During operation 803 controller CPU module and refer to the problem The operation error user s manual for the ERR 2 decelerates and CPU module used stops 900 Hardware error 1 Turn off and on the power supply If the error occurs The hardware has a again a failure might Fatal error The system stops 999 Hardware error 2 problem have occurred on the
24. Md 3 Error code ERR 1 EE P Executed by the QD73A1 If the JOG start signal for the opposite direction is turned on during JOG operation the error BUSY signal ON at start error code 81 occurs and the operation in the opposite direction is not executed If Forward JOG start signal Y24 and Reverse JOG start signal Y25 are turned on at the same time the error BUSY signal ON at start error code 81 occurs and forward JOG operation is executed 5 Sub functions for JOG operation For details on sub functions that can be combined with JOG operation refer to the following 257 Page 30 Section 3 3 4 For details on each sub function refer to the following s Page 206 CHAPTER 11 6 Monitoring JOG operation To directly monitor the buffer memory using GX Works2 refer to the following 57 Page 90 Section 5 6 uoge1edo Sor jo uonelado 0 203 10 2 Operation Timing and Processing Time of JOG Operation This section explains the operation timing and processing time of JOG operation it JOG operation Fog f t gt t itt t2 MG 1 ON a ME JOG start signal L i Y24 Y25 OFE 1 LON BUSY signal cie CY ON ositioning complete signa y X15 y OFF 4 This is an indication of internal commands and does not match with the actual analog output waveform The following values apply to t1 to t3 t1 t2 t3 0 7 to 1 2ms 0 to 0 5ms 0 to 0 5ms
25. Positioning speed V1 10000pulse s As X34 is turned on the module executes positioning control in the absolute system b Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON o Lower limit signal RLS ON WDT error H W error signal X10 OFF QD73A1 READY signal X11 ON BUSY signal X14 OFF Excessive error signal X17 OFF Error detection signal X18 OFF I O signal Absolute positioning start complete signal m X21 Synchronization flag X24 ON Absolute positioning start signal Y21 OFF Stop signal Y27 OFF PLC READY signal Y2D ON When the positioning speed is set Buffer memory Positioning data No error exceeding Prs Speed limit value the positioning is executed at _Pr 5_ Speed limit value 123 ueJ6oJd josjuos Huluonisod soley g e uoneunBijuo wajs s pyepueis e ul ejnpojy eu Buisn ueuM 7 124 c Device used by the user Device Description X33 Positioning data write command X34 Positioning start command D30 Positioning pattern D31 Positioning address P1 lower 16 bits D32 Positioning address P1 upper 16 bits D33 Positioning speed V1 lower 16 bits D34 Positioning speed V1 upper 16 bits M40 Positioning start command pulse d Program example ME M MOVP KO D30 Ji Posit
26. X a position away from Near point dog DOG is on at the ihe necs d poi 74 ERR2 signal ON at start of OPR in the EA d using JOG operation or start near point dog oat major positioning then method execute OPR QD73A1 READY READY signal signal X11 or PLC OFF at start READY signal Y2D Turn on PLC READY 80 PLC READY is off at the start of AE signal Y2D signal OFF at major positioning start OPR or JOG operation Make an interlock using An operation start is a sequence program so BUSY signal ON attempted when x 81 i E that no operation starts at start BUSY signal X14 is p when BUSY signal X14 is on An operation start is Turn off Stop signal STOP signal ON 82 atstsnt attempted when Stop Y27 and start the Start error signal Y27 is on The operation does operation again not start Return the workpiece to a position within ERR 1 the stroke limit range An operation start is using JOG operation Outside the d attempted when the Execute OPR 83 stroke limit workpiece is outside Set the workpiece to range at start NS M ARA the stroke limit range a position within the stroke limit range by changing the current value OPR cannot be started in succession only in the near A point dog method An OPR start is OPR complete Move the workpiece E attempted when OPR N 84 signal ON at to the position before complete signal X13 start the near point dog
27. from a start request to analog output start JOG operation 1 2ms OPR near point dog method 1 2ms OPR count method 1 2ms 26 CHAPTER 3 SPECIFICATIONS 3 2 Number of Parameter Settings Set initial settings and auto refresh settings of the QD73A1 so that the number of parameters including those of other intelligent function modules does not exceed the number of parameters that can be set in the CPU module For the maximum number of parameters that can be set in the CPU module refer to the following QCPU User s Manual Hardware Design Maintenance and Inspection 1 Number of QD73A1 parameters For a QD73A1 the following number of parameters can be set Initial setting Auto refresh setting 4 5 2 Checking method The maximum number of parameter settings and the number of parameter settings set for the intelligent function module can be checked on the following Project window gt Intelligent Function Module gt Right click z Intelligent Function Module Parameter List Intelligent Function Module Parameter List Intelligent Function Module Parameter Setting Status XY Address Module Name 0010 QD73A1 Initialization Count Auto Refresh Count sBumes 1ejeueJeg Jo JjequnN ZE 1 2 3 4 No Description 1 The total number of parameters in initial settings checked on the window 2 The maximum number of parameter settings in initial s
28. 1 ON i i BUSY signal x14 OFF ON i M OPR start complete signal x20 OFF i gt ON l i t OPR request signal i X12 i OFF ON i i OPR complete signal 777777777 j EE X13 y OFF 1 This is an indication of internal commands and does not match with the actual analog output waveform The following values apply to t1 to t3 t1 t2 t3 0 7 to 1 2ms 0 to 0 5ms 0 to 0 5ms JONUOD YO Jo au BursseooJjg pue Buruj uonejedo yg 181 8 5 For the QD73A1 to execute OPR OPR parameters must be set If the data are not set default values are used for control OPR Parameter Setting The default values are set also when the power was turned off and on or when the CPU module was reset The following table lists the OPR parameters to be set setting condition and check timing Buffer TE Setting Check timing of the memory Setting item Setting range Default value E condition set data address decimal 2147483648 to 40 prio OP address 0 pulse 2147483647 pulse 41 42 Pr11 OPR speed 1 to 4000000pulse s 10000pulse s 43 ee When OPR start signal 44 i Pr12 Creep speed 1 to 4000000pulse s 1000pulse s signal Y2D g 45 Y20 is turned on Setting for the must be off movement amount after near point do nn 75 pulse ii poi u PTS P 9 2147483647pulse P 47 ON set only for the count method 182 CHAPTER 9 MAJOR PO
29. 2 Precautions for control a Speed change during two phase trapezoidal positioning control A speed change requested during two phase trapezoidal positioning control is reflected to the command speed Da 3 Da 5 of the next positioning data Positioning control P1 y Next control P2 New speed value Command speed of P2 Command speed of P1 Speed change command If the remaining distance is not enough to change speed the speed cannot be changed during two phase trapezoidal positioning control b Timing at which speed cannot be changed Speed cannot be changed at the following timings During deceleration following a stop command During OPR The error Speed change error OPR error code 111 occurs During automatic deceleration in major positioning control The error Speed change error Positioning error code 112 occurs During deceleration stop of JOG operation following a change from on to off of a JOG start signal Y24 Y25 The error Speed change error JOG error code 113 occurs 216 CHAPTER 11 CONTROL SUB FUNCTIONS c New speed and Pr5 Speed limit value When the value set in ca 2 New speed value exceeds Pr5 Speed limit value the positioning is operated at Pr 5 Speed limit value d Successive speed changes To change speed successively set an interval of 10ms or more be
30. 47 pulse Set the parameter varies along with each positioning control 200000 pulse s 300 ms 300 ms 5 pulse 0 Position control mode Set data to return to original position 0 pulse 10000 1000 puls 106 Setting For the movement amount after near point dog ON 75 pulse Set parameters Fixed by mechanical system 2 Double click the item to change the setting and input the setting value tems to input from the pull down list For Positioning mode double click the item to display the pull down list Select an option tems to input from the textbox Double click the item to set and input the setting value For details on setting values refer to the following Setting item Default value Reference Stroke limit upper limit 2147483647 pulse Stroke limit lower limit 0 pulse Page 77 Section 5 2 1 Numerator of command pulse Fixed parameter multiplication for electronic gear 1 Denominator of command pulse multiplication for electronic gear 1 Page 78 Section 5 2 2 Speed limit value 200000 pulse s Page 78 Section 5 2 3 Acceleration time 300 ms Page 79 Section 5 2 4 Variable parameter Deceleration time 300 ms In position range 5 pulse Page 79 Section 5 2 5 Positioning mode 0 Position control mode Page 79 Section 5 2 6 OP address 0 pulse Page 80 Section 5 3 1 OPR speed 10000 pulse s Page 80 Section 5 3
31. L gt Page 248 Section 14 3 When a major error occurs the corresponding error code is stored The latest error code is stored at all times When a new error occurs the error code is overwritten maz Error code ERR 2 When Error reset signal Y28 is turned on the error code is cleared 0 105 to 0 For details on error codes refer to the following 37 Page 248 Section 14 3 The following value is stored as a deviation counter value n Command pulse x CMX CDV Number of feedback pulses x 106 was Deviation counter value M Opulse Multiplication 107 The update cycle is 0 5ms When OPR starts 0 is stored When OPR is completed the movement amount from the near point dog ON to the OPR completion is stored Movement amount Movement amount after f 108 Md 6 Movement amount to OPR completion using near point dog ON as Opulse near point dog ON 0 109 The count value is stored for both the near point dog method and the count method ai veer 0 Speed The on off status of Speed position switching command signal scien iti Speed position CHANGE is stored P P Md 7 ae switching 110 switching command 0 Speed position switching command input OFF Ae command input 1 Speed position switching command input ON OFF The control mode under the speed position control switch mode is Control mod stored 0 Position 111 0 Position control control 1 Speed control 86 CHAPTER 5 DATA
32. 7 3 4 Fixed feed operation program This program executes positioning in the address increasing direction according to the specified movement amount and speed Execute fixed feed operation by turning on Fixed feed start command repeatedly Use the current value change function and positioning start in the absolute system Suppose that parameter setting and OPR were completed 7 gt Page 115 Section 7 3 1 Page 117 Section 7 3 2 1 Program detail As X40 is turned on the following positioning data are written Item Setting detail Da2 Positioning address P1 20000pulse Da3 Positioning speed V1 1000pulse s As X41 is turned on the module starts fixed feed operation 2 Execution condition value the positioning is executed at Pr5 Speed limit value Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON Lower limit signal RLS ON QD73A1 READY signal X11 ON BUSY signal X14 OFF Excessive error signal X17 OFF a Error detection signal X18 OFF gt Absolute positioning start complete signal as I O signal nee ern piete signa opp a X21 oe o2 Synchronization flag X24 ON S m Absolute positioning start signal Y21 OFF E 2 3 a 0 Stop signal Y27 OFF 9 2 o PLC READY signal Y2D ON E 5 When the positioning speed is set
33. Accumulated pulse setting in the switch setting and an excessive error occurs This function enables to detect abnormal operating status in early stages and minimize the influence on the mechanical system 1 Control details The following figures show the operation of the accumulated pulse error detection function Accumulated pulse An alert is output because the accumulated Positioning stops immediately because pulses have exceeded the amount of the accumulated pulses have exceeded Alert output accumulated pulses the amount of Immediate stop maximum value accumulated pulses maximum value Accumulated pulse clear Immediate stop accumulated pulses maximum value Alert output accumulated pulses maximum value Reference value maximum value The accumulated pulses increase because the workpiece hit something and stopped gt t ON Cd 18 Accumulated pulse error OFF detection request ON Start signal Y20 to Y26 OFF a ON LA BUSY signal X14 OFF 4 Y ON A Excessive error signal X17 OFF ON Error detection signal X18 OFF i ON Servo ON signal SVON OFF Md 3 Error code ERR 1 0 PA 130 Deviation counter value Inconsistent X 0 Segoe Executed by the QD73A1 221 uonoun y uonoejeg 40473 esind pelejnwunooy 6 LL a Alert output The QD73A1 compares accumulated pulses that are output during
34. Even if this signal turns on Error detection signal X18 does not turn on For the accumulated pulse setting range refer to the following 5 Page 102 Section 6 2 2 CHAPTER 3 SPECIFICATIONS 9 Error detection signal X18 When a major or minor error occurs the corresponding error code is stored in the buffer memory and this signal turns on When Error reset signal Y28 is turned on this signal turns off Error detection signal X18 opp A Error reset signal Y28 oer 10 Overflow signal X19 This signal turns on when _Md 1 Current feed value exceeds 2147483647 When Overflow reset signal Y29 is turned on this signal turns off ON Overflow signal X19 OFF A Overflow reset signal Y29 opp ed Executed by the QD73A1 In case of an overflow Md 1 Current feed value changes as follows 2147483647 2147483648 11 Underflow signal X1A This signal turns on when va 1 Current feed value becomes less than 2147483648 When Underflow reset signal Y2A is turned on this signal turns off ON Underflow signal X14 opp A N ON Underflow reset signal Y2A OFF Executed by the QD73A1 In case of an underflow Md 1 Current feed value changes as follows 2147483648 gt 2147483647 12 Servo READY signal X1B This signal indicates the on off status of Servo READY
35. If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are required onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual user s manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or negligence by the use
36. KO D106 SET Y1031 Y1031 X1031 X1024 Mt RST Y1031 CHAPTER 7 PROGRAMMING Command to change positioning data Positioning address P1 20000pulse Positioning speed V1 1000pulse s Set positioning data to the QD73A1 Completes changing the positioning data Command the fixed feed positioning start Y New current value Opulse Command a current value change Reset the current value change Completes setting a current value Set a new current value to the QD73A1 Request a current value change to the QD73A1 Read the current value change from the QD73A1 Completes checking the current value change Command to check the current value change again when it is incomplete Turn on Absolute positioning start signal Turn off Absolute positioning start signal 1 Positioning data can be set through GX Works2 also 7 7 Page 107 Section 6 4 The sequence program that sets positioning data is unnecessary when the data were set through GX Works2 167 ureJBoJd uonegedo peer pexi4 pp OMION O I BOWSY e ur ejnpojy ay BuIsy ueuM 7 7 4 5 168 JOG operation program This program executes JOG operation while a JOG start command is on Suppose that parameters are already set lt gt Page 147 Section 7 4 1 1 Program detail As X34 is turned on JOG speed is written Cd w JOG speed Item 10000pulse s Setting detail As X35 is
37. RUN LED Flashing Gain adjustment of analog output is being performed HZ GAIN LED ON The LED turns off when the gain adjustment is completed ERR BUSY RUN LED Flashing RUN HA O ZERO BUSY LED ON The zero adjustment value and the gain adjustment value are being Ol 6B U GAIN The ZERO LED is ON written Z during zero adjustment The LED turns off when writing of the zero adjustment value and gain ERR B BUSY The GAIN LED is ON adjustment value is completed during gain adjustment 59 4 5 Zero gain Adjustment Zero gain adjustment is a process to adjust analog output voltage according to accumulated pulse amount Adjust the analog output voltage value according to the analog speed command input of the drive unit used Adjust analog output voltage using the check pins on the front of the QD73A1 For the position of check pins refer to the following s Page 57 Section 4 3 1 2 Zero adjustment Adjust the analog output voltage of when accumulated pulse amount is 0 The voltage is adjusted to OV as the factory default Zero adjustment may vary when the module is connected to a servomotor In that case perform zero adjustment again If the module is used with its zero adjustment being off the connected servomotor rotates a little when the power is turned on Gain adjustment Adjust the analog output voltage of when accumulated pulse amount is the maximum When Accumulated pulse
38. 0 0 Fixed to 0 Empty When a value is set the value is ignored 272 APPENDICES Item Setting detail Encoder I F setting and Analog voltage resolution setting b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO ofofololofofofolofo 0 0 E Y Ll 11 Fixed to 0 Fixed to 0 i b1 and b0 Encoder I F setting 00 or 01 Open collector output 10 TTL output Switch 2 11 Differential output b5 and b4 Analog voltage resolution setting 00 or 01 12 bit resolution 10 14 bit resolution 11 16 bit resolution 00 or 01 means that the setting is valid with either value When a value is set in b15 to b6 b3 or b2 the value is ignored Fixed to 0 Empty Switch 3 When a value is set the value is ignored Zero gain adjustment mode Normal mode setting b15b14b13b12b11b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 bO 0 0 0 0 0 0 0 0 0 0 0 0 Ns Y JP Fixed to 0 Switch 4 b15 to b12 Zero gain adjustment mode Normal mode setting 0000 Normal mode Other than 0000 Zero gain adjustment mode When a value is set in b11 to bO the value is ignored Switch 5 Fixed to 0 Empty When a value is set the value is ignored 273 Jedoje eq x9 Jo vonesado p xipueddy Jedoje eq x9 Buis ueuM y xipueddy Appendix D Terms 274 1 Encoder One of the pulse generators that converts input data into binary data on and off 2 Near
39. 32Point E 140410000000000 Point The serial number displayed on the product information list of a programming tool may differ from that on the rating plate and on the front part of the module The serial number on the rating plate and front part of the module indicates the management information of the product The serial number displayed on the product information list of a programming tool indicates the function information of the product The function information of the product is updated when a new function is added JOQUINN Jeues pue uoisJeA uonounJ eui YOOUD O MOH ZZ 25 CHAPTER 3 SPECIFICATIONS This chapter describes performance specifications I O signals from to the CPU module and buffer memory specifications of the QD73A1 For general specifications of the QD73A1 refer to the following QCPU User s Manual Hardware Design Maintenance and Inspection 3 1 Performance Specifications The following table lists performance specifications of the QD73A1 Item Specifications Number of occupied I O points 48 points I O assignment empty 16 points and intelligent 32 points Number of control axes 1 axis Capacit Positioning data iid 1 data Setting method Sequence program Position control mode Mode is Speed position control switch mode Position control mode Selectable from absolute system or incremental System system Speed position control switch mod
40. 5 Restoring the zero gain adjustment value of the factory default Writing 1 in C4 12 Factory default zero gain adjustment value restoration request restores the zero gain adjustment value of the factory default Once the restoration was completed the QD73A1 sets 0 in 4 12 Factory default zero gain adjustment value restoration request Once the restoration was completed analog output voltage becomes OV and the QD73A1 sets 1 Adjusting zero in Md 10 Zero gain adjustment status Note that Cd 12 adjustment mode Factory default zero gain adjustment value restoration request is usable only in the zero gain Setting item Setting range Default value Execution condition Buffer memory address decimal Cd 12 Factory default zero gain 1 Restore the adjustment value restoration zero gain adjustment request value The module must be in the zero gain adjustment mode 96 64 Point P Zero value and gain value of the factory default are set as below Zero value OV Gain value 10V Note that the values above were set when Accumulated pulse setting was the default value 14800 to 14800pulse CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 4 6 Wiring This section describes precautions on wiring the QD73A1 and external devices and connection of external device connectors 4 6 1 Wiring precautions This s
41. Current feed value 50000 10000 Md 2 Actual current value 49900 p 9900 Md 1 Current feed value Accumulated pulses in the deviation counter 2 Precautions for control If 1 is set in ca7 Current value change request when BUSY signal X14 is on the error Current value change error error code 110 occurs and the current value is not changed If the current value is changed to a value outside the stroke limit range an error does not occur 3 Data setting and the execution condition of the function The following table lists the data to be set and the condition to execute the current value change function uonouny eBueu enjeA juan SL Execution condition of Buffermemory Setting item Setting range Default value the current value change address function decimal New current 2147483648 to 80 Cd 1 Opulse value 2147483647pulse BUSY signal X14 must be 81 Current value 1 Change the current off Cd 7 0 90 change request value 215 11 6 Speed Change Function The speed change function changes the speed of the operation in process to a specified speed at a specified timing Set a new speed value to the buffer memory and request the speed change 1 Control detail The following figure shows the operation of speed changes Speed change to V2 Positioning in V1 V1 Speed change to V3 gt t
42. END J Stroke limit upper limit 20000000pulse Stroke limit lower limit Opulse Numerator of command pulse multiplication for electronic gear 1 Denominator of command pulse multiplication for electronic gear 1 Set fixed parameters to the QD73A1 Completes the fixed parameter settings Speed limit value 30000pulse Acceleration time 400ms J Deceleration time 250ms J In position range 10pulse Positioning mode Position control mode Set variable parameters to the QD73A1 J Completes the variable parameter settings CHAPTER 7 PROGRAMMING 7 3 2 OPR program Programs in this section execute OPR in the near point dog method or the count method 1 Near point dog method OPR program This program executes OPR in the near point dog method Suppose that fixed parameters and variable parameters are already set gt Page 115 Section 7 3 1 a Program detail The following OPR parameters are written once the CPU module is in the RUN status and PLC READY signal Y2D turns on Item Setting detail Pr 10 OP address 100pulse Pr 11 OPR speed 5000pulse s Pr 12 Creep speed 500pulse s As X31 is turned on after PLC READY signal Y2D turned on the module executes OPR b Switch setting 7 Before executing the program set Near point dog method to OPR method setting D Project window Intelligent Function Module gt
43. Program Fundamentals Point Set the type of the connected module in Type Setting a different type results in SPUNIT LAY ERR esihe intelligent function module the I O points must also be the same in addition to the I O assignment setting Page 30 Section 42 2 The chapter of the current page is shown The section of the current page is shown Point Pshows notes that requires attention When an intelligent module is connected O assignment can be omitted by selecting connected modules from Intelligent Function Module in the Project window Remark shows useful information 73 1 The mouse operation example is provided below ME MELSOFT Series GX Works2 Unset Project PRG MAIN i Project Edit Find Replace Compile View Online Debug Diagno Menu bar 7 Online gt gt Write to PLC Select Online on the menu bar and then select Write to PLC A window selected in the view selection area is displayed W Project window 5 gt Parameter lt gt PLC Parameter Select Project from the view selection area to open the Project window In the Project window expand Parameter and select PLC Parameter Parameter Intelligent Function Module Global Device Comment E Program Setting E POU 5 5 Program a MAIN 3 E Local Device Comment Device Memory Device Initial Value View selection area y Unlab
44. QD73A1 Switch Setting Switch Setting 0010 QD73A1 Item Ais 1 Rotation direction setting Positive voltage is output when the positioning address increases Accumulated pulse setting 14800 to14800pulse Multiplication setting 14 OPR direction setting Reverse direction address decreasing OPR method setting Near point dogmethod Encoder I F setting Open collector output Analog voltage resolution setting 12 bit resolution Zero gain adjustment mode Normal mode setting welbold HdO ZEL uoneunBijuo wajs s pyepueis e ul ejnpojy eui Buisn ueuM 7 Mormal mode This dialog setting is linked to the Switch Setting of the PLC parameter Default value will be shown in the dialog if the Switch Setting of the PLC parameter contains an out of range value 117 118 c Execution condition Check item Condition Servo READY signal READY ON Stop signal STOP OFF External I O signal Upper limit signal FLS ON Lowerlimitsignal RLS ON Near point dog signal DOG OFF WDT error H W error signal X10 OFF QD73A1 READY signal X11 OFF OPR complete signal X13 OFF BUSY signal X14 OFF Excessive error signal X17 OFF I O signal Error detection signal X18 OFF OPR start complete signal X20 OFF Synchronization flag X24 ON OPR start signal Y20 OFF Stop signal Y27 OFF PLC READY signal YD OFF Buffer memory O
45. X1027 X1028 1 Positioning data can be set through GX Works2 also 7 Page 107 Section 6 4 The sequence program that sets positioning data is unnecessary when the data were set through GX Works2 CHAPTER 7 PROGRAMMING 3 Speed position control switch mode program This program switches the positioning mode to the speed position control switch mode Suppose that the parameter setting and OPR were completed lt gt Page 147 Section 7 4 1 Page 149 Section 7 4 2 a Program detail As X29 is turned on the positioning mode is set to speed position control switch mode As X2A is turned on the following positioning data are written Item Setting detail Da2 Positioning address P1 5000pulse Da3 Positioning speed V1 1000pulse s As X2B is turned on the module starts speed control The module switches the operation to position control following an external control switch command As X2D is turned on the module restarts operation in case that the operation was stopped following a stop signal input b Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON Lower limit signal RLS ON QD73A1 READY signal X1021 ON BUSY signal X1024 OFF Excessive error signal X1027 OFF EIE AR Error detection signal X1028 OFF B5 lt Forward
46. X19 or Underflow signal X1A by turning on Overflow reset signal Y29 or Underflow reset signal Y2A c When the stroke limit range was exceeded during JOG operation The error Outside the stroke limit range error code 100 occurs 200 CHAPTER 10 JOG OPERATION d When the upper limit switch FLS or the lower limit switch RLS turned off The error Upper limit signal OFF while BUSY error code 91 or the error Lower limit signal OFF while BUSY error code 92 occurs If operation decelerated and stopped due to the upper limit switch FLS or the lower limit switch RLS JOG operation can be executed in the opposite direction direction back to the normal range after resetting the error If the JOG start signal for the erroneous direction is turned on the error occurs again v JOG operation Deceleration stop t JOG operation possible JOG operation not possible Upper limit signal FLS ON i 1 i i i 1 1 1 L or Lower limit signal RLS L SEF 3 Precautions during operation Set a small value in c 3 JOG speed first to check the operation then change it to greater values gradually for safe operation If ca 3 JOG speed is O the error JOG speed Outside the setting range error code 41 occurs and the JOG operation does not start If c 3 JOG speed exceeds Pr5 Speed limit value the operation is executed at the speed set
47. Zero signal gt i i One servomotor rotation Near point dog OFF i i 4 OPR start signal Y20 OFF M If it overlaps with Zero signal the OPR stop position may deviate by one servomotor rotation OPR request signal X12 BUSY signal X14 AME ON OPR complete signal X13 OFF In position signal X16 a OFF Positioning complete signal r OFF as 777 i 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 T 1 1 1 1 1 1 1 1 1 1 L 1 i 1 y 1 dog ON i Movement amount Md 6 after near point neonsistent 0 0 Value of 1 Md Current feed value inconsistent K Updated according to the movement OP address Executed by the QD73A1 179 180 2 Precautions during operation a Pr 13 Setting for the movement amount after near point dog ON If LPr 13 Setting for the movement amount after near point dog ON is smaller than the deceleration distance from Pr 11 JOPR speed to Pr 12 Creep speed the error Setting for the movement amount after near point dog ON Outside the setting range error code 22 occurs and the OPR does not start In addition if the position after the move according to Pr 13 Setting for the movement amount after near point dog ON is close to Zero signal the Zer
48. a BMOVP D30 G301 K5 SS TOP H1 K301 D30 K5 t t Designated Designated Number of value value write data at U1 at G301 When an intelligent function module device is used in a circuit using a comparison instruction change the instruction to the FROM instruction and a comparison instruction M1 UN G90 KO RST M1 XR y M1 HE a FROM H1 K90 DO K1 E di Data read out DO KO RST M1 For intelligent function module devices refer to the following The user s manual Function Explanation Program Fundamentals for the CPU module used For details on the instructions used in programs in this chapter refer to the following MELSEC Q L Programming Manual Common Instruction 110 CHAPTER 7 PROGRAMMING 10 1 0 number assignment for the QD73A1 The QD73A1 occupies 48 I O points of 2 slots a Default I O number assignment Set the first half to Empty 16 points and the second half to Intelligent 32 points in GX Works2 r I O Assignment 1 No ste Type 5 L mModellame Pons starexy Lo hc uc y 1 Jo Empty y 2 Slots Occupy 16Points 0000 2 j finteligent y QD73A1 32Points 0010 When executing the FROM TO instruction on the QD73A1 use the I O number assigned to the second half slot of the QD73A1 M QUU FROM 1 H1 K90 DO K1 b When the first half slot is Empty 0 point At the I O assignment in
49. and perform zero adjustment Is a large value set to the gain value of the servo amplifier Refer to the manual for the servo amplifier and adjust the gain value of the servo amplifier to a proper value Are the speed command terminal on the QD73A1 and the servo amplifier connected properly when the motor does not stop even though the speed command from the QD73A1 is OV Connect the speed command terminals properly Is there noise effect Place signal lines away from power cables Use shielded twisted pair cables for signal lines Ground cables without fail Place the motor away from noise source 14 2 3 When positioning cannot be executed Check item Action Is PLC READY signal Y2D off Turn on PLC READY signal Y2D Is Servo READY signal X1B off Turn on Servo READY signal Check if there is any error on the servo amplifier Check if the QD73A1 and the servo amplifier are wired properly Is the ERR LED on Is the BUSY LED off Read out the error code and take the corrective action described in the error code list Page 250 Section 14 3 4 Double check the sequence program Check if an interlock is made at a start Check if Stop signal Y27 is on Check if the start is kept reset Check if the start signal is kept on Check the QD73A1 s status Check if the QD73A1 is mounted on the base unit properly Check if the position s
50. positioning start address Movement amount Movement amount 30000 30000 Moving in negative Moving in positive direction direction c Speed position control switch mode Set movement amount of after the shift from speed control to position control V Movement amount setting Position control ONO Speed position switching command Speed control CHAPTER 5 DATA USED FOR POSITIONING 3 Da3 Positioning speed V1 Set the command speed of major positioning control Set a value equal to or less than Prs Speed limit value If the value exceeds Pr 5 Speed limit value the error Positioning speed Outside the setting range error code 32 occurs and the command speed is limited to Prs Speed limit value If the specified positioning speed is O the error Positioning speed Outside the setting range error code 32 occurs and the positioning does not start 4 Positioning address P2 This setting is enabled only for two phase trapezoidal positioning control Set the destination address of after the move to the address set to Da2 Positioning address P1 For details on Da2 Positioning address P1 refer to the following 57 Page 84 Section 5 4 2 5 Das Positioning speed V2 This setting is enabled only for two phase trapezoidal positioning control Set the command speed to move to the add
51. pulse s Check the power supply status and wiring of the drive unit as well as the connections of Servo READY signal connectors READY is off at the Servo READY When using a drive 70 start of major es OFF at start NA unit without Servo positioning OPR or READY output wire JOG operation f devices so that the QD73A1 s Servo READY signal READY input stays on Stop signal STOP is External stop p signal i on atthe start of major Turn off Stop signal 71 signal ON at MC positioning OPR or The operation does STOP Start error ERR 2 start JOG operation not start Upper limit signal Return the workpiece Upper limit FLS is off at the start to a position within 72 signal OFF at of major positioning the stroke limit range start OPR or JOG using JOG operation operation Check the power supply status and wiring of the drive unit as well as the Lower limit signal connections of Lower limit RLS is off at the start connectors 73 signal OFF at of major positioning If the system does start OPR or JOG not need limit operation Switches wire devices so that the QD73A1 s LS signal inputs stay on 252 CHAPTER 14 TROUBLESHOOTING Error Error Error T Operation at the 1 code C Error name Description Action category k classification error occurrence decimal Return the workpiece to Near point dog signal 2
52. refer to the following Page 215 Section 11 5 1 Change the current value 90 Cd 8 Speed change request Use this area to request a speed change After setting ca2 New speed value set 1 in this area If a value other than 1 is set the setting is ignored After the speed change was accepted 0 is stored automatically If a speed change is requested with Cd 2 New speed value exceeding Pr5 Speed limit value the error New speed value Outside the setting range error code 40 occurs and the speed after the change is limited to Pr5 Speed limit value For details on the speed change function refer to the following lt gt Page 216 Section 11 6 1 Change speed 91 Cd 9 Analog output adjustment area 2 Set pulse amount to adjust gain with specific accumulated pulse amount This setting is enabled only in the zero gain adjustment mode Use this area when one of the selections 5 to 8 is set in Accumulated pulse setting in the switch setting When one of the selections 1 to 4 is set use output adjustment area 1 If the setting is outside the setting range the error Analog output adjustment area 2 Outside the setting range error code 126 OCCUIS For details on zero gain adjustment refer to the following lt gt Page 60 Section 4 5 Cd 5 Analog Depe
53. start operation again move the workpiece to a position within the control range of the QD73A1 using JOG operation If the wiring between Upper limit signal FLS and COM terminal or between Lower limit signal RLS and COM terminal is open including the case that the terminals are not wired the QD73A1 cannot execute positioning 4 When the upper limit switch FLS lower limit switch RLS function is not used Wire the QD73A1 s terminals for Upper limit signal FLS and Lower limit signal RLS as in the following figure QD73A1 FLS RLS COM CHAPTER 11 CONTROL SUB FUNCTIONS 11 5 Current Value Change Function The current value change function changes the value set in Md 1 Current feed value to a specified value Use this function when operation cannot be started due to a current feed value outside the stroke range or to change the current value 1 Control detail As a new address is set in Cd 1 New current value and 1 is written in ca7 Current value change request Md 1 Current feed value changes to the value set in ca 1 New current value Ma 2 Actual current value is equal to va1 Current feed value Accumulated pulses in the deviation counter When the accumulated pulse amount in the deviation counter is 0 md 1 Current feed value is equal to a2 JActual current value Md 1
54. the moving moving direction for P1 positioning direction from P1 to to P2 from the direction address error P2is different from the direction used to reach P1 used to reach P1 251 Error Error Error ee Operation at the t code Error name Description Action category A classification error occurrence decimal Set a value within the Setting data ae TN Positioning The positioning speed setting range range error f Positionin 32 speed Outside is outside the setting Setting range itioni nr 4 9 the setting range range The positioning does 4 to Pr5 Speed limit ata not start when the value pulse s set value is 0 In Setting data The set value in abo Set a value within the case of an error due s tting rande range error New speed Cd 2_ New speed to a set value other lia ge Control 40 ERR 1 value Outside value is outside the han o the Setting range change the setting range setting range in positiorihg is 0 to Pr5 Speed limit area positioning operation controlled with value pulse s Setting data The set value If Pr Speed limit Set a value within the range error JOG speed value setting range Control 41 Outside the 2437 JOG speed Setting range E is outside the setting m change setting range 1 to Pr5 Speed limit range area value
55. 1 BMOVPD29 G25 K1 Y x38 X14 Y22 Y23 i n A A H DMOVPK5000 D31 F DMOVPK1000 D33 Un BMOVPD31 G302 K4 X39 i PLS M46 M6 xt X4 vg vo X2 Y lj A AF AF AF SET v22 SET Y2C X3B PLS M58 M58 X1 X4 Y7 Y2 YB g E r n AF A A SET Y26 SET Y2c Y22 X22 DX14 Y26 i E HF YF RST Y2 X17 X18 Y26 X22 DX14 RST Y26 X23 X17 X18 END 1 Positioning mode Speed position control switch mode Set variable parameters to the QD73A1 Positioning address P1 5000pulse Positioning speed V1 1000pulse s Set positioning data to the QD73A1 Command the start of the speed position control switch mode Turn on Forward start signal Turn on Speed position switching enable signal Command the restart of the speed position control switch mode Turn on Speed position mode restart signal Turn on Speed position switching enable signal Turn off Forward start signal Turn off Speed position mode restart signal Variable parameters and positioning data can be set through GX Works2 also gt Page 106 Section 6 3 Page 107 Section 6 4 The sequence program that sets variable parameters and positioning data is unnecessary when the data were set through GX Works2 CHAPTER 7 PROGRAMMING 4 Speed control operation program This program executes speed control using the speed control function of the speed position control switch mode Suppose that parameters are already se
56. 1 0 x 1 102 STOP signal ON during OPR Executed by the QD73A1 229 o3uo2 Buiddojs yz 3 Stop during major positioning control or JOG operation a Stop before deceleration start of major positioning control or JOG operation If an error a cause of a stop occurs prior to a start of deceleration during major positioning control or JOG operation a deceleration stop starts at the error occurrence The deceleration speed depends on _Pr7 Deceleration time and _Pr5 Speed limit value Positioning complete signal X15 does not turn on at the completion of the deceleration stop Also the next positioning does not start even if the error is resolved while the start signal is on The start signal must be turned off and on The following figure is the timing chart of when Stop signal Y27 is turned on during positioning control lt Deceleration start i 1 D I 1 i D gt t ON i 1 Positioning start signa 4 l i T 4 Y21 to Y23 OFF h i i t i 1 i ON i Pod Does not start even if Stop i T 1 x BUSY signa Y signal Y27 is turned off X14 i 1 1 1 1 1 Positioning complete signa E l gcom ee as OFE p 1 I J 1 ON Stop signa E vog OFF NEN MESURE ORR mI O A Error detection signal 1 X18 OFF suem P Executed by the QD73A1 1 Error detection signal X18 does not turn on
57. 1 This is an indication of internal commands and does not match with the actual analog output waveform The following values apply to t1 to t3 t1 t2 t3 0 7 to 1 2ms 0 to 0 5ms 0 to 0 5ms joujuoyD Buriuonisog Jofeyy jo au Burisseo2oJg pue Buu uoneJjedo 6 197 CHAPTER 10 Joc oPERATION 198 The QD73A1 s JOG operation can move the workpiece without using positioning data but according to signal inputs and specified movement amount Use this function for the following To check the connection of a positioning system To obtain the address of positioning data To move the workpiece in the direction where a limit signal turns on if operation stopped when a limit signal turned off JOG operation moves the workpiece in the specified direction at the specified speed while Forward JOG start signal Y24 or Reverse JOG start signal Y25 is on CHAPTER 10 JOG OPERATION 10 1 Operation of JOG Operation Once JOG speed is set and while a JOG start signal is turned on through a sequence program the QD73A1 executes JOG operation in the specified direction by outputting analog voltage to the drive unit Choose forward run or reverse run using JOG start signals Start signal Operation direction Forward JOG start signal Y24 Address increasing direction Reverse JOG start signal Y25 Address decreasing direction 1 Operation of JOG operation The following is an example of JOG operation
58. 10pulse Pr9 Positioning mode 0 Position control mode 2 Execution condition welbold Buas JajaueJeg pE uoneunBijuo wajs s pyepueis e ul ampoyy au Buis ueuM 7 Check item Condition WDT error H W error signal X10 OFF I O signal QD73A1 READY signal X11 OFF PLC READY signal Y2D OFF 3 Device used by the user Device Description X30 Variable parameter setting command DO Stroke limit upper limit lower 16 bits D1 Stroke limit upper limit upper 16 bits D2 Stroke limit lower limit lower 16 bits D3 Stroke limit lower limit upper 16 bits D4 Numerator of command pulse multiplication for electronic gear D5 Denominator of command pulse multiplication for electronic gear D10 Speed limit value lower 16 bits D11 Speed limit value upper 16 bits 115 116 Device Description D12 Acceleration time D13 Deceleration time D14 In position range D15 Positioning mode MO Fixed parameter setting memory M1 Variable parameter setting memory SM402 Turns on for one scan once the CPU module is in the RUN status 4 Program example ae X10 X11 Y2D M At M DMOVP K20000000 DO DMOVP KO D2 MOVP K1 D4 MOVP K1 D5 Ut BMOVPDO GO K6 SET MO X30 Pf L gt gt DMOVPK30000 D10 MOVP K400 D12 MOVP K250 D13 MOVP K10 D14 MOVP KO D15 Ut BMOVPD10 G20 K6 SET M1
59. 148000 pulse Selection 8 4 A Set the multiplication rate of Multiplication 2 Page 104 Section feedback pulses from the pulse 4 setting 1 6 2 3 generator PLG 1 2 Reverse OPR direction Set the direction in which OPR is Reverse direction address decreasing direction Page 104 Section setting executed Forward direction address increasing address 6 2 4 decreasing OPR method Near point dog method Near point dog Page 104 Section Select an OPR method setting Count method method 6 2 5 Select an encoder output type Open collector output Encoder I F Open collector Page 67 Section from open collector TTL or TTL output setting output 4 6 2 differential output Differential output 101 Item Description Setting value Default value Reference Analog c Set resolution of analog voltage 12 bit resolution voltage n Page 105 Section to be output as a speed 14 bit resolution 12 bit resolution resolution 6 2 7 command 16 bit resolution setting Zero gain adjustment Select the zero gain adjustment Normal mode Page 63 Section Normal mode mode Normal mode or the normal mode Zero gain adjustment mode mode setting 4 5 4 b 6 2 1 Rotation direction setting Set the direction in which positioning addresses increase The rotation direction of a motor depends on the polarity of the voltage to be applied to the se
60. 15 Error occurrence 0000 Monitor Minute Second 124 7Cu data Monitor Page 86 monitor Error code and error data area Section 5 5 125 7Du occurrence The same Same as area Record 1 R 126 7E data structure as record record 0 0 127 7Fy 128 804 Error code and error 129 81 Record 2 Occurrence The same Same as R 130 82 data structure as record record 0 0 131 83 51 soesseJppy Asoweyy yng Jo 1S1 2 Address Address Data Default Read Memory H A Name value Write area Reference decimal hexadecimal type E E J 132 844 Error code and error 133 85 occurrence The same Same as Record 3 R 134 86y data structure as record record O 0 135 87 136 884 Error code and error 137 894 occurrence The same Same as Record 4 R 138 8A data structure as record record 0 0 139 8By 140 8Cy Error code and error 141 8D occurrence The same Same as Record 5 R 142 8Ey data structure as record record O 0 143 8Fy 144 904 Error code and error 145 914 occurrence The same Same as Record 6 R 146 924 data structure as record record 0 Monitor 0 147 934 data Monitor Page 86 148 944 monitor data area Section 5 5 area Error code and error 149 95H occurrence The same Same as Record 7 R 150 96 data structure as record record 0 0 151 97 152 98H Error code and error 153 99 o
61. 195 pow YIJMS o uoo uonisod peeds z 9 6 03ju02 Buruonisog JOfew Jo sied 9 6 a Operation of a speed position movement amount change The operation is as follows Speed control Position control lt Movement amount P1 set to Cd 6 New speed position movement amount Movement amount cannot be changed N Speed position switching command signal CHANGE OFF The change after Speed position switching 1 command signal CHANGE was turned on an is ignored New speed position 0 DE P1 X P2 movement amount Movement amount 1 4 1 1 f 1 1 1 can be changed 1 N 1 1 1 i 1 1 1 1 1 1 1 1 1 1 1 1 1 i BG OE a o Cd D P1 becomes the movement amount in position control b _Ca 6 New speed position movement amount The setting is cleared to 0 when the next operation starts c Data setting The following table lists the data to be set setting condition and check timing Buffer ES 2 Default E mE Check timing of memory Setting item Setting range Setting condition value the set data address decimal The data can be set when BUSY signal X14 is on At the input of New speed position 1to during speed control and Speed position 88 si movement amount 2147483647 pulse Opulse besides before the input of switching command 89 Speed position switching signal CHANGE command signal C
62. 2 3 OPR parameter Creep speed Setting for the movement amount after near point dog ON 1000 pulse s 75 pulse Page 81 Section 5 3 3 Page 82 Section 5 3 4 CHAPTER 6 VARIOUS SETTINGS 6 4 Positioning Data Setting Set positioning data Setting positioning data on the screen omits the positioning data setting in a sequence program 1 Setting method Open the Positioning_Axis_ 1_Data window 1 Start Positioning Axis 7 1 Data in the project window D Project windowc Intelligent Function Module gt Module name gt Positioning_Axis_ 1_Data 001 0 QD73A1 Positioning_Axis_ 1_Data ES Display Filter Display All Positioning pattern Positioning address P1 Positioning speed V1 Positioning address P2 Positioning speed V2 2 Double click Positioning pattern and set a positioning pattern 3 Double click items other than Positioning pattern and input setting values For details on setting values refer to the following Setting item Default value Reference Positioning pattern Page 83 Section 5 4 1 Positioning address P1 Page 84 Section 5 4 2 Positioning speed V1 None empty Page 85 Section 5 4 3 Positioning address P2 Page 85 Section 5 4 4 Positioning speed V2 Page 85 Section 5 4 5 Bumes ejeq Buluonisog p 9 107 6 5 Auto Refresh This function transfers data in the buffer memory to specified devices The auto
63. 2 Storage of errors o RES hahaha hb op Ain ME Saline TW eR EA 249 14 33 Eror reset ee soe eis tae pam op ete talea eek auton aie de eU ed fa 249 14 344 Erfor code list a mairei e i Ae hear aa PA oie eX baad WAVE IP Dd 250 APPENDICES 261 Appendix 1 Functions Added or Changed 0 0 0 0 ccc cece eee teen ees 261 Appendix 1 1 Functions added n aoaaa aa eee eens 261 Appendix 2 Connection Examples 0 0 0 nen ene nes 262 Appendix 2 1 Example of connection with a servo amplifier manufactured by Mitsubishi Electric Corporationi side lt yet ts She pin db c t ot ri esi hs 262 Appendix 2 2 Example of connection with a servo amplifier manufactured by YASKAWA Electric Corporation da melted crie cs 263 Appendix 3 Comparison of the QD73A1 and the AD70 A1SD70 0200000005 264 Appendix 4 When Using GX Developer ssssssse RR n 271 Appendix 4 1 Operation of GX Developer llle 271 Appendibx 5 Terms caa mee cte bees mu oo a e ate oda 274 Appendix 6 External Dimensions 0 0 0 0 00 ccc al 276 INDEX 278 BEVISIONS ees cute pict dee sett apte stes te do ON ak esL oet eb ed d iA ao Loa de cese rod 282 WARRANTY cesse ressa handout ape reda deiade iR Reb lau o curie bes dad edd ia 283 MANUAL PAGE ORGANIZATION In this manual pages are organized and the symbols are used as shown below The following illustration is for explanation purpose only and should not be referred to as an actual do
64. 204 10 3 Data Setting for JOG Operation CHAPTER 10 JOG OPERATION To execute JOG operation certain data must be set and stored in the buffer memory areas The following table lists the JOG data to be set setting condition and check timing signal Y24 Y25 SK Buffer Checktiming t S Default e memory Setting item Setting range Setting condition of the set value address data i decimal The data can be set anytime 84 ca3 JOG speed 1 to 4000000pulse s Opulse s Note that the set data at the 85 10 to 4000000pulse s aa rise ON of a JOG start m Pr5 Speed limit value Set in the unit of signal Y24 Y25 are used When a JOG 10pulse s pulse s for the operation If the data start signal ai pum are written when BUSY Y24 Y25 is 22 cceleration time me biis signal X14 is on the data turned on 2 to 9999ms 300ms will be accepted at the rise Pr7_ Deceleration time ON of the next JOG start 23 205 uogeiedo Sor 104 Bumes eed 0L CHAPTER 11 CONTROL SUB FUNCTIONS Functions referred to as sub function compensate or limit control or add functions at the execution of major positioning functions Execute these sub functions by setting parameters or through a sequence program for them The following functions are referred to as sub function Sub function Description Reference Functions to
65. D111 K1 M302 RST _ M81 M302 M303 lt gt D111 KO J SET M81 174 Command deviation counter clear Deviation counter clear command Command deviation counter clear to the QD73A1 Completes the deviation counter clear command Command to check the deviation counter clear Read the completion of deviation counter clear from the QD73A1 Completes reading the deviation counter clear Command to check the deviation counter clear again when it is incomplete CHAPTER 7 PROGRAMMING 7 4 7 Stop program during positioning This program stops the positioning in execution a Program detail As X3A is turned on the module stops the positioning in execution b Device used by the user Device Description X3A Stop command c Program example XA X1024 1 SET Y1037 Turn on Stop signal X3A X1024 AF MF RST X v1037 Turn off Stop signal 175 Buiuonisod Buunp wesBold doys Jp OMION O I BOWSY e ur apoya ayy BuIsy ueuM 7 CHAPTER 8 OPR CONTROL 8 1 176 This chapter describes OPR control Overview of OPR Control In OPR control a starting point or OP of major positioning control is set and positioning is executed toward the original point Use this control to return a machine system at a position other than its OP to the OP when the QD73A1 turned on OPR request signal X12 at power on or after a positioning stop OPR request signal X12
66. D46 K1 M250 M250 M251 pi A RST M25 X2F SET M26 M26 X1024 Y1032 Y1033 A M HE DMOVPK1000 D48 K0 gt M252 M253 1 A RST w26 J ko _ ZP REMTO J1 K2 K1 H2 K304 D48 K2 M252 X30 y PLS M30 x31 M30 X1021 X1024 Y1037 X30 Y1033 M A A SET Y1032 X31 Y1032 M SET Y1033 Y1032 X1032 X1024 Y1036 l PAR M RST v1032 X1027 X1028 Y1033 X1033 X1024 1036 H M A RST Y1033 X1027 X1028 1 Variable parameters and positioning data can be set through GX Works2 also Command to change variable parameters Turn off Speed position switching enable signal Positioning mode Speed position control switch mode Set variable parameters to the QD73A1 Completes changing the variable parameters Command to change positioning data Positioning speed V1 1000pulse s Completes changing the positioning data Set positioning data to the QD73A1 Command speed control Y Turn on Forward start signal Turn on Reverse start signal Turn off Forward start signal y Turn off Reverse start signal Section 6 4 C gt Page 106 Section 6 3 Page 107 The sequence program that sets variable parameters and positioning data is unnecessary when the data were set through GX Works2 7 4 4 Fixed feed operation program CHAPTER 7 PROGRAMMING This program executes positioning in the address increasing direction according to the specified movement amount and speed Execute fixe
67. Device used by the user Device Description X46 Speed change command D102 New speed value lower 16 bits D103 New speed value upper 16 bits D91 Speed change request M65 Speed change d Program example X46 X14 il i DMOVPK50000 D102 Ut BMOVPD102 G82 K2 SET M65 M65 E MOV K1 D91 Un BMOVPD91 G91 K1 UtV G91 KO RST M65 END CHAPTER 7 PROGRAMMING New speed value 50000pulse s Set a new speed value to the QD73A1 Completes the new speed value setting Speed change Request a speed change Y Completes the speed change 137 welbold eBueuo onuo 9 7 uoneunBijuo wajs s pyepueis e ul ampoyy eui Buis ueuM 7 138 3 Deviation counter clearing program This program clears the deviation counter to 0 a Program detail As X47 is turned on the deviation counter is cleared to 0 Item Setting detail Cd 4 Deviation counter clear command 1 Clear the deviation counter b Execution condition Check item Condition Note WDT error H W error signal X10 OFF BUSY signal X14 OFF I O signal Error detection signal X18 OFF Synchronization flag X24 ON c Device used by the user Device Description X47 Deviation counter clear command D86 Deviation counter clear request M10 Deviation counter clearing completion check d Progra
68. E o exceeding Pr5 Speed limit 3 Buffer memory Positioning data No error Q a o lt n 3 Q o 3 2 c 5I 5 131 3 Device used by the user Device Description X40 Fixed feed positioning data write command X41 Fixed feed start command D57 New current value lower 16 bits D58 New current value upper 16 bits D60 Positioning address P1 lower 16 bits D61 Positioning address P1 upper 16 bits D62 Positioning speed V1 lower 16 bits D63 Positioning speed V1 upper 16 bits D90 Current value change request M53 Fixed feed positioning data write command pulse M61 Current value change command 4 Program example i A DMOVPK20000 D60 Jf Positioning address P1 20000pulse i i DMOVPK1000 D62 Positioning speed V1 1000pulse s Un 4 i BMOVPD60 G302 K4 j Set positioning data to the QD73A1 X41 4 PLS M53 J Command the fixed feed positioning start M53 X11 X14 Y27 g 1 A M DMOVP KO D57 H New current value Opulse UN y BMOVPD57 G80 K2 Set a new current value to the QD73A1 SET M61 Completes setting a current value M61 y 1 MOV K1 D90 J Command a current value change Un i BMOVPD90 G90 K1 J Request a current value change p UN J 7 G90 KO LRST M61 J Reset the current value change Y21 X21 J 4 ME SET Y21 Turn on Absolute positioning start signal Y21 X21 DX 4
69. Excessive error signal X17 ON Analog output voltage OV Accumulated pulses Reset to 0 Servo ON signal SVON OFF To reset an excessive error turn off and on PLC READY signal Y2D 6 2 3 Multiplication setting Set the multiplication rate of feedback pulses from the pulse generator PLG This setting multiplies the feedback pulse count by 4 2 1 or 1 2 Use this setting to change movement amount per pulse by 1 4 1 2 1 or 2 Maximum 1Mpulse s Phase A feedback pulse PULSE A l l i Phase B feedback pulse PULSE B Lmim mim L L j UN Multiplication Times 4 1 J EMEN Lo setting Times 2 ll l Times 1 Times 1 2 l 6 2 4 OPR direction setting Set the direction in which OPR is executed For OPR control refer to the following K gt Page 176 CHAPTER 8 OPR Original Point Return is controlled by two kinds of data OPR direction and OPR speed Deceleration starts when the near point dog turns on If an incorrect OPR direction is set motion control may continue without deceleration To prevent machine damage caused by this configure an interlock circuit external to the programmable controller 6 2 5 OPR method setting Select an OPR method For OPR control refer to the following 5 Page 176 CHAPTER 8 104 CHAPTER 6 VARIOUS SETTINGS 6 2 6 Encoder I F setting Selec
70. GX Works2 the 16 points in the first half can be saved by setting the first half to Empty 0 point r I O Assignment 1 m ste Tye Model Name Points Start xy Zon prc gt gt gt pre Y x L1 foro Empty y 2 Slots Occupy O Point aj L2 1 1 Intelligent PTE When executing the FROM TO instruction on the QD73A1 use the I O number assigned to the second half slot of the QD73A1 Mi ESTA E FROM 1 HO K90 DO Ki Y TTE 111 BuiuuueJ8044 uo suonneoeJg L7 7 2 Programs for Positioning Follow the procedure below when creating programs that execute positioning using the QD73A1 Procedure Program Reference 4 Parameter setting Page 115 Section 7 3 1 Create a program for parameter setting Page 147 Section 7 4 1 OPR 2 Create a program for one of the following Page 117 Section 7 3 2 Near point dog method Page 149 Section 7 4 2 Count method Start program Create programs for the following depending on the control to be Page 123 Section 7 3 3 executed PN Page 131 Section 7 3 4 Positioning control D Page 133 Section 7 3 5 3 Two phase trapezoidal positioning control n Page 155 Section 7 4 3 Speed position control switch mode Page 165 Section 7 4 4 Speed control operation Page 168 Section 7 4 5 Fixed feed operation JOG operation Sub program Create programs for the following depending on the
71. M RST M61 X102D CHAPTER 7 PROGRAMMING Command a JOG speed setting Y JOG speed 10000pulse s Completes the JOG speed setting Set JOG speed data to the QD73A1 Turn on JOG command Turn on off Forward JOG start signal Turn on off Reverse JOG start signal j Turn off JOG command 169 ueJ6o1d uonejedo DOP gp AJOMJON O I BOWSY e ur ejnpojy ayy BuIsy ueuM y 2 7 4 6 Control change program 1 Current value change program This program changes the current value to 0 a Program detail As X37 is turned on the current value is changed Item Setting detail Cd 1 New current value Opulse b Execution condition Check item Condition Note WDT error H W error signal X1020 OFF BUSY signal X1024 OFF I O signal Error detection signal X1028 OFF Synchronization flag X1034 ON c Device used by the user Device Description X37 Current value change command D100 New current value lower 16 bits D101 New current value upper 16 bits D104 Current value change request D106 Current value change result check M70 Variable parameter change M71 Positioning data change M280 Z P REMTO instruction completion M281 Z P REMTO instruction failure M282 Z P REMTO instruction completion M283 Z P REMTO instruction failure M284 Z P REMFR instruction completion M285 Z P REMFR instruc
72. M6 HKO 2 A ZP REMTO ji K1 K1 H2 K40 D20 K6 M210 M6 X1034 1 Y103D x23 PLS M7 M7 X1021 X1023 2X1024 Y1037 Y1030 X1030 Jt M HU d SET Y1030 Y1030 X1030 X1024 T RST Y1030 X1027 X1028 Completes the OPR parameter settings RETE NM Command to turn on PLC READY signal j Set OPR parameters to the QD73A1 Turn on off PLC READY signal Command OPR Turn on OPR start signal J Turn off OPR start signal 1 OPR parameters can be set through GX Works2 also 5 Page 106 Section 6 3 The sequence program that sets OPR parameters is unnecessary when the parameters were set through GX Works2 151 welbold HdO ZZ OMION O I BOWSY e ur ejnpojy ayy BuIsy ueuM y 2 2 Count method OPR program This program executes OPR in the count method Suppose that fixed parameters and variable parameters are already set 7 gt Page 147 Section 7 4 1 a Program detail As X22 is turned on the following OPR parameters are written and PLC READY signal Y103D turns on Item Setting detail Pr 10 OP address 100pulse Pr 11 OPR speed 5000pulse s Pr 12 Creep speed 500pulse s me for the movement amount after near point 2000pulse As X24 is turned on after PLC READY signal Y103D turned on the module executes OPR b Switch setting Before executing the program set Count method to OPR method setting X Project windowz Intelligent Function Mod
73. NO Configure the initial setting using GX Works2 Initial setting Create a sequence program in which initial settings Initial setting Configure the initial setting using GX Works2 lt gt Page 106 Section 6 3 are configured 3 Page 115 Section 7 3 1 NO Configure the auto refresh setting Auto refresh setting Configure the auto refresh setting using GX Works2 gt Page 108 Section 6 5 Programming and debugging Create and check a sequence program lt Page 109 CHAPTER 7 Operation 56 4 3 This section describes the part names of the QD73A1 Part Names CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION C C QD on 1 LR OB ZERO 4 2 o ERR Me SAIN SET SELECT a l O O e 3 DOWN UP O CO SERVO 2 1 CONT w 9 ON mADJUSTMENT MODE o o oNORMALMODE 2s O SF 5 gt o 2 4 6 4 o 9 o 9 o 9 o 2 o e o 9 o 4 o o o O QD73M i lt P LN i 8 Number Name Description Reference RUN LED Indicates the operating status or error status of the QD73A1 ERR LED b A LED 1 b B LED Indicates the status of pulses on an encoder input phase A B or Z b Z LED Page 59 Section 4 4 Indicates the status of BUSY signal X14 or writing
74. No data setting and storage Area configuration Reference value Memory Monitor Control TE Zero gain storage area for Use Parameter Positioning configuration data data adjustment accumulated Backup area data area area area data area pulse error detection function Area that can be so n accessed directly y Buffer memor from the CPU a u O O O O g v Data are erased module using k i sequence programs MNE lait a prog turned off Data in this memory can be Area used to back backed up Flash ROM up zero gain o O O Data are kept adjustment data even if the power is turned off The following table describes each memory area Area name Description Reference Parameter area Area used to set and store parameters for positioning such as positioning parameters and OPR parameters Page 76 Section 5 2 Page 80 Section 5 3 Monitor data area Area where operating statuses of a positioning system are stored Page 86 Section 5 5 Control data area Area used to set and store data to operate or control a positioning system Page 90 Section 5 6 Positioning data area Zero gain adjustment data area Area used to set and store positioning data Area used to set and store data for zero adjustment and gain adjustment Page 83 Section 5 4 Reference value storage area for accumulated pulse error detection function 48 function Area used t
75. Signal name Y10 Y20 OPR start signal Y11 Y21 Absolute positioning start signal Y12 Y22 Forward start signal Y13 Y23 Reverse start signal Y14 Y24 Forward JOG start signal Use prohibited Y15 Y25 Reverse JOG start signal Y16 Y26 Speed position mode restart signal Y17 Y27 Stop signal Y18 Y28 Error reset signal Y19 Y29 Overflow reset signal Zero gain adjustment data writing request Y1A Y2A Underflow reset signal signal Zero gain adjustment change request Y1B Y2B Use prohibited signal Y1C Set value change request signal Y2C Speed position switching enable signal Y1D Y2D PLC READY signal Y1E Use prohibited Y2E Use prohibited Y1F Y2F Poi oint 32 If a Use prohibited area is turned on off through a sequence program the QD73A1 s function cannot be guaranteed 3 4 2 1 2 3 4 5 CHAPTER 3 SPECIFICATIONS Details of input signals WDT error H W error signal X10 This signal turns on when a watchdog timer error is detected through the self diagnostic function of the QD73A1 In this case Servo ON signal SVON turns off and analog output becomes 0 QD73A1 READY signal X11 When PLC READY signal Y2D is turned on through a sequence program fixed parameters are checked and this signal turns on When PLC READY signal Y2D is turned off this signal turns off ON PLC READY signal Y2D ofr M l 1 ON QD73A1 READY signal X11 opp anche Executed by the QD73A1 Use
76. Speed position control switch mode program Page 127 Section 7 3 3 3 Speed control operation program Page 129 Section 7 3 3 4 Fixed feed operation program Page 131 Section 7 3 4 JOG operation program Page 133 Section 7 3 5 Current value change program Page 135 Section 7 3 6 1 Speed change program Page 136 Section 7 3 6 2 Deviation counter clearing program Page 138 Section 7 3 6 3 Stop program during positioning Page 139 Section 7 3 7 114 CHAPTER 7 PROGRAMMING 7 3 1 Parameter setting program This program sets fixed parameters and variable parameters Point Parameters described in this section can be set through GX Works2 also 5 Page 106 Section 6 3 The sequence program in this section is unnecessary when the parameters were set through GX Works2 1 Program detail The following fixed parameters are set once the CPU module is in the RUN status Item Setting detail Pr1 Stroke limit upper limit 20000000pulse Pr2 Stroke limit lower limit Opulse Pr3_ Numerator of command pulse multiplication for electronic gear Pr4 Denominator of command pulse multiplication for 1 electronic gear 7 As X30 is turned on the following variable parameters are set Item Setting detail Pr5 Speed limit value 30000pulse Pr6 Acceleration time 400ms Pr7 Deceleration time 250ms Pr8 In position range
77. When the alert output accumulated pulse setting value is 1234 the alert output accumulated pulses can be obtained by multiplying the reference value by 1 234 a When the value is outside the setting range The accumulated pulse error detection function does not operate b Alert output accumulated pulse setting value and immediate stop accumulated pulse setting value The value of alert output accumulated pulses maximum value is calculated using the value of Cd 13 Alert output accumulated pulse setting value maximum value gt pulse setting value maximum value Cd 14 Immediate stop accumulated pulse setting value maximum value at the following condition Cd 14 Immediate stop accumulated The value of alert output accumulated pulses minimum value is calculated using the value of Cd 15 Alert output accumulated pulse setting value minimum value gt Cd 16 pulse setting value minimum value a 16 Immediate stop accumulated pulse setting value minimum value at the following condition Immediate stop accumulated CHAPTER 11 CONTROL SUB FUNCTIONS Ex When the setting values are as follows e Cd 13 Alert output accumulated pulse setting value maximum value 1200 Cd 14 Immediate stop accumulated pulse setting value maximum value 1100 Both alert output accumulated pulses and immediate stop
78. a short circuit due to wire chips or solder chips If the signal line is exposed malfunction may occur due to static electricity Cover and protect the connector pins with heat shrinkable insulation tubes Soldering Wire 72 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION c Connector type and the manufacturer The following table lists applicable 9 pin connector and 15 pin connector When wiring use applicable wire and an appropriate tightening torque 9 pin connector for external wiring pin type 15 pin connector for external wiring pin type External wiring connector Wire i gt E Temperature Model Tightening torque Diameter Type Material A rating 17JE 23090 02 D8A manufactured by DDK Ltd 25 O 0 20 to 0 29N m Stranded Copper 75 C or more 24AWG 17JE 23150 02 D8A manufactured by DDK Ltd To contact the manufacturer regarding the connectors refer to the following http www ddknet co jp English index html 73 Bum 9 y SJOJO9UUO9 SI ASP eux 9 p CHAPTER 5 DATA USED FOR POSITIONING This chapter describes parameters and data used for positioning 5 1 Types of Data The parameters and data required to carry out control with the QD73A1 include setting data monitor data and control data shown below Setting data Data to be set beforehand according to the machinery and application itioni Set parameters that are fixed beforehand
79. accumulated pulse amount Do not specify amount that exceeds the setting range Write the accumulated pulse amount using a sequence program When one of the selections 1 to 4 is specified in Accumulated pulse setting Set the specified accumulated pulse amount in cas Analog output adjustment area 1 Write the accumulated pulse amount as 10000 Accumulated pulse amount write command MOVP K10000 DO TOP Hi K87 DO Ki END 3 When one of the selections 5 to 8 is specified in Accumulated pulse setting Set the specified accumulated pulse amount in Analog output adjustment area 2 Write the accumulated pulse amount as 100000 Accumulated pulse amount write command 1 DMOVP K100000 DO DTOP Hi K92 DO K1 END 4 Adjust the voltage to be the necessary voltage value between the check pins 3 Zero gain adjustment setting range When performing zero gain adjustment satisfy the following two conditions Setting range 10 to 10V The difference between a gain value and zero value is as follows In case of positive accumulated pulse amount Gain value Zero value gt 5 0V In case of negative accumulated pulse amount Gain value Zero value lt 5 0V 61 jueunsn py uleB oJ9z S y 4 Setting method The following are the procedures for zero adjustment and gain adjustment a When using the switches on the front of the QD73A1 Start Set the
80. address to an end address is specified Specify a forward start or a reverse start using one of the following signals Start signal Positioning system Forward start signal Y22 Forward start address increasing Reverse start signal Y23 Reverse start address decreasing 1 Switchover from speed control to position control To switch the operation from speed control to position control Speed position switching enable signal Y2C must be turned on before inputting Speed position switching command signal CHANGE If Speed position switching command signal CHANGE is input when Speed position switching enable signal Y2C is off the speed control continues without being switched to position control The operation switches to position control when Speed position switching command signal CHANGE is input after Speed position switching enable signal Y2C was turned on 2 Operation of the speed position control switch mode The operation is as follows v Movement amount set to Da 2 Positioning address P1 Da 3 Positioning speed V1 pow YIJMS o uoo uonisod peeds z 9 6 jou Buruonisog sofew Jo sied 976 D l 1 b Speed control T Position control l i i i ON i j Positioning start signal i Y22 Y23 OFF i 1 17 1 ON i BUSY signal E i X14 OFF i o 1 l 1 ON Positioning complete i 1 signal X15 OFF l i ON 1 Speed position s
81. cd 10 Zero gain adjustment 0 R W control specification data 95 SE zero gain Cd 11 Zero gain adjustment value 0 R W specification adjustment 96 60 area Cd 12 Factory default zero gain 0 R W adjustment value restoration request 97 61H 3 System area m oh 99 63H 50 CHAPTER 3 SPECIFICATIONS Default Read Memo Address Address Data D i 7 Name value Write area Reference decimal hexadecimal type m 4 100 644 Md 1 Current feed value 0 R 101 65 102 664 Ma2 Actual current value 0 R 103 67 104 684 Ma3 Error code ERR 1 0 R 105 69 Maz Error code ERR 2 0 R 106 6A o 6B Monitor Ma5 Deviation counter value 0 R 36H 6C data Monitor Page 86 Hd monitor Md 6 Movement amount after near 0 R dataarea Section 5 5 109 6Dy area point dog ON 410 6E Md7 Speed position switching 0 R command 111 6Fy Md 8 Control mode 0 R 112 704 M S Zero gain execution status 0 R 113 714 Md10 Zero gain adjustment status 0 R 114 724 Mati Feedrate 0 R 115 734 116 744 3 i System area ob 119 774 120 78 Md 12 Error code 0 121 79 Md 13 Error occurrence 00004 Year Month Record 0 R 122 TAn Md 14 Error occurrence 00004 Day Hour 123 7B Md
82. check timing Buffer a A Default A m Check timing memory Setting item Setting range Setting condition value of the set data address decimal 0 Positioning control The data can be set anytime Dat Positioning pattern 1 Two phase trapezoidal 0 Note that the set data at the 301 positioning control rise ON of a positioning Positioning address Absolute system start signal Y21 to Y23 are When a P1 movement 2147483648 to used for the operation If the positioning start 302 Da2 amount for the 2147483647pulse Opulse data are written when BUSY signal Y21 to 303 incremental Incremental system signal X14 is on the data Y23 is turned on System 0 to 2147483647pulse will be accepted at the rise Positioning speed ON of the next positioning 304 Da 3 V1 1 to 4000000pulse s Opulse s start signal Y21 to Y23 305 2 Two phase trapezoidal positioning control Set positioning addresses P1 and P2 and positioning speed V1 and V2 for this type of control Positioning of the absolute system or the incremental system is executed first to the positioning address P1 at the positioning speed V1 then to the positioning address P2 at the positioning speed V2 by one positioning start command a Operation of two phase trapezoidal positioning control The operation is as follows v Da 2 Positioning address P1 Da 4 Positioning address P2
83. dog ON v 2 Creep speed af Lo T m3 V di i UN Returning operation is executed by the i E coasting amount after Zero signal input i m 1 and the OPR is completed iy DN f ON Movement amount after near point dog ON 1 amp i Near pointdog oppl 3 i Ta Adjust the position where the near point 3 ri f 1 dog turns off so that it is closer to the Og Zero signal n center of Zero signals amp i j 1 If the position overlaps with Zero signal i i it E the OPR stop position may deviate by 2 i One servomotor one servomotor rotation Q ON x rotation E OPR start signal Y20 opp f 29 ON E OPR request signal X12 opp Aj PON i SENS Mn S LON 1S BUSY signal X14 opp AP ti 7 E i ono OPR complete signal X13 OFF Y i ON 4 ji In position signal X16 DA Ji P gnal NN OFF ONi 1 i s D Positioning complete signal o OFF i X15 gt He i Movement amount Y Md 6 after near point dog Inconsistent 3K 0 X 0 Value of 1 ON pa Current feed A Md 1 value Inconsistent Updated according to the movement OP address sese gt Executed by the QD73A1 177 178 2 Precautions during operation a Another OPR after the completion of OPR If another OPR is attempted after the completion of OPR the error OPR complete signal ON at start error code 84 occurs b Positions of the near point dog OFF and Zero signal If the position where the near point dog turns o
84. during OPR PLC READY signal OFF during OPR PLC READY signal Y2D was turned off during OPR The operation decelerates and stops Start OPR if the workpiece stops when the near point dog turns on in the count method In the near point dog method if the workpiece stops after the near point dog turns on return the workpiece to the position before the near point dog turns on using JOG operation or major positioning and then start OPR Start OPR if the workpiece stops before the near point dog turns on Outside the command frequency range The command frequency exceeded 4Mpulse s due to the electronic gear setting The speed is limited to 4Mpulse s or lower Change the speed to 4Mpulse s or lower 255 SI epoo 10403 P S vL SJOJJ3 JO syiejaq vl Error Error Error Des Operation at the R code SUE Error name Description Action category classification error occurrence decimal PLC READY signal lt PLC READY Y2D was turned off The operation Operation Turn on PLC READY 105 signal OFF during major decelerates and error P signal Y2D during operation positioning or JOG stops operation A current value 410 Current value change is attempted change error when BUSY signal X14 is on Make an interlock using a sequence program A speed change was Speed change 111 attempted during error OPR
85. executed R 201 The reference value that is kept in the flash ROM of the QD73A1 is displayed When the reference value is being measured Minimum accumulated 202 MdA8 The maximum minimum accumulated pulse values are stored when the 0 pulse pulse value M e 203 positioning is executed in the address increasing decreasing direction In other cases 0 is stored The status of the accumulated pulse error detection function is displayed Accumulated pulse error Md 19 f A 0 Normal 0 Normal 204 detection function status 1 Accumulated pulse error is being detected 2 Reference value is being measured The status of the reference value measurement is displayed 0 Unmeasured 1 Measured Reference value Check that this area stores 1 before writing data in the flash ROM 0 Unmeasured 205 CHAPTER 5 DATA USED FOR POSITIONING 1 Buffer memory areas for error occurrence data Md 16 Error history pointer 184 Stores the pointer number that is next to the one for the latest error history record Pointer No oe 176 180 Pointer No 0 E Md 12 473 177 181 165 169 Error code 153 157 161 149 Md 13 Error occurrence Year Month 121 182 178 174 isa 162 108 170 154
86. in t Pr5 Speed limit value but the error JOG speed Outside the setting range error code 41 occurs uoge1edo Sor jo uonelado 0 201 4 JOG start timing During deceleration after a JOG start signal was turned off if the JOG start signal for the same direction is turned on JOG operation starts again accelerating its speed v gt t ON L N Forward JOG start signal l Y24 OFF s 1 P i ON BUSY signal N X14 OFF ELI P Executed by the QD73A1 During deceleration after a JOG start signal was turned off if the JOG start signal for the opposite direction is turned on JOG operation starts in the opposite direction after the completion of deceleration v ON Forward JOG start signal Y24 OFF Y Reverse JOG start signal a Y25 OFF I ON BUSY signal X14 OFF ass sia P Executed by the QD73A1 BUSY signal X14 turns off for 0 5ms when switching 202 CHAPTER 10 JOG OPERATION During deceleration after a JOG start signal was turned off if OPR start signal Y20 or a positioning start signal Y21 to Y23 is turned on an error occurs and the operation does not start ON i i bd i Forward JOG start signal Y24 i OFF EN 4 1 i 1 Vv 1 ON i BUSY signal X14 x i OFF j i i i OPR start signal Y20 E OFF Positioning start signal Y21 to Y23 1 81 BUSY signal ON at start
87. local Mitsubishi representative For zero gain Zero gain adjustment the zero The zero gain Set the values so that i they meet the followin adjustment ERR 1 Zero adjustment adjustment value is adjustment values RPM ato I ition Zer error error equal to or greater are not reflected adjustment value than the gain Gain adjustment value adjustment value The set value in Xs Set a value within the Zero gain cdo Zero gain setting range 1 2 in 123 adjustment adjustment ca 10 Zero gain specification is setting error adjustment outside the setting mE specification range The set value in RR Set a value within the E m feria Catt Zero gain setting range 3000 to g A mz 124 adjustment adjustment value 3000 in ca 32 specification is f 50 value error Zero gain adjustment 82 2m og zg 257 Error category Error code decimal Error classification Error name Description Operation at the error occurrence Action Zero gain adjustment error 125 126 ERR 1 Analog output adjustment area 1 Outside the setting range The set value in Cd 5 Analog output adjustment area 1 is outside the setting range Analog output adjustment area 2 Outside the setting range The set value in Cd 9 Analog output adjustment area 2 is outside the setting range The zero gain adjustment values are not
88. module parameters to only the control CPU of the QD73A1 3 Online module change The QD73A1 does not support online module change 4 Applicable software packages The following table lists systems that use the QD73A1 and applicable software packages A programming tool is required to use the QD73A1 Software version Item GX Works2 GX Developer Single CPU system Version 7 or later Q00J Q00 Q01CPU Multiple CPU system Version 8 or later Single CPU system Version 4 or later Q02 Q02H Q06H Q12H Q25HCPU Multiple CPU system Version 6 or later Single CPU system Q02PH Q06PHCPU Version 8 68W or later Multiple CPU system Single CPU system Q12PH Q25PHCPU Version 7 10L or later Multiple CPU system Q12PRH Q25PRHCPU Redundant system Version 8 45X or later Single CPU system Q00UJ Q00U Q01UCPU Version 8 76E or later Multiple CPU system Single CPU system Q02U Q03UD Q04UDH Q06UDHCPU Version 1 87R or later Version 8 48A or later Multiple CPU system suwa s s ejqeouddy pZ Single CPU system Q10UDH Q20UDHCPU Version 8 76E or later Multiple CPU system Single CPU system Q13UDH Q26UDHCPU ss Version 8 62Q or later Multiple CPU system Q03UDE Q04UDEH QO6UDEH Q13UDEH Single CPU system Version 8 68W or later Q26UDEHCPU Multiple CPU system Single CPU system Q10UDEH Q20UDEHCPU Version 8 76E or later Multiple CPU system Single CPU sy
89. on Absolute positioning start signal Y21 X21 DX14 A TP s AF RST Y21 Turn off Absolute positioning start signal X17 X18 END 1 Positioning data can be set through GX Works2 also 7 Page 107 Section 6 4 The sequence program that sets positioning data is unnecessary when the data were set through GX Works2 126 CHAPTER 7 PROGRAMMING 3 Speed position control switch mode program This program switches the positioning mode to the speed position control switch mode Suppose that the parameter setting and OPR were completed lt gt Page 115 Section 7 3 1 Page 117 Section 7 3 2 a Program detail As X37 is turned on the positioning mode is set to speed position control switch mode As X38 is turned on the following positioning data are written Item Setting detail Da2 Positioning address P1 5000pulse Da3 Positioning speed V1 1000pulse s As X39 is turned on the module starts speed control The module switches the operation to position control following an external control switch command As X3B is turned on the module restarts operation in case that the operation was stopped following a stop signal input b Execution condition value the positioning is executed at Pr5 Speed limit value Check item Condition Note Servo READY signal READY ON External I O Stop signal ST
90. only for the start by Forward start signal Y22 or Reverse start signal Y23 For the start by the following signals the above error does not occur even if the set value is outside the setting range OPR start signal Y20 Absolute positioning start signal Y21 Forward JOG start signal Y24 Reverse JOG start signal Y25 79 SJojeureJeg Buluoisog Z S 9 3 This section describes the details of OPR parameters OPR Parameters Buffer memory Item Setting range Default value address Reference decimal 2147483648 to 40 Pro OP address Opulse Page 80 Section 5 3 1 2147483647pulse 41 42 Pri OPR speed 1 to 4000000pulse s 10000pulse s 43 Page 80 Section 5 3 2 44 i Pri2 Creep speed 1 to 4000000pulse s 1000pulse s 45 Page 81 Section 5 3 3 Setting for the movement 46 Pr13 0 to 2147483647pulse 75pulse Page 82 Section 5 3 4 amount after near point dog ON 47 80 Point The set data of OPR parameters are activated when PLC READY signal Y2D is turned on and the error check is executed when OPR start signal Y20 is turned on For details on OPR control refer to the following L gt Page 176 CHAPTER 8 1 2 Pr 10 OP address Set the address that is the reference point of major positioning control Upon completion of OPR the set value is stored in the current value monitor ma 1 Current feed
91. or S 9 Phase B feedback pulse PULSE B Equivalent of AM26LS32 Manufactured by Texas less 3 q Phase Z feedback pulse PULSE Z Instruments Inc Sum 0 O n 4 The following table shows the pulse width and phase difference depending on pulse frequency o a gt Pulse frequency Pulse width duty ratio 50 Phase difference D m B 5us or more D Phase A iw 200kpulse s or less z Em Maec Phase B When the phase A leads the o gt gt gt gt p Lessor Morg phase B the positioning address current value 1us or more F is qio Phase A increases 0 5us 0 5us Phase B or more or more lt rl gt gt p 0 25us or more 1Mpulse s or less 41 2 Output specifications Max gt Analog output Load Load voltage Leakage Signal name Output method voltage current voltage current drop at current at OFF ON Servo ON signal SVON Open collector bus NOV or 0 1mA or lower 9 R 26 4vpc Max 30mA ower Speed command signal analog signal 0 to 10VDC 10mA 1 The load current of Servo ON signal SVON is 30mA at the maximum When using a miniature relay take the load current into consideration 42 3 5 2 CHAPTER 3 SPECIFICATIONS Signal layout for external device connectors The following table shows signal layouts on external device connectors Connector name Pin arrangement Pin numb
92. place emergency stop limit switches upper limit switch FLS lower limit switch RLS outside and near the stroke limit range O The stroke limits are not checked during speed control O To disable the stroke limit function set the same value to _Pr 1_ Stroke limit upper limit and Pr2 Stroke limit lower limit 0 06 006 0000000000000000000000000000000000000000000000000 0000000090909 SJojeureJjeg Duiuonisod Z S T 78 2 P3 Numerator of command pulse multiplication for electronic gear Pr4 Denominator of command pulse multiplication for electronic gear Set the numerator CMX and denominator CDV of command pulse multiplication for electronic gear CDV QD73A1 Drive unit r Speed Electronic Deviation D A command D Setting data gear counter converter gt O Servo 1 amplifier i i Number of Accumulated pulses Analog voltage 1 7 7 command i pulses 1 Multiplication 4 1 Command eMx feedback pulse pulse For details on the electronic gear function refer to the following 5 Page 207 Section 11 1 Machine movement amount per one command pulse can be changed using the command pulse multiplication setting O Electronic gear is active on all of OPR control major positioning control and JOG operation The module operates with the posi
93. point dog A switch used in positioning systems which is placed before the original point of a workpiece When this switch turns on the feedrate is switched to creep speed Therefore there is time required for the deceleration from the federate to the creep speed while this switch is on 3 Servo on A signal that indicates the normal status of a servo amplifier A servo amplifier is operable only when it is normal and this signal is on 4 Servomotor A motor that rotates according to a command This motor is highly responsive therefore frequent and rapid start and stop are available with high precision DC and AC type motors are available as well as high power motors Feedback control is available with the included pulse generator that detects the number of rotations 5 Accumulated pulse Pulses that are accumulated in the deviation counter inside the QD73A1 The difference between command pulses and feedback pulses becomes accumulated pulses Accumulated pulses that are proportional to the command pulse frequency are constantly output while the QD73A1 is operating The number of accumulated pulses becomes 0 when positioning is completed Command pulse frequency f Accumulated pulses f gt t The analog output voltage value from the QD73A1 is proportional to the number of accumulated pulses Gain value 5 to 10V Accumulated pulses 6 7 8 9 APPENDICES Drive unit servo amplifier A
94. reached the amount specified by the user before the pulses exceed the amount set in Accumulated pulse setting in the switch setting and an excessive error occurs Page 104 Section 6 2 3 Page 221 Section 11 9 3 Common functions Common functions can be used regardless of control method when necessary Item Description Reference Zero gain adjustment This function adjusts analog output voltage Page 60 Section 4 5 Module status monitor function Error history function This function monitors the module information switch setting information and external I O signal information The module s detailed information can be displayed on the system monitor of GX Works2 This function monitors the QD73A1 s error history stored in the buffer memory Page 234 Section 13 1 Page 236 Section 13 2 Module error collection function This function reports errors that occurred in the QD73A1 to the CPU module The error information is held in the CPU module memory as a module error history Page 237 Section 13 3 Error clear function This function allows the user to clear errors on the system monitor Page 238 Section 13 4 29 suonoun jo 1S1 4 Combination of main function and sub function Always used together O Can be used together x Cannot be used together Functions to A nef Functions to limit Functions to change c
95. review the accumulated pulse setting 7 5 Page 102 Section 6 2 2 Is the zero gain adjustment proper Perform zero gain adjustment again 7 gt Page 60 Section 4 5 Is the multiplication setting proper Configure the multiplication setting properly 7 gt Page 104 Section 6 2 3 Is the servo amplifier set properly Refer to the manual for the servo amplifier and set the servo amplifier properly Is a speed change executed Review the sequence program to see if the speed change is necessary Is proper wave output displayed when the QD73A1 s speed command terminal is connected to an oscilloscope Is proper wave output displayed when the drive unit s encoder output terminal is connected to an oscilloscope If proper wave output is not displayed please consult your local Mitsubishi representative 14 2 6 When operation stops abnormally during positioning Check item Action Is there an error on the servo amplifier Refer to the manual for the servo amplifier and check the error detail Is Stop signal Y27 on Review the sequence program to see if Stop signal Y27 needs to be turned on Is Stop signal STOP on Check if Stop signal STOP is wired properly Is Excessive error signal X17 on The accumulated pulse amount is outside the setting range Check if the accumulated pulse setting is proper 5 Page 102 Section 6 2 2 Is there noise effect
96. setting uonoun y uonoejeg 40473 esing pajejnuino9y 6 LL uonoun uonoejep 10119 esind perejnuinooe y Humes ZELL 221 CHAPTER 12 sTOPPING AND RESTARTING CONTROL This chapter describes stops and restarts of control 12 1 Stopping Control This section describes control stops The QD73A1 stops control in case of the following When each control ended normally When Servo READY signal READY turned off When an error occurred in the CPU module When PLC READY signal Y2D was turned off When an error occurred in the QD73A1 When control was stopped intentionally turning on Stop signal Y27 or inputting Stop signal STOP When the upper limit switch FLS or the lower limit switch RLS turned off When the power supply was turned off 1 Cause of a stop and process of stopping The following table describes causes of stops and the subsequent processing except the stop in case of normal completion of positioning Status of Error Process of Cause of stop detection Error stop signal X18 Servo READY signal ON Servo READY OFF while BUSY error code 90 READY turned off Forced stop Free run The power supply was turned off The upper limit switch A f Upper limit signal OFF while BUSY error code 91 FLS turned off Fatal stop ON The lower limit switch A aoe Lower limit signal OFF while BUSY error code 92 RLS turned off Emergency PLC REA
97. signal side 15 amount is output Speed command signal side 14 This line is common to Speed command signal 45 slejap euBis O I Jo SI S SOOINAQ euJajx3 ui seoejlaju O I JO suoneomoeds S E 3 5 4 1 O interface internal circuit This section shows internal circuits of external device interfaces on the QD73A1 in schematic diagrams External wiring Pin No Internal circuit Signal name Remark ZF 5VDC v 75 passag 5 Power supply Input a voltage of 5 to 24VDC 34 24VDC AKQ Y zd 1 A Near point dog signal DOG p 9 249 d S c Stop signal STOP z eoe P 7 LAS d AY xc Upper limit signal FLS If not using these signals keep them on ae 6 249 QUES Lower limit signal RLS e 5 zaa AY FK Speed position switching command signal CHANGE zu to pe d Servo READY signal ZEE mm g E 2 4kQ AY READY HAN 24VDC 2 Load 3 ud i gt Servo ON signal SVON 4 Servomotor module OV analog GND or others 15 470 i 1kQ C Eam to Speed command signal 1MQ 14 m V 13 1kQ FA ts gt Phase A feedback pulse 11 KQ 7 SN75115 5 1kQ 2 T gt Phase B fe
98. signal READY 13 Near point dog signal X1C This signal indicates the on off status of Near point dog signal DOG 14 External stop signal X1D This signal indicates the on off status of Stop signal STOP 15 Upper limit signal X1E This signal indicates the on off status of Upper limit signal FLS 16 Lower limit signal X1F This signal indicates the on off status of Lower limit signal RLS 35 sjeuBis ndut jo sjiejeq Z ye BINPOW NAO eui oyuioJ sjeUuBIs O I Ye 36 17 OPR start complete signal X20 This signal turns on when OPR process starts after OPR start signal Y20 was turned on When OPR start signal Y20 is turned off after the start of OPR this signal turns off 18 Absolute positioning start complete signal X21 This signal turns on when positioning process starts after Absolute positioning start signal Y21 was turned on When Absolute positioning start signal Y21 is turned off after the start of the positioning this signal turns off 19 Forward start complete signal X22 This signal turns on when positioning process starts after Forward start signal Y22 was turned on When Forward start signal Y22 is turned off after the start of the positioning this signal turns off 20 Reverse start complete signal X23 This signal turns on when positioning process starts after Reverse start signal Y23 was turned on When Reverse start signal Y23 is turned off after the start of the p
99. signal OFF while major positioning BUSY OPR or JOG Return the workpiece to The operation x Poe operation a position within the decelerates and he Lower limit signal stroke limit range using stops i Lower limit RLS turned off JOG operation 92 signal OFF while during major 254 BUSY positioning OPR or JOG operation CHAPTER 14 TROUBLESHOOTING Error category Error code decimal Error classification Error name Description Operation at the error occurrence Action Operation error 93 100 102 103 104 ERR 2 ERR 1 External stop signal ON during OPR Outside the stroke limit range Stop signal STOP turned on during OPR The current value exceeded the stroke limit range during OPR or JOG operation The operation decelerates and stops The OPR or JOG operation continues Start OPR if the workpiece stops when the near point dog turns on in the count method In the near point dog method if the workpiece stops after the near point dog turns on return the workpiece to the position before the near point dog turns on using JOG operation or major positioning and then start OPR Start OPR if the workpiece stops before the near point dog turns on Return the workpiece to a position within the stroke limit range using JOG operation STOP signal ON during OPR Stop signal Y27 was turned on
100. start complete signal X1032 OFF a 5 Synchronization flag X1034 ON S c 32 1 O signal Forward start signal Y1032 OFF 22 Reverse start signal Y1033 OFF gt o Speed position mode restart signal jet ER OFF oc Y1036 20 pa Stop signal Y1037 OFF El Speed position switching enable signal amp OFF 93 Y103C 3 2 PLC READY signal Y103D ON 6 When the positioning speed is set 5 E exceeding Pr5 Speed limit Buffer memory Positioning data No error RN x value the positioning is executed at Pr5 Speed limit value 159 160 c Device used by the user Device Description X29 Variable parameter change command X2A Positioning data write command X2B Speed position control positioning start command X2D Speed position control positioning restart command D40 Positioning mode D42 PosioningaddressP1 owert6bits 00000000000 D43 Positioning address P1 upper 16 bits D44 Positioning speed V1 lower 16 bits D45 Positioning speed V1 upper 16 bits M20 Variable parameter change M21 Posiionngdatawnting 0 00000 M50 Speed position control positioning start command pulse M52 Speed position control positioning restart command pulse M240 Z P REMTO instruction completion M241 Z P REMTO instruction failure M242 Z P REMTO instruction completion M243 Z P REMTO instruction failure d Program example
101. start signal Y24 Y25 was ZE change 1 Change speed 0 turned off during JOG operation 91 request During OPR 217 uoyouny auey peeds 9 1 11 f Deviation Counter Clear Function The deviation counter clear function clears the accumulated pulses in the deviation counter to 0 When the servomotor power was turned off due to an emergency stop during positioning clearing the accumulated pulses in the deviation counter to 0 prevents servomotor rotation at power recovery 1 Precautions for control a Start after clearing deviation counter To start positioning after clearing the deviation counter check the following two points The value in ca4 Deviation counter clear command changed to 0 No error is occurring b a2 Actual current value and Current feed value When the deviation counter is cleared Md 1 Current feed value Md 2 Actual current value changes to the value in To change ma 1 Current feed value of after clearing the deviation counter to Ma 2 Actual current value of before clearing the deviation counter follow the procedure below 1 Read out the value in a2 Actual current value Write the read value to ca 1 New current value Clear the deviation counter 2 3 4 Change the current value 2 Data setting and the execution co
102. switch LS Le E Sach rode Mr Le RDUM DE 214 WoOrkplece 3 2 eq aa ta 275 Z Zero adjustment 0000 eee eee 60 ZERO ED dara Spe Rive eae Be 57 Zero signal ies riqge qs Bee Saya 275 Zero gain adjustment 0000 60 Zero gain adjustment change complete flag X2B 37 Zero gain adjustment change request signal Y1B 38 Zero gain adjustment data writing complete flag X2A PUE A Ea E 36 Zero gain adjustment data writing request signal Y1A Zero gain adjustment specification 93 Zero gain adjustment statuS 87 Zero gain adjustment value specification 93 Zero gain execution sStatuS 87 281 REVISIONS The manual number is given on the bottom left of the back cover July 2012 SH NA 081075ENG A First edition November 2012 SH NA 081075ENG B The accumulated pulse error detection function is added Japanese manual version SH 081074 D 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 any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2012 MITSUBISHI ELECTRIC CORPORATION 282 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range
103. the on off timing of this signal refer to the detail of Underflow signal X1A gt Page 35 Section 3 4 2 11 15 Speed position switching enable signal Y2C Use this signal to enable disable Speed position switching command signal CHANGE in the speed position control switch mode Turn on this signal to enable Speed position switching command signal CHANGE Turn off this signal to disable Speed position switching command signal CHANGE 16 PLC READY signal Y2D This signal notifies the QD73A1 that the CPU module is operating normally This signal needs to be turned on beforehand to start OPR major positioning or JOG operation This signal needs to be turned off beforehand to write fixed parameters and OPR parameters When this signal is turned on the QD73A1 performs the following 1 Checking fixed parameters 2 Turning on QD73A1 READY signal X11 3 Turning off Excessive error signal X17 when it is on When this signal is turned off while BUSY signal X14 is on the QD73A1 processes a deceleration stop When this signal is turned on while BUSY signal X14 is on the QD73A1 does not perform the operations 1 to 3 above Deceleration followed by PLC READY signal Y2D OFF Even when PLC READY signal Y2D is turned on the operations 1 to 3 are not performed ON PLC READY signal Y2D E ON QD73A1 READY signal X11 WW ON BUSY signal X14 Bee Executed by the QD7
104. the positioning with alert output accumulated pulses If accumulated pulses exceed the amount of the alert output accumulated pulses the error Accumulated pulse alert error code 130 occurs Even after the error occurs the positioning continues b Immediate stop processing The QD73A1 compares accumulated pulses that are output during the positioning with immediate stop accumulated pulses If accumulated pulses exceed the amount of the immediate stop accumulated pulses the QD73A1 performs the following processing and stops the positioning Excessive error signal X17 ON Accumulated pulse Clear to 0 Servo ON signal SVON OFF BUSY signal X14 OFF Positioning complete signal X15 does not turn on Turn on PLC READY signal Y2D to restore the positioning In the same way as when an excessive error occurs 2 Executing procedure The following is the executing procedure of the accumulated pulse error detection function Measure the reference value Page 223 Section 11 9 1 Save the measured reference value in the flash ROM inside the QD73A1 3 Page 223 Section 11 9 1 Set the data to use the accumulated pulse error detection function gt Page 224 Section 11 9 2 Execute the positioning End 222 CHAPTER 11 CONTROL SUB FUNCTIONS 11 9 1 Measuring and saving the reference value in the flash ROM Before using the accumulated pulse error detection
105. turned on the module executes forward JOG operation As X36 is turned on the module executes reverse JOG operation 2 Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON m Lower limit signal RLS ON QD73A1 READY signal X1021 ON BUSY signal X1024 OFF External stop signal X102D OFF Synchronization flag X1034 ON I O signal Forward JOG start signal Y1034 OFF Reverse JOG start signal Y1035 OFF Stop signal Y1037 OFF PLC READY signal Y103D ON When ca3 JOG speed is set Buffer memory 943 JOG speed No error exceeding Speed limit value the operation is executed at _Pr 5_ Speed limit value 3 Device used by the user Device Description X34 JOG speed write command X35 Forward JOG command X36 Reverse JOG command D55 JOG speed lower 16 bits D56 JOG speed upper 16 bits M60 JOG speed writing M61 JOG command M270 Z P REMTO instruction completion M271 Z P REMTO instruction failure 4 Program example X34 tht M60 X1024 Y1034 Y1035 AA SET M60 DMOVP K10000 D55 KO M270 M271 E A RST _ M60 HKO gt 1ZP REMTO yt K1 K1 H2 K84 D55 K2 M270 X35 X1021 X1024 Y1037 SET M61 X36 M61 X35 Y1035 M Y1034 X36 Y1034 AF Y1035 X35 X36
106. turns on at the following timings When the power is turned on When the CPU module was reset When OPR starts When Servo READY signal READY turns off while BUSY signal X14 is on 1 OPR method The QD73A1 has two OPR methods so that an OP can be established in the optimum method determination of the OP position or OPR completion depending on the positioning system configuration or the application Set an OPR method in the switch setting For the setting method refer to the following Page 101 Section 6 2 OPR method Operation detail Reference As the near point dog turns on deceleration starts The speed decelerates Near point dog method to Pr12 Creep speed After the near point dog turned off the OPR is Page 177 completed at the operation stop with the first Zero signal specifying the Section 8 2 position as the OP As the near point dog turns on deceleration starts and the machine moves at Pr 12 Creep speed From the position where the near point dog turned on Page 179 Count method the machine moves the distance set in P13 Setting for the movement Lia amount after near point dog ON Then the OPR is completed at the operation stop with the first Zero signal 1 Signal that is output as a single pulse at one motor revolution e g Z phase signal output from the drive unit 2 External I O signals used for OPR control 9 Necessary O
107. type of the module to be mounted and the I O signal 1 0 assignment Page 271 Appendix 4 1 range Intelligent function module Configure the switch setting of the intelligent function Page 272 A dix 4 2 Switch setting module age Appendix 4 2 1 I O assignment Configure the setting on I O assignment in PLC parameter O Parameter gt PLC parameter gt I O assignment Q parameter setting PLC name PLC system Puc file Puc Ras 1 PLC Ras 2 Device Program Boot file SFC 170 assignment Buitin Ethernet port 1 0 Assignment Sit Type Modeliname Points stoy PLC E Switch setting 32points Detailed setting y y y y y h v y y h Assigning the 170 address is not necessary as the CPU does it automatically Leaving this setting blank will not cause an error to occur Jedoje eq x9 jo vonesado p xipueddy Jedoje eq x9 Buisn ueuM y xipueddy Item Description Type Select Intelli Model name Enter the model name of the module Points The QD73A1 uses two slots Select Empty and Opoint or 16points for the first slot Select Intelli and 32points for the second slot StartXY Enter any start I O number of the QD73A1 271 2 Intelligent function module switch setting Configure the setting on Switch setting in PLC parameter Parameterz PLC parameter
108. unit is not available with any safety CPU To use a C Controller module with the QD73A1 refer to the C Controller Module User s Manual a When mounted on MELSECNET H remote I O station The following table lists the network modules and base units applicable to the QD73A1 and the number of mountable QD73A1 O Applicable x N A Depending on the combination with other modules or the number of mounted modules power supply capacity may be insufficient Select the power supply capacity according to the module to be used If the power supply capacity is insufficient change the combination of the modules Applicable base unit 2 Applicable network Number of module modules Main base unit of remote Extension base unit of I O station remote l O station QJ72LP25 25 QJ72LP25G QJ72LP25GE irc O O QJ72BR15 1 Limited within the range of I O points for the network module 2 Can be mounted on any I O slot of a base unit O Applicable x N A remar ESSE The Basic model QCPU or C Controller module cannot configure the MELSECNET H remote I O net 22 CHAPTER 2 SYSTEM CONFIGURATION 2 Multiple CPU system The function version of the first released QD73A1 is B and the module supports multiple CPU systems When using the QD73A1 in a multiple CPU system refer to the following QCPU User s Manual Multiple CPU System a Intelligent function module parameters Write intelligent function
109. values as follows LPr1 Stroke limit upper limit Pr2 Stroke limit lower limit 212 CHAPTER 11 CONTROL SUB FUNCTIONS 11 4 Upper Limit Switch FLS Lower Limit Switch RLS Function The upper limit switch FLS lower limit switch RLS function decelerates and stops operation according to signal inputs from limit switches that are placed at the upper and lower limits of the machine s movable range This function prevents the machine from being damaged by stopping the operation before the workpiece reaches the upper or lower limit of the moving range which is a physical limit that the QD73A1 can handle Normally upper limit switch FLS and lower limit switch RLS are placed inside the stroke limits stroke ends of the drive unit so that the operation is stopped before the workpiece reaches a stroke limit stroke end of the drive unit 1 Control detail The following figure shows the operation of the upper limit switch FLS lower limit switch RLS function Lower limit Upper limit Decelerates and stops upon I f detection of the lower limit switch RLS Decelerates and stops upon Control range of the QD73A1 I detection of the upper limit Y switch FLS Mechanical stopper Mechanical stopper I Moving Moving l direction direction 1 i gt F1 Starts toward Starts toward the lower limit the upper limit direction direction QD73A1 Stroke limit
110. 0 Positioning control Da1 Positioning pattern 1 Two phase trapezoidal 0 301 positioning control Positioning Absolute system address P1 movement 2147483648 to The data can be set anytime 302 Da2 mount forthe 2147483647 pulse Opulse Note that the set data at the 303 incremental Incremental system rise ON of a positioning system 0 to 2147483647pulse start signal Y21 to Y23 are When a Posiionna sneed used for the operation If the positioning start 304 itioni Da 3 V1 BP 1 to 4000000pulse s Opulse s data are written when BUSY signal Y21 to 305 signal X14 is on the data Y23 is turned on Positioning Absolute system will be accepted at the rise address P2 2147483648 to ON of the next positioning movement 306 E ld 2147483647pulse Opulse start signal Y21 to Y23 amount for the 307 Incremental system incremental 0 to 2147483647pulse System Positioning speed 308 Da 5 1 to 4000000pulse s Opulse s V2 309 192 CHAPTER 9 MAJOR POSITIONING CONTROL 9 6 2 Speed position control switch mode In the speed position control switch mode pulses that correspond to the specified positioning speed are output in the direction specified by a start signal Then once Speed position switching command signal CHANGE is input the operation switches to position control with the specified movement amount The speed position control switch mode operates with the incremental system in which movement amount from a start
111. 1 43 44 Near point dog signal X1C 005 35 I New current value llli eee 90 Wu CD REESE 274 oa ee LEE obs cad O es nite yee AI 11 New speed position movement amount 91 Immediate stop accumulated pulse setting value 226 Number of mountable mod les 21 Immediate slop accumulated pulse setting value Number of occupied I O points i l i l l 26 maximum VAIE a EAA a arias 95 Number of parameters lesus 27 Immediate stop accumulated pulse setting value Numerator of command pulse multiplication for electronic minimum value llle 97 gear 76 78 Immediate stop accumulated pulses 225 aT ee E a TS Incremental systeM 84 186 188 Insposition zs hs adi a ood read 219 O In position range 22200 eee ee 76 79 In position signal X16 34 21 9 OFF CUTE dd ad RR at cats 41 Input impedance lisse 46 OFF voltage eed ee ic 41 Input signal liSt oo ooo ooooooooo 31 ONcurrent isse n nnn 41 Inputsignals llle 33 ON voltage cesse nn 41 Intelligent function module switch setting 272 Online module change 5 23 Internal circuit eese 46 OP address 1 1 cece nnn 80 Internal current consumption 26 Open collector method 2 serene 41 Operating status of the speed position control switch mode 2D lacoste RU MEE a SAVE TENA 37 J Operation of sp
112. 16 Section 11 6 199 2 Range of JOG operation The following figure shows the range of JOG operation Lower limit Stroke limit Stroke limit Upper limit switch RLS 2147483647 lower limit upper limit 2147483647 switch FLS 2147483647 h 4 0 0 Error error T Error error I 2147483648 code 100 code 100 I 2147483648 Within the stroke limit range Positioning range Underflow i l Overflow Overflow i QD73A1 control range i a ON sd g Underflow S EON P signal Overflow signal X19 ON signal X1A ON S x19 ON T JOG operation range y o Deceleration stop Deceleration stop a Range in which JOG operation can be executed JOG operation can be executed within the range between the upper limit switch FLS and the lower limit switch RLS Note that the stroke limit upper limit and lower limit are ignored in JOG operation JOG operation decelerates and stops if Upper limit signal FLS or Lower limit signal RLS turned off during the operation b When Ma 1 Current feed value exceeded the QD73A1 s control range during JOG operation When the current feed value exceeded the QD73A1 s control range 2147483648 to 2147483647 Overflow signal X19 or Underflow signal X1A turns on and md 1 Current feed value varies again as in the following figure Current feed value 2147483647 4 gt 2147483648 Reset Overflow signal
113. 2 Actual current value is used for control the update timing of the buffer memory area may be in error by 0 5ms enjeA Juano eui Burpeu2 c 6 187 9 6 Details of Major Positioning Control This section describes details on the position control mode positioning control and two phase trapezoidal positioning control and the speed position control switch mode 1 Precautions a Dwell time function The QD73A1 does not have the dwell time function When dwell time is necessary start the next operation using the timer in the sequence program once the specified period of time passed after Positioning complete signal X15 turned on b Combined use of incremental system and absolute system The QD73A1 controls the current value during positioning If incremental system positioning or combined positioning of incremental system and absolute system is repeated the workpiece may move outside the stroke limit range and an error may occur If an error occurs change the current value to the one within the stroke limit range 2 Stop and restart during positioning Refer to the following C gt Page 228 CHAPTER 12 188 CHAPTER 9 MAJOR POSITIONING CONTROL 9 6 1 Position control mode In the position control mode positioning is executed toward the positioning address specified with positioning data at the specified speed There are two types of control in the position control mode e Positioning control gt Page 18
114. 2 Positioning address P1 lower 16 bits S 5 D33 Positioning address P1 upper 16 bits 3 s D34 Positioning speed V1 lower 16 bits 9 F D35 Positioning speed V1 upper 16 bits ka D36 Positioning address P2 lower 16 bits g E D37 Positioning address P2 upper 16 bits 2 D38 Positioning speed V2 lower 16 bits e g D39 Positioning speed V2 upper 16 bits E 8 M15 Positioning data writing 3 M45 Two phase trapezoidal positioning control start command pulse M230 Z P REMTO instruction completion M231 Z P REMTO instruction failure 157 158 d Program example Command to write positioning data Positioning pattern Two phase trapezoidal positioning control Positioning address P1 100000pulse Positioning speed V1 10000pulse s Positioning address P2 150000pulse Positioning speed V2 12000pulse s Completes writing the positioning data Set positioning data to the QD73A1 Command the positioning start Jj Turn on Absolute positioning start signal Turn off Absolute positioning start signal X27 E SET M15 M15 X1020 X1024 1 M MOVP K1 p31 J DMOVP K100000 D32 J DMOVPK10000 D34 j DMOVPK150000 D36 DMOVPK12000 D38 j K0 gt N231 A RST M5 KO 2 Z4ZP REMTO J1 K1 K1 H2 K301 D31 K9 M230 X28 PLS M45 M45 X1021 X1024 Y1037 Y1031 X1031 M M SET 1031 Y1031 X1031 X1024 RST 1031
115. 21 11 9 1 Measuring and saving the reference value in the flash ROM 0000005 223 11 9 2 Setting the accumulated pulse error detection functi0N o ooooooocooocooo 224 CHAPTER 12 STOPPING AND RESTARTING CONTROL 228 12 1 Stopping Controls nt ivre eae en e Revmi eR ees ph er a dS 228 12 2 Restarting the Speed position Control Switch Mode liliis lessen 232 CHAPTER 13 COMMON FUNCTIONS 234 13 1 Module Status Monitor Function 0 0000 n 234 13 2 Error History Function srne sir na a e E a e re 236 13 3 Module Error Collection Function sssaaa sanaa eeaeee 237 13 4 Ertor Clear 0 010 0 ser ee eh ee Cedo dte doa d ee 238 CHAPTER 14 TROUBLESHOOTING 239 14 1 Checking an Error on GX Works2 sssssssssss n 239 14 2 Troubleshooting i oc REESE ERE RDUM reb Mee 243 14 2 1 Troubleshooting procedure iiissssssssssssss sss n 243 14 2 2 When the motor does not StOP oooooooocccnooornn a 244 14 2 3 When positioning cannot be executed 244 14 2 4 When a positioning error occurs 2 6 ce eee a 245 14 2 5 When the positioning speed is different from the specified speed 246 14 2 6 When operation stops abnormally during positioning ooooooooooo 246 14 2 7 OPREMO o oo hoe eee en acct tere ahaa ie Erebi 247 14 3 Details of Errors ici ad deine eg De bi cand eee 248 14 3 1 Types of errors A AL d aro Ua TREE RE P A 248 14 3
116. 3647pulse Opulse 80 81 Cd 2 New speed value Set a new speed value when changing speed Writing data in this area and setting 1 in Wi Speed change request executes the speed change For details on the speed change function refer to the following Page 216 Section 11 6 O to Pr5 Speed limit value pulse s Maximum 4000000 pulse s Opulse s 82 83 Cd 3 JOG speed Set JOG speed for JOG operation If the value exceeds Pr5 Speed limit value the error JOG speed Outside the setting range error code 41 occurs and the speed is limited to Pr5 Speed limit value If 0 is set in this area and JOG operation is attempted the error JOG speed Outside the setting range error code 41 occurs and the operation does not start For details on JOG operation refer to the following 1 to 4000000pulse s L gt Page 198 CHAPTER 10 Opulse s 84 85 90 CHAPTER 5 DATA USED FOR POSITIONING Buffer ee R Default memory Item Description Setting range value address decimal Use this area to clear the accumulated pulses in the deviation counter Write 1 to clear the counter If a value other than 1 is set the command is ignored After the deviation counter was cleared 0 is stored automatically To start positioning after the deviation counter was cle
117. 3A1 40 CHAPTER 3 SPECIFICATIONS 3 5 Specifications of I O Interfaces with External Devices This section describes I O interfaces between the QD73A1 and external devices 3 5 1 Electrical specifications of I O signals This section describes electrical specifications of I O interfaces between the QD73A1 and external devices 1 Input specifications Voltage ON ON OFF OFF Pulse Signal name range Current voltage current voltage current frequency consumption Supply power Input common lora u Wi u ds Max 60mA Servo READY signal READY Stop signal STOP Near point dog signal DOG HD 3V or 2 5mA or 0 1mA or Upper limit signal FLS 4 75 to 26 4VDC 1V or lower oe higher higher lower Lower limit signal RLS Speed position switching command signal CHANGE Open collector method Phase A feedback pulse PULSE A 4V or 2 7mA or 0 1mA or 200kpulse s or 10 8 to 14VDC 1V or lower Phase B feedback pulse PULSE B higher higher lower less CU Phase Z feedback pulse PULSE Z anu TTL method mg Phase A feedback pulse PULSE A dis SUD 2 8V or 0 8V or 200kpulse s or 8 Phase B feedback pulse PULSE B higher lower less 8 Phase Z feedback pulse PULSE Z 23 c Differential output method EIA standard E gt Phase A feedback pulse PULSE A RS 422 A differential line receiver 1Mpulse s
118. 4 f RST Y1031 Turn off Absolute positioning start signal X1027 X1028 1 Positioning data can be set through GX Works2 also gt Page 107 Section 6 4 The sequence program that sets positioning data is unnecessary when the data were set through GX Works2 156 CHAPTER 7 PROGRAMMING 2 Two phase trapezoidal positioning control program This program executes two phase trapezoidal positioning control in the absolute system Suppose that the parameter setting and OPR were completed 7 7 Page 147 Section 7 4 1 Page 149 Section 7 4 2 a Program detail As X27 is turned on the following positioning data are written Item Setting detail Da 1 Positioning pattern 1 Two phase trapezoidal positioning control Da2 Positioning address P1 100000pulse Da3 Positioning speed V1 10000pulse s Da4 Positioning address P2 150000pulse Da5 Positioning speed V2 12000pulse s As X28 is turned on the module executes two phase trapezoidal positioning control in the absolute system b Execution condition The execution condition is the same as that of positioning control program 7 5 Page 155 Section 7 4 3 1 b c Device used by the user Device Description X27 Positioning data write command X28 Two phase trapezoidal positioning control start command R R D31 Positioning pattern D3
119. 9 Section 9 6 1 1 e Two phase trapezoidal positioning control gt Page 190 Section 9 6 1 2 There are two systems to specify a positioning address the absolute system in which a positioning end address is specified and the incremental system in which movement amount from a start address to an end address is specified Specify the absolute system or the incremental system using one of the following start signals Start signal Positioning system Absolute positioning start signal Y21 Positioning start in the absolute system Forward start signal Y22 Forward start in the incremental system address increasing Reverse start in the incremental system address Reverse start signal Y23 decreasing i 1 Positioning control Set a positioning address and positioning speed for this type of control Absolute system positioning or incremental system positioning is executed by a positioning start command a Operation of positioning control The operation is as follows Da 2 Positioning address P1 lt SAR Da 3 Positioning speed V1 SpOw O NUOY uonisod 9 6 joUoD Buruonisog JOfew Jo SIeJ9g 96 Positioning start signal Y21 to Y23 OFF fy I BUSY signal J X14 OFF Positioning complete signal X15 OFF ced P Executed by the QD73A1 189 b Positioning data setting The following table lists the positioning data to be set setting condition and
120. A1 gt Switch Setting Axis 1 Rotation direction setting Accumulated pulse setting Multiplication setting 14800 to14800pulse 4 OPR direction setting OPR method setting Reverse direction address decreasing Near point dog method Encoder I F setting Open collector output Zero gain adjustment mode Normal mode setting 12 bit resolution Normal mode This dialog setting is linked to the Switch Setting of the PLC parameter Default value will be shown in the dialog if the Switch Setting of the PLC parameter contains an out of range value T Item Setting value Rotation direction setting Set this item according to the system to be used Accumulated pulse setting Set this item according to the system to be used Multiplication setting Set this item according to the system to be used OPR direction setting OPR method setting Set this item according to the system to be used Set the near point dog method or the count method Encoder I F setting Set this item according to the system to be used Analog voltage resolution setting Set this item according to the system to be used Zero gain adjustment mode Normal mode setting Set Normal mode 4 Write the set parameters to the remote I O module then reset the remote I O module X 5 Online 2 Write to PLC 144 Press the switch in this direction for a while
121. Condition Servo READY signal READY ON Stop signal STOP OFF External I O signal Upper limit signal FLS ON Lower limit signal RLS ON Near point dog signal DOG OFF WDT error H W error signal X1020 OFF QD73A1 READY signal X1021 OFF OPR complete signal X1023 OFF BUSY signal X1024 OFF Excessive error signal X1027 OFF I O signal Error detection signal X1028 OFF OPR start complete signal X1030 OFF Synchronization flag X1034 ON OPR start signal Y 1030 OFF Stop signal Y1037 OFF PLC READY signal Y103D OFF Buffer memory OPR parameters No error d Device used by the user Device X22 OPR parameter setting command X23 OPR command D20 OP address lower 16 bits D21 OP address upper 16 bits D22 OPR speed lower 16 bits D23 OPR speed upper 16 bits D24 Creep speed lower 16 bits D25 Creep speed upper 16 bits M3 OPRparameterw ling 000000 M6 OPR parameter setting memory M7 OPR command pulse M210 Z P REMTO instruction completion M211 Z P REMTO instruction failure e Program example CHAPTER 7 PROGRAMMING Command OPR parameter settings OP address 100pulse OPR speed 5000pulse s she es AE IEE E De P Creep speed 500pulse s x22 tt SET M3 X1020 X1021 Y103D HH EA EA DMOVP 100 D20 DMOVPK5000 D22 DMOVP K500 D24 KO gt M210 M211 1 Mr RST M3 SET
122. DICES Specifications Item QD73A1 AD70 A1SD70 RUN None ERR ERR 1 ERR 2 Minor major error ZERO None GAIN None LED None check with X signal SV RDY Servo READY signal None check with X signal DOG Near point dog signal None check with X signal STOP Stop signal None check with X signal FLS Upper limit signal None check with X signal RLS Lower limit signal None check with X signal IN POS In position None check in the buffer memory POLE Deviation counter polarity None check in the buffer memory 2N Deviation counter value None check with Y signal PC RDY PLC READY signal None check with X signal ZERO OPR request signal None check with X signal EEX Excessive error None check with X signal WDT ERR Hardware error None check with X signal V MODE Operating status Zero gain adjustment Mode switch Adjustment using the UP DOWN switch Adjustment using the buffer memory Intelligent function module switch Adjustment using volumes DIP switch All the other specifications are the same 265 OLGSLV OLAV 94 pue ve4do eui Jo uvosuedulog xipueddy 2 Function comparison O Usable x Unusable Function QD73A1 AD70 A1SD70 Difference OPR control O O Positioning O O c
123. DY signal oH PLC READY signal OFF during operation error code 105 Deceleration stop Y2D was turned of PLC READY signal OFF during OPR error code 103 3 Stop Stop signal STOP 3 External stop signal ON during OPR error code 93 Intentional was input ON stop Stop signal Y27 was turned on STOP signal ON during OPR error code 102 3 228 1 2 3 As Servo READY signal READY turned off the analog voltage output from the QD73A1 changes to the value on which zero adjustment was made Only during major positioning control or JOG operation Only during OPR CHAPTER 12 STOPPING AND RESTARTING CONTROL Point An emergency stop circuit should be built outside the programmable controller 2 Stop during OPR If an error a cause of a stop occurs during OPR a deceleration stop starts at the error occurrence At the completion of the deceleration stop OPR request signal X12 stays on Also OPR complete signal X13 does not turn on since the OPR was not completed normally The following figure is the timing chart of when Stop signal Y27 is turned on during OPR lt Deceleration start ON OPR start signa 1 Y20 OFF Ps a 1 ON BUSY signal 5 X14 OFF 7 ON OPR request signal M 1 x12 OFF xo OPR complete signal X13 OFF Stop signal Y27 OFF Error detection signal X18 OFF Md 3 Error code ERR
124. Device Description X22 OPR parameter setting command X24 OPR command D20 OP address lower 16 bits D21 OP address upper 16 bits ER D22 OPR speed lower 16 bits B D23 OPR speed upper 16 bits E 5 D24 Creep speed lower 16 bits E B D25 Creep speed upper 16 bits 3 D26 Movement amount after near point dog ON lower 16 bits D27 Movement amount after near point dog ON upper 16 bits E M3 OPR parameter writing 3 M6 OPR parameter setting memory a M7 OPR command pulse 3 M210 Z P REMTO instruction completion 5 M211 Z P REMTO instruction failure zZ E x 153 e Program example X N N g EN T 1 SET M3 j Command OPR parameter settings M3 X1020 X1021 Y103D M HE DMOVPK100 D20 OP address 100pulse DMOVPK5000 D22 3 OPR speed 5000pulse s DMOVP K500 D24 Creep speed 500pulse s i DMOVPK2000 D26 i Movement amount after near point dog ON 1 2000pulse i xo gt i M210 M211 i Mt RST M3 Completes the OPR parameter settings SET M6 Command to turn on PLC READY signal KO gt _ zP REMTO Jt K1 K1 H2 K40 D20 K8 M210 Set OPR parameters to the QD73A1 M6 X1034 Y103D Turn on off PLC READY signal X24 i PLS M7 Command OPR M7 X1021 X1024 Y1037 Y1030 X1030 n Y Y ME Y SET Y1030 Turn on OPR start signal Y1030 X1030 X1024 a 4 RST Y1030 Turn off OPR start signal X1027 X1028 1
125. ERVIEW The QD73A1 possesses a deviation counter and D A converter inside as in the following figure CPU module Positioning module QD73A1 Drive unit Servomotor Command pulses Analog Speed 5 L the voltage command Electronic Deviation D A gt gt Servo IN gear counter converter amplifier Sequence gt li program Interface Multiplication A 4 4 Feedback pulses 4 JUUL A Data writing reading a PLG Parameter data Positioning data Feedback pulses _OPR parameters JUUL Feedback pulses from the pulse generator PLG may be input to the QD73A1 via the drive unit or directly depending on the servomotor to be used Check which method applies in the manual for the servomotor or drive unit to be used A system with the QD73A1 operates as follows Start Once a command pulse train for positioning is output pulses are accumulated in the deviation counter The integrated value of pulses accumulated pulses is converted into DC analog voltage by a D A converter then turns into a speed command to a servomotor The speed command from a drive unit starts servomotor rotation Operation Once the servomotor starts rotating feedback pulses that are proportional to the number of rotations are generated by a pulse generator PLG attached to the se
126. HANGE 196 If ca s New speed position movement amount is a value that moves the workpiece outside the stroke limit range the error Movement outside the stroke limit range error code 87 occurs at the input of Speed position switching command signal CHANGE and the set new movement amount is ignored The value in Da2 Positioning address P1 movement amount is used 9 Operation of speed control Operation can stay as speed control in the speed position control switch mode when one of the following conditions is satisfied Not to input Speed position switching command signal CHANGE Not to turn on Speed position switching enable signal Y2C During speed control the stroke limit function cannot be used since vd 1 Current feed value is not updated A stroke range is from the lower limit switch RLS to the upper limit switch FLS CHAPTER 9 MAJOR POSITIONING CONTROL 9 7 Operation Timing and Processing Time of Major Positioning Control This section explains the operation timing and processing time of major positioning control v Major positioning control 1 gt t LE I 1 ON Positioning start signal T i Y21 to Y23 ore ES OFF BUSY signal f x14 OFF Positioning complete signal ON j r X15 y OFF ON EE Positioning start complete signal OFF X21 to X23 or j ON i DEd OPR complete signal 777777777 t3 gt X13 y OFF
127. I M RST Y21 Turn off Absolute positioning start signal X17 X18 END 1 Positioning data can be set through GX Works2 also 3 Page 107 Section 6 4 The sequence program that sets positioning data is unnecessary when the data were set through GX Works2 132 CHAPTER 7 PROGRAMMING 7 3 5 JOG operation program This program executes JOG operation while a JOG start command is on Suppose that parameters are already set LC Page 115 Section 7 3 1 1 Program detail As X42 is turned on JOG speed is written Item Setting detail 10000pulse s Cd w JOG speed As X43 is turned on the module executes forward JOG operation As X44 is turned on the module executes reverse JOG operation 2 Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF u 7 signal Upper limit signal FLS ON Lower limit signal RLS ON QD73A1 READY signal X11 ON BUSY signal X14 OFF External stop signal X1D OFF Synchronization flag X24 ON I O signal Ht J Forward JOG start signal Y24 OFF Bh Reverse JOG start signal Y25 OFF Stop signal Y27 OFF 8 PLC READY signal Y2D ON E When ca3 JOG speed is set 8 Buffer memory JOG speed No error exceeding Speed Dus E value the operation is executed at a _Pr5_ Speed limit value 3 3 Device used by the user
128. MITSUBISHI Mitsubishi Programmable Controller MELSEG Ee serie MELSEC Q QD73A1 Positioning Module User s Manual QD73A1 MODEL SAFETY PRECAUTIONS Read these precautions before using this product Before using this product please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly The precautions given in this manual are concerned with this product only For the safety precautions of the programmable controller system refer to the user s manual for the CPU module used In this manual the safety precautions are classified into two levels N WARNING and N CAUTION A WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous conditions N CAUTION resulting in minor or moderate injury or property damage Under some circumstances failure to observe the precautions given under N CAUTION may lead to serious consequences Observe the precautions of both levels because they are important for personal and system safety Make sure that the end users read this manual and then keep the manual in a safe place for future reference Design Precautions NWARNING O Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the prog
129. Necessary as required Signal required for control Upper limit signal OPR method Near point dog signal i SC DOG Zero signal FLS Lower limit signal RLS Near point dog method O Count method O CHAPTER 8 OPR CONTROL 8 2 Near point Dog Method This section describes the operation overview of an OPR method near point dog method 1 Operation chart OPR starts 4 Acceleration starts in the direction set on OPR direction setting in the switch setting and the machine moves at OPR speed 2 As the near point dog turns on deceleration starts The machine decelerates to Pr 12 Creep speed and subsequently moves at the creep speed 3 The near point dog must be on during the deceleration If the near point dog turns off during the deceleration the OPR is completed at the first Zero signal input after the near point dog OFF 4 Output from the QD73A1 stops at the first Zero signal after the near point dog OFF Returning operation is executed by the coasting amount after Zero signal input then OPR complete signal X13 turns on and OPR request signal X12 turns off As in the following figure after the near point dog turned off the position of the first Zero signal from the pulse generator becomes the OP Pr 11 OPR speed Deceleration at the near point
130. OFF Attention Description E ON L Flashing The power is off RUN O A ZERO RUN LED OFF A hardware error is occurring B GAIN All the other LEDs are A watchdog timer error is occurring Z OFF or ON If the RUN LED does not turn on even after the power was turned off and ERR BUSY on the module may be broken Replace the module with another module RUN Bl oA ZERO RUN LED ON B GAIN The module is operating normally Oz ERR LED OFF ERR BUSY RUNE O HA O ZERO ERR LED ON An error is occurring B GAIN All the other LEDs are Read out the error code and take the corrective action described in the O Z i OFF or ON error code list 7 Page 250 Section 14 3 4 ERR B BUSY RUN M oA ZERO y see CEREAN Positioning is in execution itioning is in execution B GAIN all the other LEDs are 3 MEN Z The LED turns off when the positioning is completed OFF or ON ERR i BUSY RUNE MGA O ZERO MOB GAIN A LED ON or flashing B LED ON or flashing Pulses are input through the pulse input terminals phase A B and Z Moz 4 Z LED ON or flashing ERR BUSY RUN 9 DA B ZERO 00B O GAIN RUN LED Flashing Zero adjustment of analog output is being performed Z ZERO LED ON The LED turns off when the zero adjustment is completed ERR BUSY RUN 4 oA ZERO B E GAIN
131. OP OFF signal Upper limit signal FLS ON Lower limit signal RLS ON QD73A1 READY signal X11 ON BUSY signal X14 OFF Excessive error signal X17 OFF ZEN Error detection signal X18 OFF o E Forward start complete signal X22 OFF a 5 Synchronization flag X24 ON s c I O signal Forward start signal Y22 OFF m 2 2 Reverse start signal Y23 OFF 3 o Speed position mode restart signal Y26 OFF e ER c Stop signal Y27 OFF 3 o LL Speed position switching enable signal Dov OFF 29 Y2C e y os PLC READY signal Y2D ON 3 S o When the positioning speed is set L n exceeding Pr5 Speed limit T Buffer memory Positioning data No error 3 g 3 2 c 8 5 127 128 c Device used by the user Device Description X37 Variable parameter change command X38 Positioning data write command X39 Speed position control positioning start command X3B Speed position control positioning restart command D29 Positioning mode D31 Positioning address P1 lower 16 bits D32 Positioning address P1 upper 16 bits D33 Positioning speed V1 lower 16 bits D34 Positioning speed V1 upper 16 bits M46 Speed position control positioning start command pulse M58 Speed position control positioning restart command pulse d Program example X37 XA Yo2 N OT aa E T A AX Hr MOVP K1 D29 Ut
132. OPR A speed change was Correct the sequence ERR 1 attempted at the start program so that the Speed change Control 412 am of automatic speed is changed change error T deceleration of major The control change before the start of Positioning NN Ms e i during positioning or is ignored automatic deceleration operation thereafter of major positioning A speed change was attempted after JOG Speed change l 113 start signal Y24 Y25 error JOG was turned off in JOG Make an interlock using operation a sequence program TE Deviation counter Deviation nas clearing is attempted 114 counter clear 256 error when BUSY signal X14 is on CHAPTER 14 TROUBLESHOOTING outside the setting range value specification Error Error Error Operation at the R code Wie Error name Description Action category classification error occurrence decimal For zero gain adjustment a setting Turn off and on the 120 Flash ROM write value has been power supply or reset exceeded consecutively written the CPU module or the to the flash ROM more error than 25 times Try writing the value again For zero gain If the error occurs adjustment the Flash ROM write again a failure might 121 setting value could not error i have occurred on the be written in the flash module Please consult ROM m your
133. OPR parameters can be set through GX Works2 also 5 Page 106 Section 6 3 The sequence program that sets OPR parameters is unnecessary when the parameters were set through GX Works2 154 CHAPTER 7 PROGRAMMING 7 4 3 Major positioning control program Programs in this section execute major positioning control 1 Positioning control program This program executes positioning control in the absolute system Suppose that the parameter setting and OPR were completed lt _ gt Page 147 Section 7 4 1 Page 149 Section 7 4 2 a Program detail As X25 is turned on the following positioning data are written Item Setting detail Da 1 Positioning pattern 0 Positioning control Da2 Positioning address P1 100000pulse Da3 Positioning speed V1 10000pulse s As X26 is turned on the module executes positioning control in the absolute system b Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON o Lower limit signal RLS ON WDT error H W error signal X1020 OFF EET QD73A1 READY signal X1021 ON 5 BUSY signal X1024 OFF 5 3 Excessive error signal X1027 OFF Sc Error detection signal X1028 OFF Ba I O signal Absolute positioning start complete signal 3 d X1031 e S Synchronization flag X1034 ON 3
134. OPR start signal Y20 Turn on this signal to start OPR Absolute positioning start signal Y21 Turn on this signal to start absolute system positioning position control mode Forward start signal Y22 Turn on this signal to start positioning in the address increasing direction The following table describes the consequence of turning on this signal for each type of positioning major positioning control Major positioning control Consequence of turning on Forward start signal Y22 Positioning control Position control mode Two phase trapezoidal Starts in the address increasing direction incremental system positioning control Speed position control switch mode Starts in the address increasing direction 7 8 9 CHAPTER 3 SPECIFICATIONS Reverse start signal Y23 Turn on this signal to start positioning in the address decreasing direction The following table describes the consequence of turning on this signal for each type of positioning major positioning control Major positioning control Consequence of turning on Reverse start signal Y23 Positioning control Position control mode Two phase trapezoidal Starts in the address decreasing direction incremental system positioning control Speed position control switch mode Starts in the address decreasing direction Forward JOG start signal Y24 Turn on this signal to start JOG operation in the address incre
135. PR parameters No error d Device used by the user Device Description X31 OPR command D20 OP address lower 16 bits D21 OP address upper 16 bits D22 OPR speed lower 16 bits D23 OPR speed upper 16 bits D24 Creep speed lower 16 bits D25 Creep speed upper 16 bits MO Fixed parameter setting memory MM OPRparameterseting memory 000000000000 M35 OPR request M37 OPR command pulse SM402 Turns on for one scan once the CPU module is in the RUN status e Program example CHAPTER 7 PROGRAMMING OP address 100pulse OPR speed 5000pulse s Creep speed 500pulse s Set OPR parameters to the QD73A1 Completes the OPR parameter settings Turn on off PLC READY signal Command OPR Turn on OPR start one scan Turn on OPR start signal Turn off OPR start signal SM402 X10 X11 Y2D i a ME A A r DMOVP K100 D20 DMOVPK5000 D22 DMOVPK500 D24 i Un T BMOVPD20 G40 K6 SET M34 M34 MO X24 1 Y20 J X31 E PLS M35 M35 X11 X13 X14 Y27 Y20 X20 E HE i H A Mr PLS M37 M37 E SET Y20 Y20 X20 DX14 E M RST Y20 X17 X18 END 21 OPR parameters can be set through GX Works2 also lt _ gt Page 106 Section 6 3 The sequence program that sets OPR parameters is unnecessary when the parameters were set through GX Works2 119 welbold HdO ZEZ uoneunBijuo wajs s pyepuei
136. R 1 Operation chart OPR starts 1 Acceleration starts in the direction set on OPR direction setting in the switch setting and the machine moves at Prat JOPR speed 2 As the near point dog turns on deceleration starts 3 The machine decelerates to Pr 12 Creep speed and subsequently moves at the creep speed 4 Output from the QD73A1 stops at the first Zero signal after the machine moved by the amount set in Pr 13 Setting for the movement amount after near point dog ON 5 Returning operation is executed by the coasting amount after Zero signal input then OPR complete signal X13 turns on and OPR request signal X12 turns off As in the following figure after the machine moved the amount set in LPr 13 Setting for the movement amount after near point dog ON the position of the first Zero signal from the pulse generator becomes the OP Pr 11 OPR speed Deceleration at the near point dog ON v a YA Pr 12 Creep speed Pr 13 Setting for the movement amount after near point dog ON 3 Returning operation is executed by the coasting amount after Zero signal input and the OPR is completed x ON x Movement amount after near point dog ON poya UNOD 8 Adjust Pr 13 Setting for the movement amount after near point dog ON so that it is closer to the center of Zero signals
137. S Absolute positioning start signal Y1031 OFF 53 Stop signal Y1037 OFF E EY PLC READY signal Y103D ON 3 a When the positioning speed is set a Buffer memory Positioning data No error RO apee lmit A value the positioning is executed at Pr5 Speed limit value 155 c Device used by the user Device Description X25 Positioning data write command X26 Positioning start command D31 Positioning pattern D32 Positioning address P1 lower 16 bits D33 Positioning address P1 upper 16 bits D34 Positioning speed V1 lower 16bit D35 Positioning speed V1 upper 16 bits M10 Positioning data writing M40 Positioning start command pulse M220 Z P REMTO instruction completion M221 Z PREMTOistucl onfalue 000000000000 d Program example Command to write positioning data M10 X1020 X1024 g Mr M MOVP KO D31 Positioning pattern Positioning control DMOVPK100000 D32 Positioning address P1 100000pulse PAN AAA AAA DMOVPK10000 D34 Positioning speed V1 10000pulse s KO gt M220 M221 y RST M10 Completes writing the positioning data KO gt ZP REMTO J1 K1 K1 H2 K301 D31 K5 M220 Set positioning data to the QD73A1 X26 PLS M40 J Command the positioning start M40 X1021 X1024 Y1037 Y1031 X1031 n VF man t SET Y1031 Turn on Absolute positioning start signal Y1031 X1031 X102
138. SE A Phase A feedback pulse side 11 5 LAR Encoder A phase pulse differential line driver PULSE B Phase B feedback pulse side 5 6 LB Encoder B phase pulse differential line driver PULSE B Phase B feedback pulse side 10 T LBR Encoder B phase pulse differential line driver PULSE Z Phase Z feedback pulse side 6 8 LZ Encoder Z phase pulse differential line driver SERVO PULSE Z Phase Z feedback pulse side A 9 LZR Encoder Z phase pulse differential line driver connector 34 LG Control common SVON Servo ON signal side 4 SVON Servo ON signal side 3 15 SON Servo on Speed command signal side 15 2 VC Analog speed command External Speed command signal side 14 LG Control common power supply N C 8 Analog GND 9 N C 12 TRUST DICOM Digital I F power supply input DICOM Digital I F power supply input DOCOM Digital I F common DOCOM Digital I F common ST1 Forward rotation start 18 ST2 Reverse rotation start 28 LG Control common 30 LG Control common 42 EMG Emergency stop 43 LSP Forward rotation stroke end 44 LSN Reverse rotation stroke end 262 APPENDICES Appendix 2 2 Example of connection with a servo amplifier manufactured by YASKAWA Electric Corporation 1 Connection with 2 V series Differential driver QD73A1 CN1 2 V seri
139. SITIONING CONTROL CHAPTER 9 MAJOR POSITIONING CONTROL Major positioning control is executed using variable parameters and positioning data stored in the QD73A1 The position control mode or the speed position control switch mode is executed by setting a variable parameter Pre Positioning mode and a positioning data item Positioning pattern and by starting the positioning data 9 1 Overview of Major Positioning Control The following types of major positioning control are executed when a positioning start signal Y21 to Y23 is turned on Major positioning control Start signal Description Reference Positioning is executed from the current position to a specified position at a specified ber dei speed Page 189 ositioning contro Buffer memory setting Section 9 6 1 1 e Pr9 _ Positioning mode 0 Absolute positioning start Da1 Positioning pattern O signal Y21 Positioning is executed to the address Position control Forward start signal Y22 specified with 52 Positioning address mode incremental positioning pias mne domom Reverse start signal Y23 at _Da 3 Positioning spee then to Two phase incremental positioning the address specified with Da4 Positioning Page 190 trapezoidal address P2 at Da5 Positioning speed V2 section aei 2 positioning control by one positioning start signal Bu
140. Section 11 9 0 No request 1 Requested 0 No request 410 98 CHAPTER 5 DATA USED FOR POSITIONING Buffer ee R Default memory Item Description Setting range value address decimal Use this area to save the measured reference value in the flash ROM of the QD73A1 When this area setting is changed to 1 the measured reference value is saved in the flash ROM When ua20 Reference value measurement flag is set to 1 the value is written to the flash ROM If Md 20 Reference value measurement flag Reference value write 0 No request 0 No Cd 20 is set to the value other than 1 the error 411 request 1 Requested request Reference value write error error code 132 occurs and the value is not written The QD73A1 set this area to 0 when the value saving in the flash ROM is completed This process is the same when an error occurs and the value is not written For details on the accumulated pulse error detection function refer to the following Page 221 Section 11 9 ejeq joguot 9 G 99 CHAPTER 6 VARIOUS SETTINGS This chapter describes setting procedures of the QD73A1 Point O After writing the contents of the new module parameter settings and auto refresh settings into the CPU module reset the CPU module and switch its status as STOP gt RUN gt STOP gt RUN or turn off and on the po
141. T NOT LIMITED TO ANY AND ALL RESPONSIBILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use of the PRODUCT in Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User Aircraft or Aerospace Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of Nuclear or Hazardous Materials or Chemicals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property Notwithstanding the above restrictions Mitsubishi may in its sole discretion authorize use of the PRODUCT in one or more of the Prohibited Applications provid
142. T error H W error signal X1020 OFF QD73A1 READY signal X1021 ON BUSY signal X1024 ON VO signal Excessive error signal X1027 OFF Error detection signal X1028 OFF Synchronization flag X1034 ON Stop signal Y1037 OFF PLC READY signal Y103D ON When ca2 New speed value is Buffer memory New speed value No error set exceeding ms Speed limit value the operation is executed at _Pr 5_ Speed limit value c Device used by the user Device Description X38 Speed change command D102 New speed value lower 16 bits D103 New speed value upper 16 bits D105 Speed change request D107 Speed change result check M75 Speed change M76 Speed change request check M290 Z P REMTO instruction completion M291 Z P REMTO instruction failure M292 Z P REMTO instruction completion M293 Z P REMTO instruction failure M294 Z P REMFR instruction completion M295 Z P REMFR instruction failure d Program example X38 X1024 SET M75 M75 DMOVPK50000 D102 J1 K1 K1 H2 K82 D102 K2 M290 MOV K1 D105 KO RST M75 SET M76 HKO ZP REMTO J1 K2 K1 H2 K91 D105 K1 M292 M76 E a ZP REMFR jj K3 K1 H2 K91 D107 K1 M294 RST M76 M294 M295 lt gt KO D107 SET M76 CHAPTER 7 PROGRAMMING Command a speed change Y New speed value 50000pulse s Set a new speed value to the QD73A1 Y Speed change j Completes the speed change Command t
143. USED FOR POSITIONING Buffer woe memory Item Description Default value address decimal The execution status of the zero gain adjustment mode is stored 0 Not in the Zero gain execution 0 Not in the zero gain adjustment mode zero gain 112 Md 1 status 1 In the zero gain adjustment mode DIP switch adjustment 2 In the zero gain adjustment mode switch setting mode The status of zero gain adjustment is stored Zero gain adjustment 0 No zero gain adjustment 0 No zero gain Md 10 De 113 status 1 Adjusting zero adjustment 2 Adjusting gain The command output speed of the operating workpiece is stored 114 ma 11 Feedrate May be different from the actual motor speed during operation Opulse s 115 The update cycle is 0 5ms An error code is stored Md321 Error code For details on error codes refer to the following 0 L gt Page 248 Section 14 3 The time year month of error detection is stored in BCD code b15 to b8 Year b7 to b0 Month The data can be monitored in hexadecimal r il 1r 2 T B T B 1 b15 P87 Lo b0 n Error occurrence Year AAA 00004 Month 0109 0109 0to 1 0109 Monitor value Em Page l I 89 Section 00 to 99 Year 01 to 12 Month 5 5 1 The time day hour of error detection is stored in BCD code b15 to b8 Day b7 to b0 Hour The data can be monitored in hexadec
144. YODA KU TOKYO 100 8310 S NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPA 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
145. Zero gain adjustment O O sequence program AD70 A1SD70 Switches on the AD70 A1SD70 Module status monitor function O x Error history function O x Module error collection function O x Error clear function O x 266 APPENDICES Positioning execution time BUSY signal X14 ON to Positioning complete signal X15 ON of the QD73A1 and AD70 A1SD70 may be different since their internal processing methods are different As a result the timing when In position signal X16 turns on may also vary Adjust positioning execution time using the following methods if the difference of the execution time or the timing when In position signal X16 turns on affects the system Adjusting the QD73A1 s positioning parameter Pr6 Acceleration time or Pr7 Deceleration time e Increasing gain by changing the accumulated pulse amount setting through the QD73A1 s zero gain adjustment 3 Error code comparison O Usable x Unusable Error code Error name QD73A1 AD70 A1SD70 60 x O 61 Write in the buffer memory prohibited x O 62 x O 86 Mode setting error x O 120 Flash ROM write exceeded O x A 121 Flash ROM write error O x 122 Zero adjustment error O x 123 Zero gain adjustment setting error O x 124 Zero gain adjustment value error O x Analog output adjustment area 1 125 O d Outside the setting range gt Analog output
146. a postion within the stroke A limit range using 306 operation Check the power supply status and wiring of the drive unit as well as the connections of connectors If the system does not need limit switches wire devices so that the QD73A1 s LS signal inputs stay Create CSV Ele a c CHAPTER 14 TROUBLESHOOTING b Error and Solution Intelligent Module Information Error and Solution Displays the detail and corrective action for the error selected on Error History List Intelligent Module Information Displays the QD73A1 s status at the occurrence of the error selected on Error History List For the QD73A1 the following are displayed Item Description Current feed value Actual current value The current value at the time of the error occurrence is stored The actual current value at the time of the error occurrence is stored State of the input signal Xn0 to XnF State of the input signal X n 1 0 to X n 1 F The status of input signals XO to XF at the time of error occurrence is stored in hexadecimal The status of input signals X10 to X1F at the time of error occurrence is stored in hexadecimal State of the output signal YnO to YnF The status of output signals YO to YF at the time of error occurrence is stored in hexadecimal State of the output signal Y n 1 0 to Y n 1 F The status of output signals Y10 to Y1F at the time of error occu
147. ables for external I O signals and for the drive unit together with the main 3 circuit lines power cables or load circuit lines of a device other than the programmable controller Keep a 4 distance of 100mm or more between them 2 Failure to do so may result in malfunction due to noise surges and induction Place the cables in a duct or clamp them If not dangling cable may swing or inadvertently be pulled resulting in damage to the module drive unit or cables or malfunction due to poor contact 65 As a measure against noise use shielded cables if the cables connected to the module are close less than 100mm to a power cable Ground the shields of shielded cables to the control panel securely on the module side To comply with EMC and Low Voltage Directives ground shielded cables to the control panel using the AD75CK cable clamp manufactured by Mitsubishi Electric Ground the shield parts at a point within 20 to 30cm from the module Inside the control panel QD73A1 aly 20 to 30cm For details on the AD75CK refer to the following AD75CK type Cable Clamping Instruction Manual The length of the cable between the module and the drive unit is 1 to 3m generally The length depends on the specifications of the drive unit Review the specifications of the drive unit to be used The length of the cable between the module and the encoder is as listed below generally The
148. accumulated pulses are judged by accumulated pulses that are 1 1 times of the reference value maximum value Thus an alert is output and the positioning stops simultaneously c Alert output accumulated pulse setting value immediate stop accumulated pulse setting value and Accumulated pulse setting in the switch setting The setting range of Cd 13 Alert output accumulated pulse setting value maximum value and C4 15 Alert output accumulated pulse setting value minimum value is 1000 to 50000 1 to 50 times However when the alert output accumulated pulses exceed the amount of Accumulated pulse setting in the switch setting an alert is output according to the setting of Accumulated pulse setting The above is applicable to Cd 14 lmmediate stop accumulated pulse setting value maximum value and cd 16 Immediate stop accumulated pulse setting value minimum value When the measured reference value maximum value is 2000 and the setting values are as follows Accumulated pulse setting in the switch setting 3700 to 3700 selection 1 e C4 13 Alert output accumulated pulse setting value maximum value 3000 3 times The calculated value of alert output accumulated pulses maximum value is 6000 2000 3000 1000 x 2000 1000 However the value of alert output accumulated pulses maximum value becomes 3700 because the calculated value exceeds the amount of Accumulated pulse
149. adjustment area 2 126 O 2 Outside the setting range x 130 Accumulated pulse alert O x E o 131 Accumulated pulse error undetectable O x 2 w 132 Reference value write error O x a 5 133 Flash ROM write exceeded O x 9 gt 134 Flash ROM write error O x a 800 Hold error O x S 2 803 Programmable controller CPU error O x 2 900 Hardware error 1 O x 2 999 Hardware error 2 O x gt d All the other error codes are the same D oO N o 267 4 Input X output Y comparison O Usable x Unusable Device No Signal name QD73A1 AD70 A1SD70 X20 OPR start complete signal O x X21 Absolute positioning start complete signal O x X22 Forward start complete signal O x X23 Reverse start complete signal O x X24 Synchronization flag O x X2A Zero gain adjustment data writing complete flag O x X2B Zero gain adjustment change complete flag O x X2C Set value change complete flag O x XoD Operating status of the speed position control o switch mode Y1A Zero gain adjustment data writing request signal O x Y1B Zero gain adjustment change request signal O x Y1C Set value change request signal O x 1 For assignment to X Y10 to X Y2F All the other I O signals are the same 268 APPENDICES 5 Buffer memory address comparison Buffer memory address decimal Buffer memor
150. amount Double check the parameters Check if the set position is proper according to the machine position Check the positioning parameters and positioning data Check the accumulated pulse setting Page 102 Section 6 2 2 Check the multiplication setting 7 5 Page 104 Section 6 2 3 Double check the sequence program Check if a proper address is set Check if a proper value is set for a current value change Check if a stop signal is input Check if the set movement amount is too small for operation in the speed position control switch mode Is the motor rotating smoothly Check if the feedback pulse frequency is within 1Mpulse s using an oscilloscope Is there noise effect Place signal lines away from power cables Use shielded twisted pair cables for signal lines Ground cables without fail Place each device in the system away from noise source 245 BunoousejqnoJ zv SJnooo 10119 Buiuonisod e ueuM tZ vl 14 2 5 When the positioning speed is different from the specified speed Check item Action Are the positioning data set properly Is the set positioning speed value greater than _Pr 5 limit value Speed Set proper positioning data Set a positioning speed value that is smaller than Pr 5 value Speed limit Is the accumulated pulse setting proper Calculate the maximum accumulated pulse amount and
151. amount of the voltage between check pins to Cd 11 Zero gain adjustment value specification Write the adjustment amount of the voltage between check pins to Cd 11 Zero gain adjustment value specification Turn on Set value change request signal Y1C Turn on Set value change request signal Y1C Check that Set value change complete flag X2C turned on following the change of voltage between check pins Then turn off Set value change request signal Y1C Check that Set value change complete flag X2C is off after turning off Set value change request signal Y1C Is the voltage between check pins 0V Gain adjustment Set Cd 10 Zero gain adjustment specification to 1 Zero adjustment v Set Cd 10 Zero gain adjustment specification to 2 Gain adjustment h 4 Turn on Zero gain adjustment change request signal Y1B y Turn on Zero gain adjustment change request signal Y1B y Check that Zero gain adjustment change complete flag X2B is on y Check that Zero gain adjustment change complete flag X2B is on y Turn off Zero gain adjustment change request signal Y1B y Turn off Zero gain adjustment change request signal Y1B y Check that Zero gain adjustment change complete flag X2B is off Check that Md 10 Zero gain adjustment sta
152. and when 1 is set in bO two phase trapezoidal positioning control is specified b15 to b1 bO L 0 Positioning control 1 Two phase trapezoidal positioning control Values in b1 to b15 are ignored 83 84 2 Da 2 Positioning address P1 Set the address that is the destination of major positioning control The setting range depends on the type of major positioning control If the specified positioning address is outside the stroke range the error Positioning address Outside the setting range error code 30 occurs and the positioning does not start a Absolute system When the absolute system is selected set an absolute address movement amount from the OP Stop position positioning start address 1000 1000 3000 Movement amount 2000 Movement amount 2000 To execute two phase trapezoidal positioning control in the absolute system the positioning direction from Da2 Positioning address P1 to Da4 Positioning address P2 and the positioning direction from the current value to D 2 Positioning address P1 must be the same If not the error Two phase trapezoidal positioning address error error code 31 occurs and the two phase trapezoidal positioning control does not start b Incremental system When the incremental system is selected set movement amount from the current value Stop position
153. ared check that this area stores 0 and no error is detected before the start Deviation counter clear When the deviation counter is cleared 1 Clear the deviation command counter va2 Actual current value changes to the value in a1 Current feed value Data cannot be written while BUSY signal X14 is on Check that BUSY signal X14 is off before writing data If data writing is attempted while BUSY signal X14 is on the error Deviation counter clear error error code 114 occurs For details on the deviation counter clear function refer to the following 357 Page 218 Section 11 7 Set pulse amount to adjust gain with Depends on Accumulated specific accumulated pulse amount pulse setting in the switch This setting is enabled only in the zero gain setting adjustment mode Setting Use this area when the default value or one Accumulated range Unit of the selections 1 to 4 is set in pulse setting pulse ejeq jonuot 9 G Accumulated pulse setting in the switch setting When one of the selections 5 to 8is Selection 1 3700 to 3700 set use ca Analog output adjustment 7 2 4 0 87 Selection 2 Min i area 2 7400 11100 to 11100 Analog output adjustment area 1 If the setting is outside the setting range the error Analog output adjustment area 1 Selection 3 Outside the setting range error code 125
154. asing direction The JOG operation continues while this signal is on The JOG operation decelerates and stops when this signal is turned off Reverse JOG start signal Y25 Turn on this signal to start JOG operation in the address decreasing direction The JOG operation continues while this signal is on The JOG operation decelerates and stops when this signal is turned off 10 Speed position mode restart signal Y26 Turn on this signal to restart positioning if it stopped due to Stop signal in the speed position control switch mode 11 Stop signal Y27 Turn on this signal to decelerate and stop OPR operation major positioning operation or JOG operation If this signal is turned on during OPR Error detection signal X18 turns on 12 Error reset signal Y28 Turn on this signal to clear the following buffer memory data to 0 when Error detection signal X18 is on e M83 JError code ERR 1 e Vd4 Error code ERR 2 When this signal is turned on Error detection signal X18 turns off 13 Overflow reset signal Y29 Turn on this signal to turn off Overflow signal X19 when it is on For the on off timing of this signal refer to the detail of Overflow signal X19 gt Page 35 Section 3 4 2 10 39 sjeuBis 1ndjno jo sjed amp v BINPOW Nd9 24 oyuioJ sjeuBis O I Ye 14 Underflow reset signal Y2A Turn on this signal to turn off Underflow signal X1A when it is on For
155. back pulse PULSE B 41 43 44 Phase Z feedback pulse PULSE Z 41 43 44 PLC READY signal Y2D 0 40 76 Points ets ele a et 271 Position control mode 00000 189 Position loop gain llli essen 102 Positioning address P1 suus 83 84 Positioning address P2 83 85 Positioning complete signal X15 34 Positioning control llle 189 Positioning data 83 184 185 Positioning data setting 107 Positioning feedback pulse input 26 Positioning mode 22000000 76 79 Positioning pattern llle sess 83 Positioning speed V1 2 22 22 22 e eee 83 85 Positioning speed V2 2200005 83 85 Precautions on programming 109 Product Information List o 25 Programming tool llli 16 Pulse frequency l l llle 17 41 Pulse generator l l ess 17 104 275 Pulse width aE a se 41 Q QCBPUcz c ui Eee dee P REPE ovis 16 OD LOAD s sud de us ta s zo oe s 16 QD73A1 READY signal X11 0 00 33 R Range of JOG operation 200 Rating plate gd LT ILE os AS 24 Redundant CPU looccccccc esses 16 Reference value llli sess 223 Reference value measurement flag 88 Reference value write request 99 Restarlirig sz eeri ot at da nde 232 Restoring the zero gain adjust
156. be used Accumulated pulse setting Set this item according to the system to be used Multiplication setting Set this item according to the system to be used OPR direction setting Set this item according to the system to be used OPR method setting Set the near point dog method or the count method Encoder I F setting Set this item according to the system to be used Analog voltage resolution setting Set this item according to the system to be used Zero gain adjustment mode Normal mode setting Set Normal mode 113 uoneunBijuo wajs s pyepueis e ul ejnpoyy au Buis ueuM 7 3 Writing parameters Write the set parameters to the CPU module then reset the CPU module or turn off and on the power supply of the programmable controller XS Online z Write to PLC um O p or Power off on 4 I O signals of the QD73A1 Refer to Page 31 Section 3 4 1 I O signals used in program examples are assigned as in the list on Page 31 Section 3 4 1 5 Program example Refer to the following Program example Reference Parameter setting program Page 115 Section 7 3 1 Near point dog method OPR program Page 117 Section 7 3 2 1 Count method OPR program Page 120 Section 7 3 2 2 Positioning control program Page 123 Section 7 3 3 1 Two phase trapezoidal positioning control program Page 125 Section 7 3 3 2
157. by the user Device Description X3C Speed control operation change command X3D Positioning data write command X3E Forward run command X3F Reverse run command D28 Positioning mode D62 Positioning speed V1 lower 16 bits D63 Positioning speed V1 upper 16 bits M50 Speed control command pulse d Program example E Turn off Speed position switching enable 1 J r VI A RST 126 signal i A Positioning mode Speed position control i LMOVP Ki D28 J switch mode Un jJ i BMOVPD28 G25 K1 Set variable parameters to the QD73A1 X3D X14 Y22 Y23 jJ Ol it Yt Y DMOVPK1000 D62 Positioning speed V1 1000pulse s un 1 BMOVPD62 G304 K2 J Set positioning data to the QD73A1 X3E l PLS M50 Command speed control X3F M50 X11 X14 Y27 X3E Y23 ll M Mt SET Y22 Turn on Forward start signal X3F Y22 7 SET Y23 J Turn on Reverse start signal Y22 X22 DX14 Y26 E H M H RST Y22 J Turn off Forward start signal X17 X18 Y23 X23 DX14 Y26 Bl n M ME RST Y23 Turn off Reverse start signal X17 X18 END 1 Variable parameters and positioning data can be set through GX Works2 also gt Page 106 Section 6 3 Page 107 Section 6 4 The sequence program that sets variable parameters and positioning data is unnecessary when the data were set through GX Works2 130 CHAPTER 7 PROGRAMMING
158. can be set When i ion i anytime i cim setting value setting value selection is set 0 y Cd 18 Accumulated 404 minimum to 0 pulse error detection 405 veis 148000 to 1 pulse request is changed mer If ca 17 Accumulated pulse from 0 to 1 accim l ted m setting value selection is set setting value i pli 0 406 928 be 1000 to 50000 407 3 value 12 x 10 Accumulated pulse 0 Set with pulse 0 Set Cd 17 setting value TRE 408 HOUR 1 Set with magnification with pulse i Accumulated pulse ONor guest EN Measurement error detection 409 Cd 18 1 Requested request start request must be request set to 0 i Accumulated Measurement start 0 No request 0 No pulse error detection da f request 1 Requested request request must be set to 0 Reference value 0 No request 0 No Reference Cd 20 3 value measurement 411 write request 1 Requested request flag must be set to 1 224 1 Set both alert output accumulated pulse setting value and immediate stop accumulated pulse setting value If either of the values is set to 0 the accumulated pulse error detection function does not operate The error Accumulated pulse error undetectable error code 131 occurs 12 If either of the maximum value and minimum value is set properly the accumulated pulse error detection function operates The error detection is not executed for the unset side 3 Each request is detect
159. ccurrence The same Same as Record 8 R 154 9AH data structure as record record 0 155 9B 0 156 9Ch Error code and error 157 9D occurrence The same Same as Record 9 R 158 9Ey data structure as record record 0 159 9F 0 160 AO H Error code and error 161 Aly occurrence The same Same as Record 10 R 162 A2 data structure as record record 0 0 163 A3 52 CHAPTER 3 SPECIFICATIONS Default Read Memo Address Address Data a Name value Write area Reference decimal hexadecimal type m 7 164 A44 Error code and error 165 ASH occurrence The same Same as Record 11 R 166 Aby data structure as record record 0 0 167 ATy 168 A8y Error code and error 169 ASH occurrence The same Same as Record 12 R 170 AAy data structure as record record 0 0 171 ABy 172 ACy Error code and error 173 ADH Monitor Record 13 Occurrence The same Same as Es 174 AEn data data structure as record record 0 Monitor Page 86 monitor 0 data area Section 5 5 175 AFH area 176 BOy Error code and error 177 B1H occurrence The same Same as Record 14 R 178 B2 data structure as record record 0 0 179 B3y 180 B44 Error code and error 181 B5H occurrence The same Same as Record 15 R 182 B6 data structure as record record 0 0 183 B7y 184 B84 M
160. ce ee 209 Speed limit value oooo 76 78 Speed position control switch mode 84 193 232 Speed position mode restart signal Y26 39 Speed position movement amount change 196 Speed position switching command 86 Speed position switching command signal CHANGE Sofas use el etae ay a org aoe tP EE 41 43 44 Speed position switching enable signal Y2C 40 Start after clearing deviation counter 218 Starting time siora ni aa a 00 eee eee 26 StartXY vs sse edam a dd 271 Stop signal STOP 41 43 44 Stop signal Y27 22000 eee eee eee 39 Storage of errors 2 ee 249 Stroke limit 2222s 211 Stroke limit check details and processing for each control Amp need Sorti A sd cte Pi A C ea 212 Stroke limit lower limit 76 77 Stroke limit upper limit 76 77 SNV SENES c opu MERI Bin Od dng ate td 263 Switch setting o oooooooo oo 101 235 Switchover from speed control to position control Sach andi ace eicit ns Ahad ine ivive qas ti DAE atin Aa a 193 Synchronization flag X24 oo o o 36 System error history 00005 240 System monitor 20000 eee eeee 25 T riss en tad oe oS so a x3 eua Y 16 274 Tightening torque range llle sss 55 Timing at which speed cannot be changed 216 Title Settings caco aia jun EORR 100 Troubleshooting llle 243 Troubles
161. command r pulses Multiplication Command CMX feedback pulse Set numerator and denominator of command pulse multiplication for electronic gear to parameters Satisfy the following condition when setting a numerator CMX and a denominator CDV 50 CDV La a 50 If the setting range is exceeded the error Denominator of command pulse multiplication for electronic gear Outside the setting range error code 3 occurs When the electronic gear function is used positioning speed and movement amount are multiplied by the specified value When there are decimal pulses the fractions are maintained inside and accumulated for the next command The following is an example of the use of electronic gear Ex A positioning system using the following worm gear Worm gear lead 10mm Feedback pulses from the servomotor 12000pulse rev When the electronic gear function is not used the feed rate movement amount per pulse has fractions AQ ae 0 000833 mm pulse 12000 9 P In this system the fractions can be avoided using the electronic gear function and setting numerator and denominator as follows CMX CDV 12 10 AP 12000 x 12 0 01mm pulse 207 uonoungJ 18935 9140119913 LLL 2 Precautions for control Execute OPR without fail after resetting the CPU module If not a positioning error occurs by the fractions of electronic gear that were not output during positioning before the CPU reset Whe
162. control to be executed Page 135 Section 7 3 6 Current value change Page 170 Section 7 4 6 Speed change Deviation counter clear 5 Stop program Page 139 Section 7 3 7 Create a program for stopping control Page 175 Section 7 4 7 112 CHAPTER 7 PROGRAMMING 7 3 When Using the Module in a Standard System Configuration This section introduces program examples where the following system configuration applies 1 System configuration QCPU QD73A1 First half X YO to X YF Empty 16 points Second half X Y10 to X Y2F Intelli 32 points QX41 X30to X4F 2 Switch setting 7 Configure the switch setting as follows Project windowzc Intelligent Function Module z QD73A1 z Switch Setting Switch Setting 0010 QD73A1 Item Axis 1 Rotation direction setting d Accumulated pulse setting Multiplication setting OPR direction setting Reverse direction address decreasing OPR method setting Near point dog method Encoder I F setting Open collector output Analog voltage resolution setting 12 bit resolution Zero gain adjustment mode Normal mode setting Normal mode This dialog setting is linked to the Switch Setting of the PLC parameter Default value will be shown in the dialog if the Switch Setting of the PLC parameter contains an out of range value cuu Item Setting value Rotation direction setting Set this item according to the system to
163. cumentation is used for Screen names and items 2311 a Setting method 1 fa 1 shows operating procedures O shows mouse operations is used for items in the menu bar and Settingiparameters Operatingiprocedure 1 Open th PLC Parameter ialog box X5 Project window gt Parameter gt Select the I O Assignment tab the project window Select the type of the connected module Page 74 Section 7 12 Select the model name of the connected module Page 74 Section 7 12 Set the number of points assigned to each siot Page 74 Section 7 14 Specify a start VO number for each slot Page 74 Section 7 15 EA Configure the switch setting of the buit I O or inteligent function modules Page 74 Section 7 1 8 petsed serna Set the folowing Error Time Output Mode Page 75 Section 7 1 7 panan Sunes 1 Ex shows setting or operating examples LLLI shows reference manuals lt shows reference pages panew Bumes ITZ Setting Start X Y enables modification on the start O numbers assigned to connected modules Ex When 1000 is specified in Start X Y to the slot where a 16 point module is connected the assignment range of an input module is changed to X1000 to X100F gr details refer to the following ra IELSEC L CPU Module User s Manual Function Explanation
164. d 16 Error history pointer 0 R eo zi 185 B9 c a System area 9 w 199 C74 S e 200 C8y Md 17 Maximum accumulated pulse 0 R 201 C94 value 3 lt 202 CAH Monitor Md 18 Minimum accumulated pulse 0 R o 203 CBy data value Monitor Page 86 g monitor data area Section 5 5 e 204 CC ara Md 19 Accumulated pulse error 0 R o detection function status 205 CD Md 20 Reference value measurement 0 R flag 206 CEy System area 300 12Cy 53 Default Read Memo Address Address Data i y a Name value Write area Reference decimal hexadecimal type a En Page 83 301 12Dy Da1 Positioning pattern 0 R W Section 5 4 1 302 12Eu Page 84 Da2 Positioning address P1 0 R W Section 5 4 303 12Fy 2 130 Page 85 304 p Positioning Positioning g Da 3 Positioning speed V1 0 RIW Section 5 4 305 1314 data data area 3 306 1324 Page 85 Da4 Positioning address P2 0 R W Section 5 4 307 1334 4 308 1344 Page 85 Da5 Positioning speed V2 0 R W Section 5 4 309 135 5 310 1364 3 3 System area m ze 399 18F 200 190 Cd 13 Alert output accumulated pulse 0 RIW 401 1914 setting value maximum value 402 1924 Cd 14 Immediate stop accumulated 0 RIW 403 1934 pulse setting val
165. d feed operation by turning on Fixed feed start command repeatedly Use the current value change function and positioning start in the absolute system Suppose that parameter setting and OPR were completed lt gt Page 147 Section 7 4 1 Page 149 Section 7 4 2 1 Program detail As X32 is turned on the following positioning data are written Item Setting detail Da2 Positioning address P1 20000pulse Da3 Positioning speed V1 1000pulse s As X33 is turned on the module starts fixed feed operation 2 Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON o Lower limit signal RLS ON QD73A1 READY signal X1021 ON BUSY signal X1024 OFF Excessive error signal X1027 OFF Error detection signal X1028 OFF I O signal Absolute positioning start complete signal OFF m X1031 Synchronization flag X1034 ON Absolute positioning start signal Y1031 OFF Stop signal Y1037 OFF PLC READY signal Y103D ON When the positioning speed is set Buffer memory Positioning data No error exceeding See Speed limit value the positioning is executed at Pr5 Speed limit value 165 ureJBoJd uonegedo peer pexi4 pp OMION O I BOWSY e ur ejnpojy ayy BuIsy ueuM Z 166 3 Device used by the user
166. d on the operation does not restart even if this signal is turned off Speed position switching command 8 Input this signal to switch control during the speed position control signal CHANGE switch mode This power supply is common to the following signals Upper limit signal FLS Lower limit signal RLS Power supply 5 to 24V 5 Near point dog signal DOG Stop signal STOP Speed position switching command signal CHANGE 44 CHAPTER 3 SPECIFICATIONS Connector Pin r f Signal name Signal detail name number e This signal turns on when the drive unit is ready to operate Servo READY signal READY 4 Positioning cannot be started when this signal is off side If this signal turns off during positioning the system stops The System does not operate even if this signal is turned on again Servo READY signal READY EI side 2 This line is common to Servo READY signal READY si Wire this signal without fail to prevent malfunction of the servomotor SERVO This signal turns on automatically if there is no hardware error Servo ON signal SVON side 3 at a system startup This signal turns off if an error was detected due to an excessive error or by the QD73A1 s self diagnosis on its hardware Servo ON signal SVON side 4 This line is common to Servo ON signal SVON A The analog voltage converted from digital accumulated pulse Speed command
167. de M1 Fixed parameter setting memory M2 Variable parameter setting memory M200 Z P REMTO instruction completion M201 Z P REMTO instruction failure M202 Z P REMTO instruction completion M203 Z P REMTO instruction failure 4 Program example X20 a tt SET M1 Command fixed parameter settings M1 X1020 2X1021 Y103D f Y DMOVP K20000000 DO Stroke limit upper limit 20000000pulse DMOVP KO D2 Stroke limit lower limit Opulse e Numerator of command pulse UMOVP KI DA multiplication for electronic gear 1 Denominator of command pulse MOVP Ki DS multiplication for electronic gear 1 KO gt RST M1 Completes the fixed parameter settings KO gt ZP REMTO Jr K1 K1 H2 KO DO K6 M200 J Set fixed parameters to the QD73A1 X21 tt SET M2 J Command variable parameter settings M2 DMOVPK30000 D10 Speed limit value 30000pulse MOVP K400 D12 Acceleration time 400ms MOVP K250 D13 Deceleration time 250ms MOVP K10 D14 J In position range 10pulse MOVP KO D15 Positioning mode Position control mode I ZP REMTO Jd K2 K1 H2 K20 D10 K6 M202 Set variable parameters to the QD73A1 M202 M203 AM RST M2 Completes the variable parameter settings CHAPTER 7 PROGRAMMING 7 4 2 OPR program Programs in this section execute OPR in the near point dog method or the count method 1 Near point dog method OPR program This program executes OPR in the near point dog method Suppose that fixed pa
168. dgment value alert output accumulated pulses maximum value is set The relation between this setting and the judgment value is as follows If ca 17 Accumulated pulse setting value selection is set to 0 f ea371 Accumulated pulse setting value Alert output accumulated pulses maximum selection is set to 0 value reference value maximum value 1 to 148000 pulse Alert output Cd 13 Alert output accumulated pulse setting IF eaa7 Accumulated accumulated pulse value maximum value 0 400 a setting value maximum pulse setting value 401 94 CHAPTER 5 DATA USED FOR POSITIONING Buffer EN A Default memory Item Description Setting range value address decimal The difference between the reference value maximum value and the judgment value immediate stop accumulated pulses maximum value is set The relation between this setting and the judgment value is as follows If cd 17 Accumulated pulse setting value selection is set to 0 If ca 17 Accumulated Immediate stop accumulated pulses pulse setting value maximum value reference value selection is set to 0 maximum value Cd 14 Immediate stop 1 to 148000 pulse Immediate stop accumulated pulse setting value maximum If Fea 71 Accumulated accumulated pulse value X 0 402 cin setting value maximum pulse setting value 403 value If ca 17 Accu
169. dition of the feedback pulses from the encoder as the phase A is ahead of the phase B by 90 in case of forward run Motor rotation Rotation direction E ES Connection direction setting Phase Phase When the rotation aA Base directions of the motor and m B B the encoder are the same Positive voltage is output QD73A1 Encoder Forward run when the positioning address increases Phase Phase A A 1 pael e eias PAS ase QD73A1 Encoder When the rotation directions of the motor and the encoder are different Reverse run Negative voltage is output when the positioning address increases Phase me secet qu Phase Phase CB B When the rotation directions of the motor and the encoder are the same QD73A1 Encoder Phase Phase When the rotation Phase Phase directions of the motor and QD73A1 Encoder the encoder are different Point If the connection of the QD73A1 and the encoder is incorrect the motor rotates at a power on and Excessive error signal X17 turns on 68 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 2 Connection between the QD73A1 and each type of encoder The following table shows the connection between the QD73A1 and each type of encoder Set the output type of the encoder to be used in Encoder I F setting of the switch setting For details on Encoder I F sett
170. e Incremental system Position command Positioning Speed command 2147483648 to 2147483647 pulse signed 32 bit binary 1 to 4000000 pulse s Acceleration Automatic trapezoidal acceleration deceleration Automatic acceleration deceleration time Acceleration time 2 to 9999 ms Deceleration time 2 to 9999 ms In position range Backlash compensation 1 to 20479 pulse None Error correction function None Speed command output 0 to 10VDC Adjustable to set in the range of 5 to 10VDC Pulse frequency Positioning feedback Open collector 200kpulse s TTL 200kpulse s Differential output 1Mpulse s pulse input Connectable encoder type Open collector TTL or differential output Multiplication setting The number of input feedback pulses can be multiplied by 4 2 1 or 1 2 With OPR address change OPR control An OPR method and OPR direction can be set through the intelligent function module switch setting JOG operation JOG operation can be started by inputting a JOG start signal M function None Internal current consumption 5VDC 0 52A External supply voltage current terminal block No external power supply External dimensions 98 H mm x 55 2 W mm x 90 D mm Weight 0 20kg Absolute system 1 2ms same for two phase trapezoidal positioning mM Incremental system 1 2ms same for two phase trapezoidal positioning Starting time
171. e change request signal SIOUIO pue ve4doO eu ueewjeg UOISSILUSUEA eubis z Data writing reading 19 1 Between the CPU module and the QD73A1 The CPU module and the QD73A1 transmit control signals and data to each other through the base unit Transmitted item Description Reference Signals that indicate the QD73A1 s status or Page 31 Section 3 4 are related to commands are transmitted Control signal Data is written to or read from the buffer Data memory in the QD73A1 by application Page 74 CHAPTER 5 instructions of the CPU module 2 Between the drive unit and the QD73A1 Control signals are transmitted between the drive unit and the QD73A1 and speed commands analog voltage are output from the QD73A1 to the drive unit For details refer to the following L gt Page 41 Section 3 5 CHAPTER 2 SYSTEM CONFIGURATION CHAPTER 2 SYSTEM CONFIGURATION This chapter describes the system configuration of the QD73A1 2 1 Applicable Systems This section describes applicable systems 1 Applicable modules and base units and number of mountable modules The following table lists CPU modules and base units applicable to the QD73A1 and the number of mountable QD73A1 Depending on the combination with other modules or the number of mounted modules power supply capacity may be insufficient Select the power supply capacity according to the module to b
172. e programmable controller Keep a distance of 100mm or more between them Failure to do so may result in malfunction due to noise surges and induction Installation Precautions NCAUTION O Use the programmable controller in an environment that meets the general specifications in the user s manual for the CPU module used Failure to do so may result in electric shock fire malfunction or damage to or deterioration of the product To mount the module while pressing the module mounting lever located in the lower part of the module fully insert the module fixing projection s into the hole s in the base unit and press the module until it snaps into place Incorrect mounting may cause malfunction failure or drop of the module When using the programmable controller in an environment of frequent vibrations fix the module with a screw Tighten the screws within the specified torque range Undertightening can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction Securely connect the drive unit connector and external device connector to the connector on the module Poor contact may cause incorrect input or output Do not directly touch any conductive parts and electronic components of the module Doing so can cause malfunction or failure of the module Shut off the external power supply all phases used in the system before mounting or rem
173. e used If the power supply capacity is insufficient change the combination of the modules Applicable CPU module Applicable base unit Number of modules f Extension CPU type CPU model Main base unit base unit Q00JCPU Up to 5 Basic model QCPU QOOCPU O O Q01CPU ERE Q02CPU Q02HCPU QO6HCPU Up to 32 O O Q12HCPU Q25HCPU Q02PHCPU QO6PHCPU Process CPU GIGBHEBU Up to 32 O O Q25PHCPU Programmable Q12PRHCPU controller CPU Redundant CPU Up to 26 x O Q25PRHCPU QOOUJCPU Up to 5 QOOUCPU Q01UCPU QO2UCPU Up to 18 QO3UDCPU Universal model QCPU QO4UDHCPU O QO6UDHCPU Q 10UDHCPU Up to 32 Q13UDHCPU Q20UDHCPU Q26UDHCPU High Performance model QCPU suiejs g ejqeouddy Z Up to 12 21 Applicable CPU module CPU type CPU model Applicable base unit Number of modules Main base unit Extension base unit Programmable Universal model QCPU controller CPU QOSUDECPU Q04UDEHCPU QO6UDEHCPU Q10UDEHCPU Q13UDEHCPU Q20UDEHCPU Q26UDEHCPU Q50UDEHCPU Q100UDEHCPU Up to 32 Safety CPU QS001CPU N A C Controller module QO6CCPU V QO6CCPU V B Q12DCCPU V Up to 32 O O 1 Limited within the range of I O points for the CPU module 12 Can be mounted on any I O slot of a base unit 3 Connection of an extension base
174. e will be shown in the dialog if the Switch Setting of the PLC parameter contains an out of range value rem CHAPTER 7 PROGRAMMING c Execution condition Check item Condition Servo READY signal READY ON Stop signal STOP OFF External I O signal Upper limit signal FLS ON Lower limit signal RLS ON WDT error H W error signal X10 OFF QD73A1 READY signal X11 OFF BUSY signal X14 OFF Excessive error signal X17 OFF Error detection signal X18 OFF I O signal OPR start complete signal X20 OFF Synchronization flag X24 ON OPR start signal Y20 OFF Stop signal Y27 OFF PLC READY signal Y2D OFF Buffer memory OPR parameters No error d Device used by the user Device Description X31 OPR command D20 OP address lower 16 bits D21 OP address upper 16 bits D22 OPR speed lower 16 bits NN D23 OPR speed upper 16 bits Q w D24 Creep speed lower 16 bits Oo 5 D25 Creep speed upper 16 bits Kay E 0 D26 Movement amount after near point dog ON lower 16 bits e a D27 Movement amount after near point dog ON upper 16 bits 5 F MO Fixed parameter setting memory S M34 OPR parameter setting memory M35 OPR request M37 OPR command pulse e 23 SM402 Turns on for one scan once the CPU module is in the RUN status S o o lt n 3 Q o 3 2 c 8 5 121 122 e Program example SM402 X10 X11 Y2D
175. ecomes closer to the center of Zero signals Is the OPR completed near the position where Near point dog signal DOG turns on Near point dog signal DOG may be chattering Use a high performance near point dog Is the OPR in the near point dog method completed even though the near point dog did not turn off In the near point dog method is the movement amount after near point dog ON more than that of normal OPR completion by one or more servomotor rotation The contact or wiring of the near point dog is not proper Check the wiring Near point dog signal DOG may be chattering when it turns off Use a high performance near point dog 247 10119 YdO ZZY Sunooysa qnolL Z vl 14 3 Details of Errors 14 3 1 Types of errors 248 The errors detected in the QD73A1 are categorized into five types 1 2 3 4 5 Setting data range error The QD73A1 checks parameters with the setting ranges at the following timings and detects an error when a data is outside the setting range If an error occurs the corresponding data must be changed to a value within the setting range Setting data Check timing Fixed parameters When PLC READY signal Y2D is turned on When a positioning start signal Y21 to Y23 is turned on Variable parameters When a JOG start signal Y24 Y25 is turned on When OPR start signal Y20 is turned on OPR parameters When OPR start signal Y20 is
176. ection describes the precautions on wiring Check the terminal layout beforehand to wire cables to the module correctly Connectors for external devices must be crimped or pressed with the tool specified by the manufacturer or must be correctly soldered Incomplete soldering or crimping may result in malfunction Prevent foreign matter such as dust or wire chips from entering the module Such foreign matter can cause a fire failure or malfunction A protective film is attached to the top of the module to prevent foreign matter such as wire chips from entering the module during wiring Do not remove the film during wiring Remove it for heat dissipation before system operation Connect the external device connectors to the connectors on the module and tighten the screws securely Tighten the connector screws within the specified torque range Undertightening can cause short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfunction Screw Tightening torque range Connector screw M2 6 screw 0 20 to 0 29N m When disconnecting a cable from the module or the drive unit do not pull the cable by the cable part AR Disconnect the cable holding the connector a ES Pulling a cable connected to the module or the drive unit can cause malfunction 55 Such action can also damage the module drive unit or cable a Do not install the connection c
177. ed on a cycle of 0 5ms CHAPTER 11 CONTROL SUB FUNCTIONS 1 Alert output accumulated pulses and immediate stop accumulated pulses Alert output accumulated pulses accumulated pulses set to output an alert and immediate stop accumulated pulses accumulated pulses set to stop the positioning immediately are set by combining the following values Reference value Alert output accumulated pulse setting value Cd 13 LCd 15 Immediate stop accumulated pulse setting value cd 14 Cd 16 e Cd 17 Accumulated pulse setting value selection 2 If c 17 JAccumulated pulse setting value selection is set to 0 Set with pulse Alert output accumulated pulses and immediate stop accumulated pulses can be obtained as follows Alert output accumulated pulses reference value alert output accumulated pulse setting value Immediate stop accumulated pulses reference value immediate stop accumulated pulse setting value a When the value is outside the setting range The accumulated pulse error detection function does not operate b Alert output accumulated pulse setting value and immediate stop accumulated pulse setting value The value of alert output accumulated pulses maximum value is calculated using the value of Cd 14 lmmediate stop accumulated pulse setting value maximum value at the following condition Cd 13 Alert output accumulated pulse s
178. ed that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail safe redundant or other safety features which exceed the general specifications of the PRODUCTS are required For details please contact the Mitsubishi representative in your region INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC Q series programmable controllers This manual describes the operating procedure system configuration parameter settings functions programming and troubleshooting of the QD73A1 positioning module hereafter abbreviated as QD73A1 Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC Q series programmable controller to handle the product correctly When applying the program examples introduced in this manual to an actual system ensure the applicability and confirm that it will not cause system control problems Relevant module QD73A1 Unless otherwise specified this manual describes the program examples in which the I O numbers of X Y10 to X Y2F are assigned for the QD73A1 For I O number assignment refer to the following manuals QnUCPU Users Manual Function Explanation Program Fundamentals Qn H QnPH QnPRHCPU User s Manual Function Explanation Program Fundamentals O Operating procedures are explained using GX W
179. edback pulse For differential input 10 KO A Connect these terminals to the terminal T connector for pulse output of an encoder 6 9 a D gt Phase Z feedback pulse 7 KA rh 9 Vw Analog GND 1 When input impedance of the servo amplifier is low analog output level may become low due to this resistance If that causes a problem perform gain adjustment again with the servo amplifier being connected 46 CHAPTER 3 SPECIFICATIONS External wiring Pin No Internal circuit Signal name Remark 12V 120 13 i p 12V 12k0 Phase A feedback pulse Phase B feedback pulse For open collector input Connect these terminals to the terminal 10 connector for pulse output of an encoder emm Output is pulled up to 12V inside 6 gt Phase Z feedback pulse 7 9 t Analog GND vow Xo 3 V 7 LL ko Y B 5 i gt 10 1k e oo ee 7 GND 9 Vo Phase A feedback pulse Phase B feedback pulse Phase Z feedback pulse Analog GND For TTL input Connect these terminals to the terminal connector for pulse output of an encoder 47 Noo euisjur e2epejul O l Y SE se9 1neg euJajx3 ui seoejaju O JO suoneomoeds S E 3 6 Memory Configuration and Use There are two memories in the QD73A1 O Data setting and storage
180. eed control 196 A A a AS OPR complete signal X13 33 E EE 90 OPR tonta is ES b ie Bd twee Mc Rea 8 a ds 176 OPR direction setting 101 104 L OPR method setting 101 104 OPR request signal X12 00 ee eee 33 Leakage current atOFF o oo oooooooo 42 OPRSBESd A A siet 80 CEDAR e 59 OPR start complete signal X20 deze dove Rs 36 List of buffer memory addresses 49 OPR start signal Y20 o ooooooooo 38 List of functions 2220000 eee 28 OUT terminal cece sh 57 l oad c rrent i lus ell bee E 42 Output method s 32 ctsnei c o buf Ren A RES 42 Load voltage i i seem e 42 Output signal list o ooooooooooo 32 Lower limit signal RLS 41 43 44 Output signals s rer Ea ALa e eee 38 Lower limit signal X1F 0 35 Overflow reset signal Y29 o o o 39 Overflow signal X19 llle 35 M C P Major positioning control 183 P Max voltage drop at ON ooocccccococooo o 42 Parameter setting o ooooooooo 106 Maximum accumulated pulse value 88 Partnames ll lesen 57 Measurement start request o 98 Phase difference oooooooomoo oo o 41 Memory configuration llle 48 Phase A feedback pulse PULSE A 41 43 44 279 Phase B feed
181. eed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition Before handling the module touch a conducting object such as a grounded metal to discharge the static electricity from the human body Failure to do so may cause the module to fail or malfunction Precaution during operation NCAUTION When changing data and operating status and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module read relevant manuals carefully and ensure the safety before operation Incorrect change or modification may cause system malfunction damage to the machines or accidents Disposal Precaution NCAUTION O When disposing of this product treat it as industrial waste CONDITIONS OF USE FOR THE PRODUCT 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fail safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BU
182. eens 183 9 2 Data Required for Major Positioning Control isses 184 9 3 Relation Between Each Control and Positioning Data 0 00 esses eee eee 185 9 4 Specifying a Positioning Address 186 9 5 Checking the Current Value 0 2 eee mr 187 9 6 Details of Major Positioning Control 0 0 00 c ccc e ee e eee 188 9 6 1 Position contr l mode 3o peeks ee a Re e ee oa eb er e 189 9 6 2 Speed position control switch mode 2 cence ee 193 9 7 Operation Timing and Processing Time of Major Positioning Control 197 CHAPTER 10 JOG OPERATION 198 10 1 Operation of JOG Operation iisiisssssssese rne 199 10 2 Operation Timing and Processing Time of JOG Operation 20 0000 eae 204 10 3 Data Setting for JOG Operation 0 teens 205 CHAPTER 11 CONTROL SUB FUNCTIONS 206 11 17 Electronic Gear FUnction ree EE OPE ey ee E 207 41 2 Speed Limit Function 5 cose eee A A ee 209 11 3 Stroke Limit FUNCHON ri he eee LEN Re oe eh a b Es 211 11 4 Upper Limit Switch FLS Lower Limit Switch RLS Function 000000 213 11 5 Current Value Change Function oooccoccocccccecc teeta 215 11 6 Speed Change Function 0 000 c ec eee an 216 11 7 Deviation Counter Clear Function 00 000 cece cee eee 218 11 8 In position Function eis rx Re Race E Rb e ture hee Pad 219 11 9 Accumulated Pulse Error Detection Function li iiie 2
183. eled 14 The following symbols are used to represent buffer memory areas in this manual Serial numbers fit in Symbol Description Pr Symbol indicating positioning parameter and OPR parameter item Da Symbol indicating positioning data item Md Symbol indicating monitor data item Cd Symbol indicating control data item 15 TERMS Unless otherwise specified this manual uses the following terms Term Description QD73A1 The abbreviation for the QD73A1 positioning module QCPU Another term for the MELSEC Q series CPU module Redundant CPU A generic term for the Q12PRHCPU and Q25PRHCPU External input The abbreviation for input from connectors for external devices External output The abbreviation for output to connectors for external devices Programming tool Generic term for GX Works2 and GX Developer GX Works2 The product name of the software package for the MELSEC programmable GX Developer controllers Buffer memory The memory of an intelligent function module used is store data such as setting values and monitored values for communication with a CPU module For terms related to positioning refer to the following 5 Page 274 Appendix 5 PACKING LIST The product package contains the following Model Product Quantity QD73A1 QD73A1 positioning module 1 QD73A1 U HW Before Using the Product 1 16 CHAPTER 1 overview CHAPTER 1 OV
184. encoder s phases A B and Z are side 13 input Phase B feedback pulse PULSE B 5 When the phase A leads the phase B the positioning address side 6 increases at the rising and falling edges of each phase Phase Z feedback pulse PULSE Z When the phase B leads the phase A the positioning address side decreases at the rising and falling edges of each phase When increased When decreased Phase A feedback pulse PULSE A SERVO i ob abe Mc NM a side 11 Phase HA Phase A L EHE als Phase B feedback pulse PULSE B 40 A ee i om e E side A Se Em Gm 7 Phase B 1 Phase B i i Phase Z feedback pulse PULSE Z Vo desk te ob tee rope qd don side Positioning 11 1 Positioning i 1 1 1 address 1 1 1 1 1 1 1 1 address 1 1 1 1 1 1 1 1 Analog GND 9 This signal is input from the limit switch placed at stroke upper Upper limit signal FLS 7 limit position As this signal turns off positioning stops This signal is input from the limit switch placed at stroke lower Lower limit signal RLS 6 limit position As this signal turns off positioning stops This signal is used for detection on the near point dog during Near point dog signal DOG 1 OPR As the near point dog turns on this signal is detected Input this signal to stop positioning CONT As this signal is turned on the QD73A1 cancels the positioning Stop signal STOP 9 f n f in execution Once this signal was turne
185. er Signal name CONT Near point dog signal DOG Empty Empty Empty Power supply 5 to 24V Lower limit signal RLS Upper limit signal FLS Viewed from the front of the module SINI OD om AJ wl NS Speed position switching command signal CHANGE o Stop signal STOP SERVO Viewed from the front of the module Servo READY signal READY side Servo READY signal READY side Servo ON signal SVON side Servo ON signal SVON side Phase B feedback pulse PULSE B side Phase Z feedback pulse PULSE Z side Phase Z feedback pulse PULSE Z side Empty OO CO NN OD ao B WwW N o Analog GND Phase B feedback pulse PULSE B side Phase A feedback pulse PULSE A side N Empty wm Phase A feedback pulse PULSE A side ex oj gt Speed command signal side Speed command signal side 43 JOJOOUUOD 9949P 2uJa xa JO jno e eubis ZSE S 91A9q eulelx3 ui seoepew O JO suoneouioeds S E 3 5 3 List of I O signal details This section describes details of signals that are input or output through external device connectors on the QD73A1 Connector Pin l E Signal name Signal detail name number Phase A feedback pulse PULSE A Feedback pulse signals of
186. ernal I O signal comparison Input out Description Signal name put QD73A1 AD70 A1SD70 Input Power supply Terminal block None 15VDC 14 55 to 15 45V Open collector method Pulse frequency 200kpulse s or Pulse frequency 100kpulse s or Phase A feedback pulse PULSE A less less Phase B feedback pulse PULSE B ON voltage 4V or higher ON voltage 4V or higher Phase Z feedback pulse PULSE Z OFF voltage 1V or lower OFF voltage 1V or lower TTL method Pulse frequency 200kpulse s or Pulse frequency 100kpulse s or Phase A feedback pulse PULSE A less less Output Phase B feedback pulse PULSE B Phase Z feedback pulse PULSE Z ON voltage 2 8V or higher OFF voltage 0 8V or lower ON voltage 2 8V or higher OFF voltage 0 8V or lower Differential output method Phase A feedback pulse PULSE A Phase B feedback pulse PULSE B Phase Z feedback pulse PULSE Z Pulse frequency 1Mpulse s or less Pulse frequency 100kpulse s or less 270 All the other external I O signals are the same APPENDICES Appendix 4 When Using GX Developer This section describes the operating procedure of GX Developer 1 Applicable software versions For applicable software versions refer to the following 5 Page 23 Section 2 1 4 Appendix 4 1 Operation of GX Developer Configure the following settings when using GX Developer Window name Application Reference Set the
187. es DOG Near point dog signal 1 9 N C 2 N C 3 N C 4 Power supply 5 to 24V 5 GONT RLS Lower limit signal 6 connector FLS Upper limit signal z El External CHANGE Speed position switching command signal S o power supply STOP Stop signal 9 24V ov READY Servo READY signal side 1 11 COM SG READY Servo READY signal side 2 10 S RDY PULSE A Phase A feedback pulse side 13 a 19 PAO PULSE A Phase A feedback pulse side 11 ic 20 PAO PULSE B Phase B feedback pulse side 5 a 21 PBO PULSE B Phase B feedback pulse side 10 I 22 PBO PULSE Z Phase Z feedback pulse side 6 a 23 PCO SERVO PULSEZ Phase Z feedback pulse side Y 24 PCO connector gt gt SVON Servo ON signal side 4 3 3 SVON Servo ON signal side 3 15 S ON 9 9 aad xx 141 24VIN NN o omg E T Ox Speed command signal side 15 1 V REF d 6 2 Speed command signal side 14 2 SG 030 SO sh 209 oo N C 8 35 Im O X Analog GND 9 13 SG og N C 12 33 oz 28 o 2 gt o D 3 lt o 3 O o 3 3 c S e 2 c o a o lt lt gt gt m o Q A o 263 Appendix 3 Comparison of the QD73A1 and the AD70 A1SD70 1 Performance specification comparison Item Specifications QD73A1 AD70 A1SD70 Number of occupied I O points 48 points I O assignment empty 16 points and intelligent 32 points 32 points special 32 points 48 points I O as
188. ess decimal The data can be set anytime A When a positioning start Note that the set data at signal Y21 to Y23 is the rise ON of a start 10 to i turned on 2 signal is used for the Speed limit 4000000pulse s When a JOG start 20 Pr5 200000 pulse s operation If the data is f value Set in the unit of signal Y24 Y25 is 21 written when BUSY 10pulse s turned on signal X14 is on the data will be accepted at the rise ON of the next start signal When OPR start signal Y20 is turned on 210 Point Set _Pr 5 Speed limit value in a unit of 10 pulses If a single digit is set the value is rounded off Ex For instance if 1999 is set the operation is executed with a speed limit value of 1990 CHAPTER 11 CONTROL SUB FUNCTIONS 11 9 Stroke Limit Function The stroke limit function controls operation not to execute positioning when a command that moves the workpiece outside the specified stroke limit range is given 1 Control detail This function limits the moving range of the workpiece The following figure shows a moving range of a workpiece when the stroke limit function is used a Moving range of the workpiece E FLS Stroke limit lower limit Stroke limit upper limit The following is an example in which a moving range of a workpiece changes following a current value change Ex When the current s
189. etting is proper Is Excessive error signal X17 on The accumulated pulse amount is outside the setting range Check if the accumulated pulse setting is proper 7 gt Page 102 Section 6 2 2 e Check if the multiplication setting is proper lt _ gt Page 104 Section 6 2 3 Check if the encoder I F setting is proper 7 gt Page 105 Section 6 2 6 e Check if the gain adjustment is proper gt Page 60 Section 4 5 Check if the QD73A1 and the encoder are connected properly gt Page 67 Section 4 6 2 Is External stop signal X1D on Check if Stop signal Y27 is on Check if Stop signal STOP is on Is WDT error H W error signal X10 on If WDT error H W error signal X10 stays on even after resetting the CPU module please consult your local Mitsubishi representative Are the QD73A1 and the drive unit connected properly 244 Check if the QD73A1 and the drive unit are wired properly CHAPTER 14 TROUBLESHOOTING Check item Action Is proper wave output displayed when the QD73A1 s speed command terminal is connected to an oscilloscope Is proper wave output displayed when the drive unit s encoder output terminal is connected to an oscilloscope If proper wave output is not displayed please consult your local Mitsubishi representative 14 2 4 When a positioning error occurs Check item Action Do the position errors occur by regular
190. etting value maximum value gt ca 14 Immediate stop accumulated pulse setting value maximum value The value of alert output accumulated pulses minimum value is calculated using the value of a 16 lmmediate stop accumulated pulse setting value minimum value at the following condition LCd 15 Alert output accumulated pulse setting value minimum value lt Cd 16 Immediate stop accumulated pulse setting value minimum value Ex When the setting values are as follows e Cd 13 Alert output accumulated pulse setting value maximum value 1200 Cd 14 Immediate stop accumulated pulse setting value maximum value 1100 Both alert output accumulated pulses and immediate stop accumulated pulses are judged by the uonoun y uonoejeg 40473 esind pajejnuino9y 6 LL reference value 1100 pulse Thus an alert is output and the positioning stops simultaneously uonoun uonoejep 10119 esind perejnuinooe y Humes ZELL 225 226 c Alert output accumulated pulse setting value immediate stop accumulated pulse setting value and Accumulated pulse setting in the switch setting The setting range of Ca 13 Alert output accumulated pulse setting value maximum value is 1 to 148000 the range of Cd 15 Alert output accumulated pulse setting value minimum value is 148000 to 1 However when the alert output accumulated
191. ettings 3 The total number of parameters in the auto refresh setting checked on the window 4 The maximum number of parameter settings in the auto refresh setting 27 3 3 List of Functions This section introduces the functions of the QD73A1 1 Main functions Major positioning functions are as follows Item Description Reference A workpiece is returned to an original point following an OPR start Page 176 OPR control command and the current value is corrected as an OP address after the 7 f CHAPTER 8 completion of OPR TE TM 2n m z Page 189 Positioning Positioning is executed from the current position to a specified position at p Section 9 6 1 control a specified speed 4 Position 1 control Two phase Positioning is executed to the address specified with Da 2 Positioning Page 190 mode trapezoidal at itioni f p E address P1 at Da 3 Positioning speed V1 then to the address Section 9 6 1 positioning specified with Da4 Positioning address P2 at pas Positioning 2 Major control speed V2 by one positioning start signal positioning Operation starts according to the positioning speed set beforehand by control one positioning start signal then the operation switches to position control by Speed position switching command signal CHANGE 2 If the operation stopped by Stop signal after the input of Speed position Speed p
192. ff is close to Zero signal the Zero signal may be misread resulting in deviation of OP by one servomotor rotation Adjust the position where the near point dog turns off so that it becomes closer to the center of Zero signals c OPR start from the near point dog ON position If an OPR start is attempted from the near point dog ON position the error Near point dog signal ON at start error code 74 occurs Return the workpiece to a position away from the near point dog using JOG operation then execute OPR d Another OPR after the reset of the CPU module If the CPU module was reset after OPR control was completed and the near point dog turned off another OPR can be started however the operation is executed at Pr 11 OPR speed to the position of the upper limit Switch FLS or the lower limit switch RLS since there is no near point dog placed in the OPR direction e Outside the stroke limit range If the workpiece moved outside the stroke limit range the error Outside the stroke limit range error code 100 occurs although the operation continues In this case the OPR is completed normally if the near point dog is placed on the OPR direction CHAPTER 8 OPR CONTROL 8 3 This section describes the operation overview of an OPR method count method Count Method OPR in the count method can be executed also in case of the following OPR on the near point dog ON Another OPR after completion of OP
193. ffer memory setting Pr9 Positioning mode O Da Positioning pattern 1 Operation starts according to the positioning speed set beforehand by one positioning start signal then the operation switches to position control by Speed position switching command signal CHANGE If the operation stopped by Stop signal after the input of Speed position switching command signal CHANGE the positioning Page 193 can be continued by requesting a restart Section 9 6 2 In addition the positioning address movement amount can be changed if it is before the input of Speed position switching command signal CHANGE Buffer memory setting jouuOD Buruonisog Jofeyy JO MAINISAD L 6 Forward start signal Y22 Speed position control Switchover Reverse start signal Y23 Speed position control Switchover Speed position control switch mode e Pr9 Positioning mode 1 Da Positioning pattern 0 183 9 2 Data Required for Major Positioning Control This section describes positioning data required for major positioning control 1 Composition of positioning data and setting details Positioning data Setting detail Da 1 Positioning pattern Select a control pattern of major positioning from positioning control or two phase trapezoidal positioning control Da2 Positioning address P1 Set the address that is t
194. function the reference value needs to be measured to detect errors Reference value means the maximum minimum accumulated pulse values that are output when the QD73A1 is operating normally The QD73A1 obtains the judgment value for alert output and immediate stop and carry out control using the reference value alert output accumulated pulse setting value and immediate stop accumulated pulse setting value Executing procedure is as follows 1 Set c 3 Measurement start request to 1 Requested and start the reference value measurement The QD73A1 monitors the status of accumulated pulses and measures the maximum minimum values while ca 19 Measurement start request is set to 1 2 Set ca20 Reference value write request to 1 Requested when va20 Reference value measurement flag is set to 1 Measured The QD73A1 saves the measured maximum minimum values in the flash ROM when ca20 Reference value write request is set to 1 lt 1 i Measurement range i gt Positioning command gt t io io E Maximum z8 value i g 3 i i ec 28 HE i ac i m E Accumulated pulse S lt m 1 l e 9 Minimum value LI o ON 2 3 1 D a Start signal Y20 to Y26 off SS 1 Y 1 om ON r ef ME S MY 9o BUSY signal X14 OFF A q A 1 i s 9 3 d ON E Cd 19 Measurement
195. g normally Set limit switches upper limit switch and lower limit switch to ensure the safety of the entire system It is recommended to establish an external circuit through which the motor s power turns off when a limit switch turns on 4 Stroke limit upper limit value lower limit value Check that proper values are set in Pr1 Stroke limit upper limit and P2 Stroke limit lower limit 5 Emergency stop signal Establish an emergency stop circuit outside the programmable controllers BuiuueJ6044 uo suonneoaJg 7 6 When errors are checked in a sequence program Turn off PLC READY signal Y2D at error detection 7 P5 Speed limit value Check that a proper value is set 8 ca 3 JOG speed Do not set a large value at the beginning start operation at lower speed 109 9 Communication with the QD73A1 There are following ways of communication with the QD73A1 using a sequence program Communication using intelligent function module devices Communication using the FROM TO instruction The sequence programs introduced in this chapter uses intelligent function module devices When using the FROM TO instruction change the sequence program as shown below When an intelligent function module device is used as the destination side in a circuit using the BMOVP instruction change the instruction to the TOP instruction Intelligent function module device MO UT
196. g on the Error History window 1 Checking on the Module s Detailed Information window Follow the procedure below 1 Connect GX Works2 to the CPU module and display System Monitor 3 the System Monitor window Monitor Status Connection Channel List Serial Port PLC Module Connection USB a D Diagnostics gt System Monitor Main Base Sot CPU oenuoEHcpU Diagnosics Error History Detail 1O NetworkNo Master Pont Address Station No PLC 16Point 0000 32Point 0010 16Point 0030 16Point 0040 16Point 0050 16Point 0060 16Point 0070 16Point 0090 Stop Monitor System Monitor 2 After confirming that an error is displayed on the m QD73A1 select the QD73A1 and click the aRRRERRRE Ee olaa Detailed Information button PES cu ZS310M X9 uo 10113 ue Bunosyo Lp L m cence oie ia When an error is indicated on a module other than fr goes Son PIC the QD73A1 refer to the user s manual for the SI E E module and take a corrective action i Fonk Coen To the next page 239 From the previous page Y Module s Detailed Information p Module Monitoring Model Name QD73A1 I O Address D010 Monitor Status Mount Position Main Base 1 Slot Product Information 141010000000000 5 Production Number FE Module Information Module Acce
197. ge Per imi i 3 value Outside e Speed limit an as e i i the setting range value is outside the g rang setting range 10 to 4000000pulse s The set value in Set a value within the Acceleration fina rande Per i i time Outside the 18 Acceleration ha 3 time is outside the Setting range setting range setting range 2 to 9999ms The set value in Only the setting with Set a value within the Deceleration time Outside the setting range Pr7 J Deceleration time is outside the setting range In position range Outside the setting range The set value in Pr8 In position range is outside the setting range Positioning mode Outside the setting range The set value in Pro Positioning mode is other than 0 and 1 the error uses the default value for control setting range Setting range 2 to 9999ms Set a value within the setting range Setting range 1 to 20479pulse Set a value within the setting range 250 CHAPTER 14 TROUBLESHOOTING Error Error Error eid Operation at the code Wie Error name Description Action category classification error occurrence decimal Set a value within the The set value in OPR speed setting range 20 Outside the Lectt OPR speed Setting range setting ra
198. generic term for drive units that support analog voltage inputs The commands that are output from the QD73A1 are low voltage This unit is used to amplify the energy and activate a motor The unit also called a servo amplifier is an accessory on a servomotor Pulse generator A device that generates pulses For example by attaching this device on a motor axis pulses can be generated by the rotation of the axis Feedback pulse Pulses that are fed back from the encoder to the QD73A1 according to the motor s actual rotation amount rotation degree Deviation counter A counter that counts up and down the difference between the number of command pulses and feedback pulses The difference between command pulses and feedback pulses are accumulated in the deviation counter as accumulated pulses The number of accumulated pulses in the deviation counter becomes 0 when positioning is completed 10 Zero signal PGO of a pulse generator encoder that is detected once in one rotation 11 Workpiece A generic term for various objects being controlled including moving objects such as tools 275 A suJe G xipueddy Appendix 6 External Dimensions an RR i QD73A1 RUN DA OB ZERO OZ ERR BUSY AN SET SELECT D ov CD DOWN UP D O CO oo o SERVO LJ CONT O o o Pe o o o o E o A o d
199. gment value is as follows If ca 17 Accumulated pulse setting value selection is set to 0 f ea371 Accumulated pulse setting value Alert output accumulated pulses minimum selection is set to 0 value reference value minimum value 148000 to 1 pulse Alert output Cd 15 Alert output accumulated pulse setting If eaa7 Accumulated accumulated pulse value minimum value aa 0 404 ei setting value minimum pulse setting value 405 96 CHAPTER 5 DATA USED FOR POSITIONING Buffer ee R Default memory Item Description Setting range value address decimal The difference between the reference value minimum value and the judgment value immediate stop accumulated pulses minimum value is set The relation between this setting and the judgment value is as follows If ca 17 Accumulated pulse setting value selection is set to 0 If caa7 Accumulated pulse setting value Immediate stop accumulated pulses selection is set to 0 minimum value reference value minimum 148000 to 1 pulse Immediate stop accumulated pulse value Cd 16 Immediate stop accumulated If 54171 Accumulated 406 Cdi6 pulse setting value minimum value pulse setting value 0 setting value minimum 407 value selection is set to 1 If ca 17 Accumulated pulse setting value 1000 to 50000 selection is set to 1 x 107 Last t
200. gnal is on during speed control This signal is off during position control 37 sjeuBis ndu jo sjiejeq Z ye BINPOW NAO eui oyuioJj speubis O I v 3 4 3 38 1 2 3 4 5 6 Details of output signals Zero gain adjustment data writing request signal Y1A Turn on this signal to write the zero gain adjustment value to the QD73A1 For the on off timing of this signal refer to the detail of Zero gain adjustment data writing complete flag X2A Ls Page 36 Section 3 4 2 22 For details on zero gain adjustment refer to the following L gt Page 60 Section 4 5 Zero gain adjustment change request signal Y1B Turn on this signal to change zero adjustment and gain adjustment For the on off timing of this signal refer to the detail of Zero gain adjustment change complete flag X2B Ls Page 37 Section 3 4 2 23 For details on zero gain adjustment refer to the following C gt Page 60 Section 4 5 Set value change request signal Y1C Turn on off this signal to increase decrease the analog output value at zero gain adjustment The analog output is increased decreased according to the value set in ca17 Zero gain adjustment value specification For the on off timing of this signal refer to the detail of Set value change complete flag X2C gt Page 37 Section 3 4 2 24 For details on zero gain adjustment refer to the following Page 60 Section 4 5
201. gnal name Y1020 Y1030 OPR start signal Y1021 Y1031 Absolute positioning start signal Y1022 Y1032 Forward start signal Y1023 Y1033 Reverse start signal Y1024 Y1034 Forward JOG start signal Use prohibited Y1025 Y1035 Reverse JOG start signal Y1026 Y1036 Speed position mode restart signal Y1027 Y1037 Stop signal Y1028 Y1038 Error reset signal Y1029 Y1039 Overflow reset signal Zero gain adjustment data writing request Y102A Y103A Underflow reset signal signal Zero gain adjustment change request oe Y102B Y103B Use prohibited signal Y102C Set value change request signal Y103C Speed position switching enable signal Y102D Y103D PLC READY signal Y102E Use prohibited Y103E Use prohibited Y102F Y103F Point If a Use prohibited area is turned on off through a sequence program the QD73A1 s function cannot be guaranteed 145 OMION O BOWSY e ur ejnpojy ayy BuIsy UYM p 7 6 Interlock program of MELSECNET H remote I O network For programs introduced in Page 147 Section 7 4 1 to Page 175 Section 7 4 7 make interlocks using data link status of the own station and the other station as shown below SB47 H K4 T100 SB49 H K3 T101 SW70 0 H K4 T102 SW74 0 H K3 T103 SW78 0 H K3 T104 SB20 T100 T101 T102 T103 T104 M M AME M M Mr MC NO M100 M100 Cr a A a Programs described in Page 147 Section 7 4 1 Page 175 Section 74 75 PERRA gt MCR NO
202. hat uses high speed input pulse signals from a high resolution encoder improves the accuracy of positioning Four types of positioning method The following control can be executed Position control mode positioning control and two phase trapezoidal positioning control Speed position control switch mode speed position control switchover and speed control Zero gain adjustment through a sequence program Zero gain adjustment can be performed through a sequence program Therefore the adjustment can be performed without using a switch or checking a LED saving man hour Note that zero gain adjustment can also be performed using switches on the front of the QD73A1 Easy setting with GX works2 Sequence programming is reduced since initial settings and the auto refresh setting can be configured on the screen In addition the setting status and operating status of the module can be checked easily CHAPTER 1 OVERVIEW 1 2 Signal Transmission Between the QD73A1 and Others The following figure shows signal transmission between the QD73A1 and a CPU module and a drive unit QD73A1 CPU module PLC READY signal Y2D g gt Stop signal STOP QD73A1 READY signal 4 X11 e m Near point dog signal DOG request signa X12 4 quest sid Upper limit signal FLS External OPR start signal ee contr
203. he destination of major positioning control Da3 Positioning speed V1 Set the command speed of major positioning control Da4 Positioning address P2 In two phase trapezoidal positioning control set the destination address of after the move to the address set to Da 2 Positioning address P1 Das Positioning speed V2 In two phase trapezoidal positioning control set the command speed to move to the address set to Da4 Positioning address P2 The settings of Da 1 to Da5 depend on Pra Positioning mode and Da 1 Positioning pattern L s Page 185 Section 9 3 2 Sub functions for major positioning control For details on sub functions that can be combined with major positioning control refer to the following 25 Page 30 Section 3 3 4 For details on each sub function refer to the following 57 Page 206 CHAPTER 11 184 CHAPTER 9 MAJOR POSITIONING CONTROL 9 3 Relation Between Each Control and Positioning Data Setting items and details of positioning data depend on the settings of a positioning data item Da 1 Positioning pattern and a variable parameter _Pr 9_ Positioning mode The following table shows the positioning data setting items for each type of control Positioning data Settings of Pr 9 Positioning mode 0 Pos
204. hooting procedure 243 TTE method oct edges Pi be cd 41 Two phase trapezoidal positioning control 190 194 Two phase trapezoidal positioning control in the absolute SYSIEM PRPERODOM Im 191 jv Pc 271 Types of data o oooooccccococooo 74 Types of errors ooo 248 Underflow reset signal Y2A 40 Underflow signal X1A llle essen 35 UP DOWN switch llli 57 Upper limit signal FLS 41 43 44 Upper limit signal X1E 35 Upper limit switch FLS lower limit switch RLS 213 V Variable parameter 76 Voltage range Current consumption 41 Ww WDT error H W error signal X10 33 Weight ers due ee Ab hus noii 26 When a positioning error occurs 245 When mounted on MELSECNET H remote I O station DOR Es aut tatters da ERE aie aia as Me hain 22 When operation stops abnormally during positioning M Rc NRA DS ae soar NU ieee E 246 When OPR cannot be completed 247 When positioning cannot be executed 244 When the motor does not stop 244 When the OP position is in error 247 When the positioning speed is different from the specified Speed feist eee AN ee dudar te reete 246 When the upper limit switch FLS lower limit switch RLS function is not used 214 Wiring 5 s cer ER ee be eek aes 65 Wiring upper limit switch FLS and lower limit
205. hree digits are the value after the Immediate stop accumulated pulses decimal point minimum value 7 reference value minimum value ca 16 Immediate stop accumulated pulse setting value minimum value 1000 x reference value minimum value 1000 For details on the accumulated pulse error detection function refer to the following Page 221 Section 11 9 The setting unit for Cd 13 Alert output accumulated pulse setting value maximum ejeq jonuot 9 G value to ca 16 Immediate stop accumulated pulse setting value minimum value is selected f a value other than 0 and 1 is set the value is regarded as 0 e If this area is set to 1 and the 0 Set Accumulated pulse 0 Set with pulse 2 with 408 Cd 17 maximum minimum reference values are T setting value selection 1 Set with magnification set to 0 the error Accumulated pulse error pulse undetectable error code 131 occurs and the accumulated pulse error detection function does not operate For details on the accumulated pulse error detection function refer to the following 2 Page 221 Section 11 9 97 Item Description Setting range Default value Buffer memory address decimal Cd 18 Accumulated pulse error detection request Use this area to start stop the accumulated pulse error detection fu
206. ignal CHANGE OFF T 1 1 1 1 1 L 1 1 I 1 1 I i I 1 1 1 1 1 1 i i i 1 Md 2 Actual current value K 0 X 0 P1 K P1 Positioning address 1 I 1 i Md 8 Control mode 0 X 1 K 0 1 1 232 CHAPTER 12 STOPPING AND RESTARTING CONTROL b When speed is changed during positioning After a stop following the input of Stop signal STOP if Speed position mode restart signal Y26 is turned on the positioning restarts according to the positioning speed set in the positioning data The positioning does not restart at the new speed V Speed change dd re Seis Positioning speed B Speed position switching Speed position mode command signal CHANGE restart signal Y26 c Precautions for control The following table indicates settings and start signal conditions to restart control If Speed position mode restart signal Y26 is turned on in a condition Restart possible the error Restart error error code 85 OCCUIS O Restart possible x Restart not possible Pre Positioning mode Start signal 1 Speed position control switch 0 Position control mode mode OPR start signal Y20 x x Absolute positioning start signal x Y21 Forward start signal Y22 x O Reverse start signal Y23 x O In the speed position control switch mode if Speed position mode restart signal Y26 is turned on in a status other than stop the error Restart er
207. ignal STOP Error detection signal X18 turns on due to the following Servo READY signal READY turned off PLC READY signal Y2D was turned off Upper limit signal FLS turned off o3uo2 Buiddojs yz Lower limit signal RLS turned off 231 12 2 Restarting the Speed position Control Switch Mode After a deceleration stop following Stop signal the operation of the speed position control switch mode before the stop can be restarted by turning on Speed position mode restart signal Y26 1 Control detail a When positioning is stopped using Stop signal Y27 or Stop signal STOP The positioning before the stop can be restarted by turning on Speed position mode restart signal Y26 The following figure shows the timing at which the speed position control switch mode restarts M Turning on Stop signal Y27 Turning on Stop signal Y27 starts deceleration starts deceleration Position control P1 Positioning address Speed control Speed control 1 i Positioning start signal i Y22 Y23 OFF h l 1 1 LON BUSY signal Y X14 OFF i ON Stop signal Y27 OFF Speed position mode restart signal Y26 OFF 1 I 1 i i 1 Y 1 1 1 i I T i l Positioning complete signal 1 X15 OFF i ji D i 1 1 l i 1 T 1 1 1 1 l T Speed position switching enable signal Y2C OFF Speed position switching command s
208. imal 2 1 1 0 T T T T 1 E 5 b15 b8 b7 b0 rror DGBUNDR OS Day o tot fo otofo ototo t o o toto uence Day ofeTrTeTo foo oTeTe 3 oToToto 0000 Hour 0103 0109 0102 0to9 Monitor value i2 1 1 10 L J L J 01 to 31 Day 00 to 23 Hour 87 ejeg Jou G S Buffer Md 20 88 measurement flag This area becomes 0 at the following timing When the module is started When and the error detection starts Cd 18 Accumulated pulse error detection request is set to 1 SOF memory Item Description Default value address decimal The time minute second of error detection is stored in BCD code b15 to b8 Minute b7 to b0 Second The data can be monitored in hexadecimal T T 5 T y T 8 1 b15 b8 b7 b0 Error occurrence 0 0 0 1 0o 1 0 1 0 0 0 0 1 0 0 0 C7 Page Md 15 A i L JL iL iL 1 0000 89 Section Minute Second 0105 0109 0105 0109 5 5 1 Monitor value 1151 10 18 00 to 59 Minute 00 to 59 di The pointer No for the next error record is stored A value from 0 to 15 is stored Md 16 Error history pointer 0 184 Even when Error reset signal Y28 is turned on the data is not cleared to 0 Maximum accumulated When the accumulated pulse error detection function is being Souls 200 u ar pulse value
209. ime Module with error Error code 19 36 ModuleA ErrorA2 19 33 Error C1 19 29 ModuleA ErrorA1 19 34 ModuleB Error B1 19 36 ModuleA Error A2 Example of screen display Error History List Displayed Errors Errors 12 12 Error Code Notation C DEC HEX No Error Code Model Name Start 1 0 BBC2 00011 BBC2 a4 18 cd 03 a0 c0 0c QU61BT1IN 0020 00010 FDIC 2009 06 24 10 11 06 QJ71LP21 25 0000 00009 F112 2009 06 24 10 10 46 QJ71LP21 25 0000 00008 F112 2009 06 24 10 10 02 QJ71LP21 25 0000 00007 ocic 2009 06 24 10 08 28 QO3UDCPU 00006 0700 2009 06 24 10 04 40 QO3UDCPU For details on the module error collection function refer to the following 57 Page 239 Section 14 1 uogouny uonoe o2 JOU MNPON C EL 237 1 3 4 Error Clear Function When an error occurs the error can be cleared on the system monitor By clicking the Error ces button in the system monitor the error codes stored in Md 3 Error code ERR 1 and Md 4 Error code ERR 2 are cleared and the ERR LED turns off This operation is the same as the one that uses Error reset signal Y28 However the error history cannot be cleared with the button For the error clearing method using Error reset signal Y28 refer to the following lt gt Page 39 Section 3 4 3 12 O Diagnostics System Monitor Error module Module s Detailed Information Module Model Name I O Address
210. in case of a stop following a change from off to on of Stop signal Y27 or an input of Stop signal STOP Error detection signal X18 turns on due to the following Servo READY signal READY turned off PLC READY signal Y2D was turned off Upper limit signal FLS turned off Lower limit signal RLS turned off 230 CHAPTER 12 STOPPING AND RESTARTING CONTROL b Stop during deceleration of major positioning control or JOG operation If an error a cause of a stop occurs during deceleration of major positioning control or JOG operation the deceleration continues and the operation stops since it is toward completion of the positioning or is following a change from on to off of a JOG start signal Y24 Y25 In case of major positioning control Positioning complete signal X15 turns on at its completion This process is the same for a stop with an error The following figure is the timing chart of when Stop signal Y27 is turned on during deceleration of positioning control 1 i 1 i i i ON Positioning start signal f Y21 to Y23 OFF py 1 ON BUSY signal Ope Pi X14 yx ON Positioning complete signal Kis OFF ON Stop signal Y27 OFF Error detection signal 18 OFF ia P Executed by the QD73A1 24 Error detection signal X18 does not turn on in case of a stop following a change from off to on of Stop signal Y27 or an input of Stop s
211. ing MULTI Multiplication setting ZERO DIR OPR direction setting Refer to gt Page 272 Appendix 4 1 2 OPRMETHOD OPR method setting ENC I F Encoder I F setting RESOLT Analog voltage resolution setting H W Information 1 3 Monitor Status Module Product Monitoring Model Name QD73A1 Information 141010000000000 8 Display Format HjW LED Information HJW SW Information Item Casus Ji Item Value Item Value 00 ROT DIR 0000 ACCUMPLS 0000 MULTI 0000 0 OFF 1 ON ZERO DIR 0000 OPR METHOD 0000 ENC I F 0000 IRESOLT 0000 DOG STOP FLS RLS CHG Stop Monitor Indicates that Servo READY signal READY is on For details on the system monitor of GX Works2 refer to the following LT GX Works2 Version1 Operating Manual Common uonounJ Jojuojy smejs einpoyw er 235 13 2 Error History Function This function monitors the QD73A1 s error history stored in the buffer memory The error history of past 16 records can be monitored Once 16 records are stored the next record overwrites the oldest record Therefore the latest 16 errors are stored at all times Intelligent Function Module Monitor 1 0010 QD73A1 Detail Dialog X ror code Error occurrence 41 12 05 10 18 4 Detail Dis Update Close To check the error history the QD73A1 needs to be registered in the intelligent function module monitor window For how to register the module in the intelligent function module
212. ing in the switch setting refer to the following 25 Page 101 Section 6 2 Encoder output type Encoder I F setting Connection Di QD73A1 Encoder Phase A Pin 13 2 eso tes Phase B Pin 5 Phase Z Pin 6 Sy j Y 1 R Phase A Pin 11 AT i Phase B Pin 10 i i Phase Z Pin 7 Open collector output type Open collector output Phase A Pin 13 2 ana Phase B Pin 5 Phase Z Pin 6 TTL output type TTL output Phase A Pin 11 Phase B Pin 10 Phase Z Pin 7 Y Phase A Pin 13 2 Encoder Phase B Pin 5 Phase Z Pin 6 Phase A Pin 11 i i PhaseB Pin 10 i Phase Z Pin 7 Differential output type Differential output Bum 9 y Jepooue ue Bunoeuuoo usym suonne2eJd z 9v 69 4 6 3 External device connectors This section describes the assemblage of an external device connector and its connection method 1 Assembling a connector The following connectors are required to connect the QD73A1 and external devices A 9 pin connector pin type For the CONT connector control signal connection A 15 pin connector pin type For the SERVO connector drive unit connection The connectors are composed of the following parts Protective tube a For a 15 pin connector only Screw B W SS Connection part 4d Nut p Assemble the connectors as follows Protective seal 1 Thread wires through the pr
213. ing address P2 Two phase trapezoidal positioning control in the absolute system To execute two phase trapezoidal positioning control in the absolute system the positioning direction from Da 2 Positioning address P1 to Da4 Positioning address P2 and the positioning direction from the current value to Da2 JPositioning address P1 must be the same If not the error Two phase trapezoidal positioning address error error code 31 occurs and the two phase trapezoidal positioning control does not start Moving direction from the current value to Setting example NA the positioning address P1 Da2 Positioning address Da4 Positioning address Address increasing Address decreasing P1 P2 direction direction 10000 5000 Error Positioning executed 10000 15000 Positioning executed Error Any value within the setting range can be set in Positioning speed V1 and LDa5 Positioning speed V2 regardless the relation between the two setting values 191 epoulJoquoo uonisod 9 6 031002 Buruonisog JOfew Jo Sied 9 6 e Positioning data setting The following table lists the positioning data to be set setting condition and check timing Buffer eet s Default a Check timing memory Setting item Setting range Setting condition value of the set data address decimal
214. ing range the error Zero gain adjustment value error error code 124 occurs For details on zero gain adjustment refer to the following Page 60 Section 4 5 Use this area to restore the zero adjustment value and gain adjustment value to the factory default This setting is enabled only in the zero gain zero gain adjustment 1 Restore the zero gain adjustment mode Byeq jonuot 96 Factory default Cd 12 value restoration adjustment value If a value other than 1 is set the setting is ignored After the zero gain adjustment value was restored 0 is stored automatically request 93 Buffer value If ca 17 Accumulated pulse setting value selection is set to 1 Alert output accumulated pulses maximum value reference value maximum value ca 13 Alert output accumulated pulse setting value maximum value 1000 x reference value maximum value 1000 For details on the accumulated pulse error detection function refer to the following 5 Page 221 Section 11 9 selection is set to 1 1000 to 50000 x 103 Last three digits are the value after the decimal point RT Default memory Item Description Setting range value address decimal The difference between the reference value maximum value and the ju
215. ion When the value set in Prs Speed limit value is exceeded in each control command speed is limited to LPrs Speed limit value The operation of the speed limit function is as follows r amm arias Da 3 Positioning speed V1 3OOODODODUXY 5 Speed limit value In the figure above the speed set in Pr 5 Speed limit value is output since pa3 Positioning speed V1 is faster than Prs Speed limit value In this case the movement amount that was not output because of the speed limit 1 in the figure is output later 2 in the figure delaying the positioning completion 2 Precautions for control Set positioning speed and JOG speed to a value equal to or less than Prs Speed limit value If Prs Speed limit value is exceeded command speed is limited to Pr5 Speed limit value Also set OPR speed to a value equal to or less than Pr5 Speed limit value If Prs Speed limit value is exceeded the error OPR speed Outside the setting range error code 20 occurs at the start of OPR uonoun jur psadg Z 209 3 Setting the speed limit function The following table lists the data to be set setting condition and check timing Buffer IRE 8 A Check timing of the memory Setting item Setting range Default value Setting condition set data addr
216. ion according to the detection on limit switches placed at the upper and lower stroke limits Page 213 Section 11 4 28 CHAPTER 3 SPECIFICATIONS Item Description Reference Current value change function Current feed This function changes the value set in va value to a specified value Page 215 Section 11 5 Functions to Speed change function This function changes speed during major positioning control or JOG operation Page 216 Section 11 6 change control details Deviation counter clear function This function clears the accumulated pulses in the deviation counter When the servomotor power was turned off due to an emergency stop during positioning clearing the accumulated pulses in the deviation counter prevents servomotor rotation at power recovery Page 218 Section 11 7 In position function This function turns on In position signal X16 while the accumulated pulse amount in the deviation counter is within the specified in position range 1 to 20479pulse In position signal X16 can be used as the signal right before positioning completion Page 219 Section 11 8 Other functions Multiplication setting Accumulated pulse error detection function This function multiplies the feedback pulse frequency from the pulse generator by 4 2 1 or 1 2 This function outputs an alert and immediately stops the positioning when the accumulated pulses
217. ioning error 5 _Da2 Positioning address P1 Set Da2 Positioning address P1 so that its setting value becomes greater than the value of the distance obtained using the following formula If not the positioning stops exceeding the specified movement amount Accumulated pulses at the switching command MP Positioning speed V1 w Distance to decelerate from _Da 3 Positioning speed V1 Speed position switching command Positioning Accumulated pulses at the Distance to decelerate from Da2 address P1 switching command Da3 Positioning speed V1 Da 3 Positioning speed V1 1 Actual Positioning x AT x Da 3 Position loop gain 2 deceleration time speed V1 6 Two phase trapezoidal positioning control and speed position control switchover A speed position control switchover cannot be performed in two phase trapezoidal positioning control 194 Point CHAPTER 9 MAJOR POSITIONING CONTROL Input Speed position switching command signal CHANGE at the area where the speed is stable constant speed status When a servomotor is used the actual movement amount after the switchover to position control is Set movement amount Accumulated pulse amount If the signal is input during acceleration or deceleration the operation stop position varies due to the variation in the accumulated pulse amount 7 Parameter and pos
218. ioning pattern Positioning control DMOVP K100000 D31 J Positioning address P1 100000pulse DMOVPK10000 D33 Positioning speed V1 10000pulse s Ut a BMOVPD30 G301 K5 J Set positioning data to the QD73A1 X34 i LPLS M40 J Command the positioning start M40 X11 X14 Y27 Y21 X21 E H Yt Y YE Y SET Y21 Turn on Absolute positioning start signal Y21 X21 DXl4 g M LRST Y21 j Turn off Absolute positioning start signal X17 X18 END 4 Positioning data can be set through GX Works2 also 7 Page 107 Section 6 4 The sequence program that sets positioning data is unnecessary when the data were set through GX Works2 CHAPTER 7 PROGRAMMING 2 Two phase trapezoidal positioning control program This program executes two phase trapezoidal positioning control in the absolute system Suppose that the parameter setting and OPR were completed 7 gt Page 115 Section 7 3 1 Page 117 Section 7 3 2 a Program detail As X35 is turned on the following positioning data are written Item Setting detail Da1 Positioning pattern 1 Two phase trapezoidal positioning control Da2 Positioning address P1 100000pulse a3 Positioning speed V1 10000pulse s Da4 Positioning address P2 150000pulse bas Positioning speed V2 12000pulse s As X36 is turned on the module executes two phase trapezoidal positioning control in the ab
219. ir conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi loss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks 5 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice 283 Microsoft Windows Windows NT and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries Pentium is a trademark of Intel Corporation in the United States and other countries Ethernet is a trademark of Xerox Corporation All other company names and product names used in this manual are trademarks or registered trademarks of their respective companies SH NA 081075ENG B 284 MELSEC Q QD73A1 Positioning Module User s Manual MODEL QD73A1 U E oe 13JZ69 SH NA 081075ENG B 1211 MEE s MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHI
220. ition control mode 1 Speed position control switch mode Da4 Positioning address P2 Set always Dad Positioning speed V2 O Set only for two phase trapezoidal positioning control Setting not required The setting is ignored Use the default value or a value that does not cause an error For details on each control and setting refer to the following 57 Page 188 Section 9 6 0 Positioning control Positioning Dat pattern 1 Two phase trapezoidal u positioning control Da2 Positioning address P1 Da 3 Positioning speed V1 O O 185 ejeg Buriuornisog pue jo1u02 uoe3 ueewjeg uonejes e 6 9 4 Specifying a Positioning Address This section describes systems to specify a position for control using positioning data 1 Absolute system Positioning is executed using the current address as the start address and the address set with Da2 Positioning address P1 as the end address Start point Address 100 End point Address 100 oo gt Address i 150 Address 300 1 e i T J Address 150 i Address 100 Address 150 1 i 1 OP l l Reference point 100 150 300 A point B point C point Within the stroke limit range He 2 Incremental system Positioning is executed from the current address start address by the movement amount set in Da2 Positioning address P1
221. itioning data setting The following table lists the parameter and positioning data to be set setting condition and check timing Set other parameters if necessary Buffer ENT 3 Default Ape Check timing memory Setting item Setting range Setting condition value of the set data address decimal 0 Position control mode The data can be set Pr9 Positioning mode 1 Speed position control switch 0 anytime 25 mode Note that the set data at Positioning the rise ON of a address P1 positioning start signal Whena 302 Da 2 0 to 2147483647pulse Opulse Y22 Y23 are used fo movement ee E i positioning start 303 amount the operation If the data signal Y22 Y23 are written when BUSY f f is turned on signal X14 is on the Positioning data will be accepted at 304 Da 3 speed V 1 to 4000000pulse s Opulse s the rise ON of the next 305 positioning start signal Y22 Y23 8 Speed position movement amount change The movement amount for position control can be changed during speed control of the speed position control switch mode Set the new movement amount in during speed control The value in Cd 6 Cd 6 New speed position movement amount using a sequence program New speed position movement amount is reflected as the movement amount for position control at the input of Speed position switching command signal CHANGE
222. lated ca 16 lmmediate pulse setting value stop accumulated maximum value is pulse setting value The accumulated s Accumulated outside the setting minimum value pulse error detection 131 pulse error range Moreover Hio within the setting Accumulated undetectable either of the values ction I no range pulse error in Alert executed Change the value of detection cen output accumulated Accumulated function f pulse setting value pulse setting value error y minimum value selection to 0 and and review the setting 416 Immediate values of stop accumulated ca 13 Alert output pulse setting value accumulated pulse minimum value is setting value outside the setting maximum value to range Cd 16 Immediate ca 17 Accumulated stop accumulated pulse setting value pulse setting value selection is set to 1 minimum value and the maximum minimum reference values are set to 0 Td 220 Reference Measure the reference value write request value and then write was set to 1 when the The reference value the value Reference value measurement was not 132 is not written to the Write the value when write error being executed Reference value measurement ma 20 flag was set to 0 flash ROM Ma 20 Reference value measurement flag is set to 1 259 SI epoo 10403 P S vL SJOJJ3 JO SJIeJ9Q vl
223. length depends on the specifications of the encoder Review the specifications of the encoder to be used Use shielded twisted pair cable for the connection with the encoder Encoder output type Cable length Differential output type MAX 30m TTL type open collector type MAX 3m Connect the module and Servo ON signal of the drive unit without fail In addition do not turn on off Servo ON signal externally If Servo ON signal is not connected the motor may rotate even in case of a CPU error 66 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 4 6 2 Precautions when connecting an encoder This section describes precautions when connecting an encoder 1 Operation of the QD73A1 deviation counter and feedback pulses The deviation counter in the QD73A1 counts up and down An addition subtraction switchover can be processed through the phases of feedback pulses When feedback pulses are input with the phase A leading the phase B by 90 the number of command pulses is subtracted This input method is for counting positive command pulses when Phase A the speed command is positive voltage when the motor is rotating Phase B forward When feedback pulses are input with the phase B leading the phase A by 90 the number of command pulses is added This input method is for counting negative command pulses when Phase A the speed command is negative v
224. log Gain output voltage Selection 1 Selection 2 Selection 3 Selection 4 A adjustment P sam ase opener o o iat eo oases Soe ni value Accumulated pulse gt 3480 3700 6960 7400 10440 11100 13920 14800 Gain If the accumulated pulse exceeds the amount marked a A aa Y adjustment an excessive error occurs value Analog Gain output voltage Selection 5 Selection 6 Selection 7 Selection 8 A adjustment pr uepeRT rR eeECuE D tease neato a see nde to pense value Accumulated pulse 69600 34800 s 37000 69600 74000 104400 111000 139200 148000 Gain If the accumulated pulse exceeds the amount marked a iia y da 44 adjustment p i value an excessive error occurs The following is an example of selecting an option in Accumulated pulse setting Ex Maximum speed 4Mpulse s position loop gain 30s Maximum speed 4000000 5 193339 pulses Position loop gain 30 Accumulated pulse If the number of accumulated pulses is 133333 148000 to 148000 pulse should be selected in Accumulated pulse setting so that analog output voltage will not be saturated 103 Bumes YAMS z 9 Dunes asind paje nun29y 7 7 9 2 Excessive error If accumulated pulse amount exceeds an upper limit value values marked in Page 103 Section 6 2 2 1 b an excessive error occurs and the following conditions occur in the system
225. lt gt I O assignment lt gt Click the Switch setino button Switch setting for 1 0 and intelligent function module Input format HEX lt lt Select HEX Model name Switch 1 Switch 2 Switch 3 Switch 4 Switch 5 QD7341 0000 0000 0000 Cancel Item Setting detail Bit bO Rotation direction setting 0 Positive voltage is output when the positioning address increases 1 Negative voltage is output when the positioning address increases b3 b2 b1 0 0 0 Fixed to 0 Empty When a value is set the value is ignored b7 b6 b5 b4 Accumulated pulse setting unit pulse 0 0 0 0 14800 to 14800 default value 0 0 0 1 3700 to 3700 Selection 1 0 0 1 0 7400 to 7400 Selection 2 0 0 1 1 11100 to 11100 Selection 3 0 1 0 0 14800 to 14800 Selection 4 0 1 0 1 37000 to 37000 Selection 5 0 1 1 0 74000 to 74000 Selection 6 0 1 1 1 111000 to 111000 Selection 7 Switch 1 1 0 0 0 148000 to 148000 Selection 8 b9 b8 Multiplication setting 0 0 4 0 1 2 1 0 1 1 1 1 2 b11 b10 0 0 Fixed to 0 Empty When a value is set the value is ignored b12 OPR direction setting 0 Reverse direction address decreasing 1 Forward direction address increasing b13 OPR method setting 0 Near point dog method 1 Count method b15 b14
226. m example X47 X14 3 E HE MOVP K1 D86 Y Deviation counter clear command UN 4 Command deviation counter clear to the BMOVPD86 G86 K1 J QD73A4 d Command to check the deviation counter LSET M10 clear M10 un HH H G86 KO RST M10 Y Completes clearing the deviation counter END CHAPTER 7 PROGRAMMING 7 3 7 Stop program during positioning This program stops the positioning in execution a Program detail As X3A is turned on the module stops the positioning in execution b Device used by the user Device Description X3A Stop command c Program example X3A X14 E SET Y27 Turn on Stop signal X3A X14 x AF RST Y27 Turn off Stop signal END Buiuonisod Buunp wesbold dois 7 uoneunBijuo wajs s pyepueis e ul ejnpojy eui Buis ueuM 7 139 7 4 When Using the Module in a Remote I O Network This section introduces program examples of when the QD73A1 is used in a MELSECNET H remote I O network Point P For details on a MELSECNET H remote I O network refer to the following L Q Corresponding MELSECNET H Network System Reference Manual Remote I O network 1 System configuration Remote master station station No 0 Remote I O station station No 1 QCPU QJ71LP21 25 X Y00 to X Y1F QX10 X20 to X2F QX10 X30 to X3F QJ72LP25 25 QX10 X1000 to X100F QY10 Y1010 to Y101F E First half Empty 0 point D Saran Second half X Y1020
227. mber of Parameter Settings lille 27 3 35 jJListofFE nctlonis ii ia Re Re Rec RI Eu duae Ra eerie M 28 3 4 O Signals from to the CPU Module 000 cece es 31 ub VOisignal liso son cha ae anal Mat of e ruf cue tege e e 31 3 4 2 Details of input SigNalS 0oooooocooocorocorrr s 33 34 39 Details of output signals 1 25 cm Gobir bev ood Ade ds I BE ICD edd 38 3 5 Specifications of I O Interfaces with External Devices o oo o ooooooooooooo 41 3 5 1 Electrical specifications of I O signals 00 00 41 3 5 2 Signal layout for external device connectors ooococcoccoco 43 3 5 3 Listofl O signal details ui RR eer Reden x eoe de 44 3 5 4 I O interface internal circuit cele 46 3 6 Memory Configuration and Use 0 0 0 e 48 3 7 List of Buffer Memory Addresses illis 49 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 55 4 1 Handling Precautions ille m 55 4 2 Settings and Procedure Before Operation 0 00 00 lees 56 4 3 SPartNatmesi i eec Le Reto ulate glos e AR Up d eue obo OR p A duet dg 57 44 ED cles lc sec d e du de dee Sed o de ded e ad oe dod iei do 59 4 5 Zerolgain Adjustment lisse hs 60 AG WING ister cu Dc eet re b Uo etaed esed ete b eh atcha Rot ev caf a ote ae 65 4 6 1 Wiring precautions 0 hen 65 4 6 2 Precautions when connecting an encoder 0 00 67 4 6 3 External device connec
228. ment value of the factory default cariosinasntes peda SES 64 Reverse JOG start signal Y25 39 Reverse start complete signal X23 36 Reverse start signal Y23 39 Rotation degree ee 17 Rotation direction setting 101 102 Rotation speed asas sr ai prane pap a ER EAR fas 17 RUN LED ea DM ee a 57 S SELECT SET switch a n anana aaan 57 Serial NUMBER ui ecce air RE Anl Ey 24 Serial number display llle 58 SERVO connector llle 58 70 SENO Ofii du us edd Bala Pe ta gh 274 Servo ON signal SVON 42 43 45 Servo READY signal READY 41 43 45 Servo READY signal X1B 35 SerVomotor 5 ee kom ite iM Rx 17 274 Set value change complete flag X2C 37 Set value change request signal Y1C 38 Setting for the movement amount after near point dog ON cala bajita la ase Sor E A RYE QU et Sans 80 82 280 Settings and procedure before operation 56 Signal layout for external device connectors 43 Software version 0 00000 ee o 23 Specifications of I O interfaces with external devices O m 41 Speed change naja eer VR 216 Speed change during two phase trapezoidal positioning CODlIOl ee ate oe a aw ek bee TE DR EEG E 216 Speed change request 0005 92 Speed command output 00005 26 Speed command signal 42 43 45 Speed limitas o ete
229. monitor window and to display the details of the history refer to the following GX Works2 Version1 Operating Manual Intelligent Function Module To monitor the error history directly through the buffer memory refer to the following 5 Page 86 Section 5 5 236 CHAPTER 13 COMMON FUNCTIONS 13 3 Module Error Collection Function Errors that occurred in the QD73A1 are collected into the CPU module The error information of the QD73A1 module is held in a CPU module memory as a module error history even when the power is turned off or the CPU module is reset Error history CPU module and error log intelligent function module are displayed on one screen l Errors that are detected in the entire base system can be monitored in chronological order Module A Module B CPU 4 19 29 Error A1 is detected 19 34 Error B1 is detected 19 33 Error C1 is detected 7 19 36 Error A2 is detected n u 1 g B 13 i NH l IE i A al zt Wu HESS V Time Module with error Error code H X 19 29 ModuleA ErrorA1 i Error history NN 19 33 CPU i Error C1 1 CPU module V Module error log 19 34 ModuleB Error B1 T
230. mulated pulse setting value selection is set to 1 Immediate stop accumulated pulses maximum value reference value maximum value Cd 14 Immediate stop accumulated pulse setting value maximum value 1000 x reference value maximum value 1000 For details on the accumulated pulse error detection function refer to the following lt gt Page 221 Section 11 9 selection is set to 1 1000 to 50000 x 103 Last three digits are the value after the decimal point 95 ejeq joguot 9 G Buffer value If ca 17 Accumulated pulse setting value selection is set to 1 Alert output accumulated pulses minimum value reference value minimum value ca 15 Alert output accumulated pulse setting value minimum value 1000 x reference value minimum value 1000 For details on the accumulated pulse error detection function refer to the following 5 Page 221 Section 11 9 selection is set to 1 1000 to 50000 x 103 Last three digits are the value after the decimal point RT Default memory Item Description Setting range value address decimal The difference between the reference value minimum value and the judgment value alert output accumulated pulses minimum value is set The relation between this setting and the jud
231. n of major positioning control refer to the following C gt Page 228 Section 12 1 In position signal X16 This signal turns on while the accumulated pulse amount in the deviation counter is within the set range of Pr8 In position range 1 to 20479 after deceleration started This signal turns off when positioning starts Accumulated pulses ui A In position set values gt t In position signal ON X16 E OFF UAC iA A In position range Accumulated pulse amount are checked being compared with Prs In position range at the following timing When the power is turned on When automatic deceleration starts in positioning and thereafter When a JOG start signal was turned off and deceleration starts in JOG operation and thereafter When the near point dog turned on and deceleration to the creep speed starts in OPR and thereafter Excessive error signal X17 This signal turns on when accumulated pulse amount exceeds the accumulated pulse setting range In this case the QD73A1 s status is as follows Analog output voltage OV Accumulated pulse Reset to 0 Servo ON signal SVON OFF wa2 Actual current value Ma 1 Current feed value When PLC READY signal Y2D is turned on this signal turns off ON Excessive error signal X17 OFF A ON y PLC READY signal Y2D OFF deccm Executed by the QD73A1
232. n the positioning speed value that was multiplied by the set value of electronic gear exceeds the speed limit value the limit value is ignored On the other hand if the speed exceeds 4Mpulse s the maximum value of command frequency the error Outside the command frequency range error code 104 occurs In this case the speed is 4Mpulse s resulting in a positioning error To avoid this case satisfy the following condition when setting positioning speed and electronic gear Positioning speed x Electronic gear 4Mpulse s 3 Setting the electronic gear function The following table lists the data to be set setting condition and check timing Buffer e Setting Setting Check timing of memory Setting item Default value JA range condition the set data address decimal Numerator of command pulse Pr3 MAIN 4 multiplication for PLC READY When PLC READY electronic gear CMX 1 to 9999 signal Y2D signal Y2D is turned Denominator of must be off on command pulse Pra 5 multiplication for electronic gear CDV 208 CHAPTER 11 CONTROL SUB FUNCTIONS 11 2 Speed Limit Function The speed limit function limits command speed to the value set in Prs Speed limit value when command speed during major positioning control or JOG operation exceeds Pr5 Speed limit value 1 Control detail This function is active on major positioning control and JOG operat
233. nction While this area is set to 1 the accumulated pulse error detection function is executed However if the reference value has never been measured the error Accumulated pulse error undetectable error code 131 occurs and the function does not operate If a value other than 0 and 1 is set the value is regarded as 0 If ca 19 Measurement start request is set to 1 the function does not operate even if this area is set to 1 This request is ignored and after ca 19 Measurement start request is set to O the function is executed For details on the accumulated pulse error detection function refer to the following 257 Page 221 Section 11 9 0 No request 1 Requested 0 No request 409 Cd 19 Measurement start request Use this area to measure accumulated pulses used as the reference value to detect an error While this area is set to 1 the maximum minimum accumulated pulse values are measured If a value other than 0 and 1 is set the value is regarded as 0 If ca 18 Accumulated pulse error detection request is set to 1 the value is not measured even if this area is set to 1 This request is ignored and after Cd 18 Accumulated pulse error detection request is set to O the function is executed For details on the accumulated pulse error detection function refer to the following 357 Page 221
234. ndition of the function The following table lists the data to be set and the condition to execute the deviation counter clear function Execution condition of Buffer memory Setting item Setting range Default value the deviation counter address clear function decimal Deviation counter clear 1 Clear the deviation 0 BUSY signal X14 must be 86 Cd 4 command counter off 218 CHAPTER 11 CONTROL SUB FUNCTIONS 11 8 In position Function The in position function turns on In position signal X16 while the accumulated pulse amount in the deviation counter is within the specified in position range 1 to 20479pulse after deceleration started In position signal X16 can be used as the signal right before positioning completion 1 Control detail In position signal X16 turns on when the accumulated pulse amount in the deviation counter becomes equal to the value set in Pre In position range and stays on till the next start Pulse output Motor speed Accumulated pulses gt ON gt In position setting In position signal range X16 OFF Turns off at start Turns on when the deviation counter value becomes the one within the set in position range Accumulated pulse amount is checked with the in position range every 0 5ms 2 Precautions for control a During speed control in the speed position control switch mode Accumulated pulse amoun
235. nds on Accumulated pulse setting in the switch setting Setting range Unit pulse Accumulated pulse setting 37000 to 37000 Selection 5 74000 to 74000 Selection 6 111000 to 111000 Selection 7 148000 to 148000 Selection 8 92 93 92 CHAPTER 5 DATA USED FOR POSITIONING Buffer Default memory value address decimal Item Description Setting range Specify zero adjustment or gain adjustment When zero gain adjustment is performed using switches on the front of the QD73A1 the set value is ignored If a value other than 0 1 and 2 is set the 1 Zero adjustment Zero gain adjustment Cd 10 2 Gain adjustment speciti atisn error Zero gain adjustment setting error error code 123 occurs For details on zero gain adjustment refer to the following Page 60 Section 4 5 Use this area to set adjustment amount of the analog output value during zero gain adjustment The analog output value changes by the adjustment amount when Set value change request signal Y1C is turned on and off Ex when 1000 is set the analog output value can be adjusted by approximately Zero gain adjustment 0 33V Cd 11 3000 to 3000 0 95 value specification When zero gain adjustment is performed using switches on the front of the QD73A1 the set value is ignored If the setting is outside the sett
236. ng Data This section describes the details of positioning data Buffer memory Item Setting range Default value address Reference decimal 0 Positioning control i ME 0 Positioning Da1 Positioning pattern 1 Two phase trapezoidal positioning eer 301 Page 83 Section 5 4 1 r control Absolute system Positioning address 2147483648 to 2147483647 pulse 302 Da2 Opulse Page 84 Section 5 4 2 P1 Incremental system 303 0 to 2147483647pulse I 304 Da 3 Positioning speed V1 1 to 4000000pulse s Opulse s 305 Page 85 Section 5 4 3 Absolute system Positioning address 2147483648 to 2147483647pulse 306 r Da4 Opulse Page 85 Section 5 4 4 P2 Incremental system 307 0 to 2147483647pulse TE 308 i Das Positioning speed V2 1 to 4000000pulse s Opulse s 309 Page 85 Section 5 4 5 Point Positioning data can be set any time but the error check is executed when a positioning start signal Y21 to Y23 is turned on For details on positioning control two phase trapezoidal positioning control and speed position control switch mode refer to the following s Page 183 CHAPTER 9 ejeg Buiuonisod Y S 1 LDa 1 Positioning pattern Select a control pattern of major positioning from positioning control or two phase trapezoidal positioning control When 0 is set in bO positioning control is specified
237. ng manual Manual name Description manual number model code GX Works2 Version1 Operating Manual Common System configuration parameter settings and online operations common SH 080779ENG 13JU63 gt to Simple project and Structured project of GX Works2 GX Developer Version 8 Operating Manual Operating methods of GX Developer such as programming printing lt SH 080373E 13JU41 gt monitoring and debugging Memo CONTENTS SAFETY PRECAUTIONS eet te E rR aOR go a 1 CONDITIONS ORUSE FORTHE PRODUCTES 5 INTRODUCTION TAEA e E A ERE NUR E E AI MA red dece d el Bic roe N 6 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES 0 00 0c eee ees 7 RELEVANTHMANUALS eis ITA uae E SP pcc Per E O UNI e 8 MANUAISPAGESORGANIZATIONE TEST rece CP pre ep eer E cd oo TO ae 14 MER MIS EET eee omen cent os cud LM euh o On dee Lr At Ses Pa ee ie ae fee eves ERR MT MU E Ld ERR S 16 PAGKINGiIEI SE Pr cers eon uh ors t p edo eye AA Se PO d ry ete EP omc SCRI SE 16 CHAPTER 1 OVERVIEW 17 A i em etc ee hoe it a eee eae A eS eee Bas 18 1 2 Signal Transmission Between the QD73A1 and Others 0 000 cece eee eee 19 CHAPTER 2 SYSTEM CONFIGURATION 2a 2 4 Applicable Systems eiu enced A VERE ROI LER ONUS da 21 2 2 How to Check the Function Version and Serial Number 00000 ce eee eens 24 CHAPTER 3 SPECIFICATIONS s 3 4 Performance Specifications liliis en 26 3 2 Nu
238. nge is outside the setting 1 to PS Speed limit range value pulse s A Set a value within the The set value in Creep speed di setting range 21 Outside the f PUE SER E Setting range setting range is outside the setting 1 to IPFT OPR range speed pulse s Setting data If a setting is outside Set a value within the range error the setting range in OPR the OPR does not s ng range parameter start Setting range Deceleration distance i The set value in Setting for the value from OPR movement Pr13 Setting for the speed to Pr 12 amount after movement amount 22 Creep speed lt near point dog after near point dog ON Outside the ON is outside the Pr13 Setting for the ERR 1 setting range setting range movement amount after near point dog ON This condition is checked only in the count method The positioning end Set the positioning point is outside the end point within the C stroke limit range stroke limit range aa Positioning BR The set value of Do not set a negative ww 30 address Outside n Ry positioning address value to the o the setting range TM os in the incremental positioning address oF Setting data system is a negative in the incremental 9o 2m range error value at the start The positioning does system at the start o d Positioning For two phase not start 2g data trapezoidal positioning Two phase control in the absolute Do not change the 31 trapezoidal System
239. o Positioning mode 0 R W Section 5 2 6 26 1Au System area 39 274 49 sesseJppy Ajoweyy yng Jo 1S1 2 Default Read Memo Address Address Data w a Name value Write area Reference decimal hexadecimal type a 5 3 40 284 Page 80 Pr10 OP address 0 R W Section 5 3 41 29u 1 42 2A Page 80 Pr11 OPR speed 10000 R W Section 5 3 43 2Bu OPR Parameter 2 44 2Cy parameter area Page 81 Pr 12 Creep speed 1000 R W Section 5 3 45 2Dy 3 46 2Ey Page 82 Pr 13 Setting for the movement 75 R W Section 5 3 47 2Fy amount after near point dog ON 4 48 304 System area 79 4Fy 80 504 0 Cd 1 New current value R W 81 51H 0 82 524 0 Cd 2_ New speed value R W 83 534 0 84 544 0 C 3 JOG speed R W 85 55H 0 Control ian 86 5B vis Cd4 Deviation counter clear 0 RW command control 87 574 change Cd 5 Analog output adjustment area 0 R W area 1 88 58H Ca6 New speed position movement 0 RW Control Page 90 89 59 amount 0 data area Section 5 6 90 5Ay Ca7_ Current value change request 0 RIW 91 5Bu C48 Speed change request 0 RIW 92 5CH Cd 9 Analog output adjustment area 0 RW 94 BE
240. o 9 o o o O _ J Y U V lt 90 E Unit mm 276 APPENDICES Memo lt Appendix 6 External Dimensions 277 INDEX 0to9 15 pin connector for external wiring pin type 73 9 pin connector for external wiring pin type 73 Absolute positioning start complete signal X21 36 Absolute positioning start signal Y21 38 Absolute system sss 84 186 188 Acceleration tiMe oo oooooo 76 79 Accumulated pulse 0 0000 274 Accumulated pulse amount 60 Accumulated pulse error detection function 221 Accumulated pulse error detection function status 88 Accumulated pulse error detection request 98 Accumulated pulse setting 101 102 Accumulated pulse setting value selection 97 Actual current value o o o ooo o o 86 187 Alert output accumulated pulse setting value 226 Alert output accumulated pulse setting value maximum Value 94 Alert output accumulated pulse setting value minimum Valle 96 Alert output accumulated pulses 225 Analog output adjustment area1 91 Analog output adjustment area2 92 Analog output voltage current 42 Analog voltage resolution setting 102 105 Applicable base units o o oooooo 21 Applicable modules 0000 e eee 21 Applicable
241. o check the speed change Request a speed change to the QD73A1 J Read the speed change from the QD73A1 Completes checking the speed change Command to check the speed change again when it is incomplete 173 welbold eBueuo onuo 97 OMION O I BOWSY e ur apoya ayy BuIsy ueuM 7 3 Deviation counter clearing program This program clears the deviation counter to 0 a Program detail As X39 is turned on the deviation counter is cleared to 0 Item Setting detail Cd E Deviation counter clear command 1 Clear the deviation counter b Execution condition Check item Condition Note WDT error H W error signal X1020 OFF signal BUSY signal X1024 OFF u Error detection signal X1028 OFF Synchronization flag X1034 ON c Device used by the user Device Description X39 Deviation counter clear command D110 Deviation counter clear request D111 Deviation counter clearing result check M80 Deviation counter clear M81 Deviation counter clearing completion check M300 Z P REMTO instruction completion M301 Z P REMTO instruction failure M302 Z P REMFR instruction completion M303 Z P REMFR instruction failure d Program example X39 ht SET ms0 M80 X1024 K1 D110 ZP REMTO Jr K1 K1 H2 K86 D110 K1 M300 M300 M301 a RST M80 SET M81 M81 HI ZP REMFR J1 K2 K1 H2 K86
242. o signal may be misread resulting in deviation of OP by one servomotor rotation Set Pr13 Setting for the movement amount after near point dog ON so that the position after the move becomes closer to the center of Zero signals b OPR start while near point dog is on The operation is as follows 1 OPR starts Pr 13 Setting for the movement The workpiece moves in the direction that is amount after near point 2 opposite from the specified OPR direction at Pr11 OPR speed As the near point dog turns off deceleration starts After an operation stop OPR starts in the specified OPR direction As the near point dog turns on the workpiece moves the amount set in Setting for the movement amount after near point dog ON Then the OPR is Zero signal completed at the first Zero signal after the move Near point c Outside the stroke limit range If the workpiece moved outside the stroke limit range the error Outside the stroke limit range error code 100 occurs although the operation continues In this case the OPR is completed normally if the near point dog is placed on the OPR direction CHAPTER 8 OPR CONTROL 8 4 Operation Timing and Processing Time of OPR Control This section explains the operation timing and processing time of OPR control v OPR control 1 1 gt t itt ii ON OPR start signal l 4 v20 OFF 3 i L
243. o store the reference value for the accumulated pulse error detection 3 7 List of Buffer Memory Addresses This section lists the buffer memory addresses of the QD73A1 For details on the buffer memory refer to the following s Page 74 CHAPTER 5 Point CHAPTER 3 SPECIFICATIONS Do not write data to system areas and area where data cannot be written from sequence programs in the buffer memory Writing data to these areas may cause malfunction Default Read Memo Address Address Data i y 4 Name value Write area Reference decimal hexadecimal type s m 7 0 0H 7 Pri Stroke limit upper limit 2147483647 R W Page 77 Section 5 2 2 H Positionin 9 2 Stroke limit lower limit 0 R W 1 3 SH parameter Parameter fixed SN n m area r 4 4 parameter al umera oro comman pulse 4 RIW Page 78 multiplication for electronic gear Section 5 2 5 5 Pr4 Denominator of command pulse 4 RW 2 multiplication for electronic gear 6 6H System area 19 13H 20 144 Page 78 Pr5_ Speed limit value 200000 R W Section 5 2 21 154 3 22 16 Pr6 Acceleration time 300 R W Page 79 m Positioning Em Section 5 2 ii H parameter 7 Deceleration time n RW parameter 4 variable area Page 79 24 184 parameter Pr8_ In position range 5 R W Section 5 2 5 Page 79 25 194 er
244. of Lower limit switch Upper limit switch Stroke limit of the drive unit RLS FLS the drive unit Drive unit V NI uopouny S TH YMS qur J8MO7 S 13 YMS qur 4eddn p LL 213 214 2 Wiring upper limit switch FLS and lower limit switch RLS To use the upper limit switch FLS lower limit switch RLS function wire the QD73A1 s terminals for Upper limit signal FLS and Lower limit signal RLS as in the following figure QD73A1 FLS RLS E COM j 24VDC When wiring the terminals set the switch that is placed on the direction in which wa 1_ Current feed value increases as an upper limit switch FLS and the switch that is placed on the direction in which wd 1 Current feed value decreases as a lower limit switch RLS If the upper and lower limit switches are wired opposite the upper limit switch FLS lower limit switch RLS function does not operate normally and the motor does not stop 3 Precautions for control OPR control major positioning control and JOG operation cannot be started from the area where the upper limit switch FLS had detected overrange in the direction where ma Current feed value increases Also OPR control major positioning control and JOG operation cannot be started from the area where the lower limit switch RLS had detected overrange in the direction where ma 1 Current feed value decreases To
245. of zero adjustment BUSY LED value and gain adjustment value ZERO LED 2 Indicates the status of zero gain adjustment GAIN LED SELECT SET switch A switch for zero adjustment and gain adjustment 3 Page 62 Section 4 5 4 UP DOWN switch A switch to adjust an analog output voltage value Check pins to measure analog output voltage OUT terminal Use these pins for zero gain adjustment 4 ae Page 60 Section 4 5 GND terminal Inside diameter 2 03mm for both OUT terminal and GND terminal 57 SOWEN Hed Number Name Description Reference 5 SERVO connector A connector for a drive unit Page 44 Section 3 5 3 6 CONT connector A connector for external control devices Page 70 Section 4 6 3 7 Serial number display Displays the serial number of the QD73A1 8 Mode euh A switch to change the operation mode to the zero gain adjustment mode Page 62 Section 4 5 4 DIP switch 1 and 2 are off as the factory default a 58 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 4 4 LED The LEDs on the front of the QD73A1 indicate the statuses of the module and axis control QD73A1 RUNE HOGA EB E ZERO Woz E GAIN ERR E E BUSY Indication O
246. off both DIP switch 1 and 2 on the lower part of the module Set the SELECT SET switch to the SET side and check that the BUSY LED turns on After the BUSY LED turned off set the SELECT SET switch back to the center 2 End 1 The operation mode cannot be switched to the zero gain adjustment mode if the power is turned on ahead of turning on DIP switch 1 and 2 2 The zero adjustment value and gain adjustment value are recorded in the flash ROM inside the QD73A1 by setting the SELECT SET switch on the SET side and they are not erased even at a power off 3 If an error occurs in the zero gain adjustment mode the ERR LED turns on If the ERR LED is on turn on Error reset signal Y28 then perform zero gain adjustment again 62 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION b When using I O signals and the buffer memory Set the servomotor in the servo lock status Y Turn on the power Q Y Configure the following items in the switch setting and write them to the CPU module Accumulated pulse setting Set accumulated pulse amount Zero gain adjustment mode Normal mode setting Select Zero gain adjustment mode Turn off then on the power or reset the CPU module Check that Md 9 Zero gain execution status is 2 In the zero gain adjustment mode switch setting Zero adjustment Write the adjustment
247. ol Y20 a hd Lower limit signal RLS X20 OPR start complete signal 4 Speed position switching command signal signals OPR complete signal 4 SOPHIE X13 4 EN Y21 to Y23 Positioning start signal gt Positioning start complete signal X21 to X23 4 Phase Z pulse Zero signal X14 l BUSY signal External Em Aon ase A pulse Positioning complete signal interface e PLG X15 Phase B pulse Y2C Speed position switching enable signal gt Y24 Y25 JOG start signal gt Y26 Speed position mode restart signal gt Y27 Stop signal gt Servo READY signal READY Error detection signal Servo ON signal SVON X18 i Error reset signal Drive MR Y28 g gt X19 Overtow Signal Analog voltage vb Overflow reset signal E Interface with gt the CPU Underflow signal X1A module Underflow reset signal Y2A x16 In position signal x17 Excessive error signal X1C Near point dog signal X1D l4 External stop signal Upper limit signal Lower limit signal Servo READY signal WDT error H W error signal X1E X1F X1B X10 Synchronization flag X24 4 Zero gain adjustment data writing request signal Y1A Zero gain adjustment data writing complete flag X2A Zero gain adjustment change request signal Y1B X2B Y1C ect value change complete flag X2C Operating status of the speed position control switch mode X2D gero gain adjustment change complete flag Set valu
248. oltage when the motor is Phase B rotating reverse If the sequence of the phase A and phase B is reversed the number of command pulses and feedback pulses are counted together This can cause an excessive error of accumulated pulses resulting in the stop of the control a Switch setting and the encoder The rotation direction of the motor and the count process negative or positive of the command pulses depend on Rotation direction setting in the switch setting If the rotation direction of the motor that is set to Rotation direction setting in the switch setting is different from the encoder s rotation direction the encoder rotates reverse when the motor rotates therefore the sequence of feedback phases also reverses Bum 9 r The rotation direction of the motor that is set to Rotation direction setting in the switch setting must be the same as the encoder s rotation direction For details on Rotation direction setting in the switch setting refer to the following 5 Page 102 Section 6 2 1 Jepooue ue Huyjoauuod usym suonne2eJd z 9v 67 Connection examples depending on Rotation direction setting are as follows Ex When the rotation directions of the motor and encoder are as below and the motor rotates forward when positive voltage is applied to the servo amplifier Forward Reverse O r un run Servomotor k Forward Reverse run Encoder Suppose the con
249. ompensate i Other functions control control details control f S 5 S pne E f 0 o gt o lt o E c a2 8 9 E c E O 2 amp m 2 2 B o 95 c P 5 a E Item 3 o E cO g E B o 9 oB c o o 2 c o 5 5 zu E im o 5 NEC S o id E c as O 2 z o o c ei aa o E E o 9 o E o z o o E zt o E E z o ud T v o 2 E o o O 35 o o x x S o o o 9 5 e g o t o c 2 z E 9 o 7 2 S 2 E z 9 S ul o Ww D 6 E S lt z 3 i S OPR control O O O x x x O O O Positioning control O O O O x O x O O O Position Major control Two phase positioning Mode trapezoidal O O O O i O ei O O O control positioning control Speed position control switch x x mode JOG operation x x 30 CHAPTER 3 SPECIFICATIONS 3 4 I O Signals from to the CPU Module This section describes I O signals of the QD73A1 3 4 1 I O signal list This section describes l O signal assignment and use of each signal The first half of the I O assignment is empty 16 points and the second half is intelligent 32 points When the module is mounted on the slot No 0 and 1 of a main base unit the device No Xn0 becomes X10 Although when the slot No 0 is set as empty 0 point in the I O assignment setting of GX Works2 the device No Xn0 becomes XO n 0 Device numbers used in this manual are for the case when the QD73A1 is mounted on the slot No 0 and 1 and when the slot No 0 is empty 16 points
250. on distance from the OPR speed to the creep speed Deceleration distance OPR speed Creep speed pulse s Actual deceleration time ms x pulse 1000 2 The following are the setting precautions Set pulse amount so that the position moved from the near point dog ON does not overlap with Zero signal Calculate deceleration distance without the use of electronic gear The following is a setting example Ex When parameters are set as follows Pr11 JOPR speed 10kpulse s default value e Pr12 Creep speed 1kpulse s default value Pr7 JDeceleration time 300ms default value Deceleration _ Vz Vo Ve Speed limit value 200kpulse s t distance 1000 2 0 eee Vz OPR speed 10kpulse s 1 Vz Vc Ta Vz Vc Eid x x FON 1000 2 Vp a2 10k 1k x 300 10k 1k 2000 x 200k 74 25 2 Actual deceleration time t a b 75 rounded up to the nearest integer Ts Deceleration time 300ms Point When the position where the near point dog turns on is set near the center of Zero signals Pr 13 Setting for the movement amount after near point dog ON should be an integral multiple of pulses per one servomotor rotation Then the position moved after the near point dog ON does not overlap with Zero signal For instance when the number of pulses per one servomotor rotation is 2000 set 2000 pulses CHAPTER 5 DATA USED FOR POSITIONING 5 4 Positioni
251. on setting Accumulated pulse setting p Multiplication setting 4 OPR direction setting Reverse direction address decreasing OPR method setting Near point dog method Encoder I F setting Open collector output Analog voltage resolution setting 12 bit resolution Zero gain adjustment mode Normal mode setting Normal mode This dialog setting is linked to the Switch Setting of the PLC parameter Default value will be shown in the dialog if the Switch Setting of the PLC parameter contains an out of range value CET Item Description Setting value Default value Reference Positive voltage F D Positive voltage is output when the Rotation Set the rotation direction in At 3 is output when y MD positioning address increases DOM Page 102 Section direction which positioning addresses the positioning 2 Negative voltage is output when the 6 2 1 IN setting increase a i address o positioning address increases increases 2 3700 to 3700 pulse Selection 1 eu 400 to 7400 pulse Selection 2 E Q Select the maximum 11100 to 11100 pulse Selection 3 EROS Accumulated accumulated pulse amount that 14800 to 14800 pulse Selection 4 deco pulsa Page 102 Section u ulse settin can be counted in the deviation i 6 2 2 p g 37000 to 37000 pulse Selection 5 Selection 4 PAUSE 74000 to 74000 pulse Selection 6 111000 to 111000 pulse Selection 7 148000 to
252. on signal 3 module reports an error The module checks X18 and reports the error Outside the Ma7 Current feed value stroke limit range error code 100 1 The range from Pr1 Stroke limit upper limit to Pr2 Stroke limit lower limit The following table describes the corresponding stroke limit check for each control Control Stroke limit check OPR control Stroke limit check 3 is performed Position Positioning control Major D control Two phase trapezoidal S positioning PO Stroke limit check 1 and 2 are performed mode positioning control control Speed position control switch mode JOG operation Stroke limit check 3 is performed Current value change No stroke limit check is performed 3 Precaution for control To execute the stroke limit function normally OPR must be executed beforehand 4 Setting the stroke limit function The following table lists the data to be set setting condition and check timing Buffer URS Setting Check timing memory Setting item Setting range Default value 32 condition ofthe set data address decimal oT 2147483647 When PLC 0 Pri Stroke limit upper limit 2147483648 to pulse PLC READY signal READY signal 1 2147483647 pulse Y2D must be off Y2D is turned 2 Pr2 Stroke limit lower limit Opulse on 3 5 Disabling the stroke limit function Set
253. ontrol TRUM Position Buffer memory addresses for positioning data control Two phase Refer to the following t idal mode E O O 7 Page 269 Appendix 3 5 positioning control Buffer memory addresses for positioning data Major Refer to the following positioning 3 Page 269 Appendix 3 5 control New speed position movement amount buffer memory Speed position control QD73A1 The setting is cleared to 0 when the next th moda O O operation starts AD70 A1SD70 The value written during speed control is reflected Stroke limit range QD73A1 1 to 2147483647 AD70 A1SD70 Stroke limit lower limit to upper limit JOG operation O O Electronic gear function O O Speed limit function O O Stroke limit function O O Upper limit switch FLS lower limit o o switch RLS function Procedure QD73A1 The current value can be changed by setting Current value change function O O 1 in Current value change request AD70 A1SD70 The current value can be changed by writing a new current value in the buffer memory Procedure QD73A1 Speed can be changed by setting 1 in Speed change function O O Speed change request AD70 A1SD70 Speed can be changed by writing a new speed value in the buffer memory Deviation counter clear function O O In position function O O Multiplication setting O O Accumulated pulse error detection o function Method gt e QD73A1 Switches on the front of the QD73A1 or a
254. or detection signal X1028 OFF Forward start complete signal X1032 OFF Reverse start complete signal X1033 OFF Synchronization flag X1034 ON I O signal Forward start signal Y1032 OFF E Reverse start signal Y1033 OFF Speed position mode restart signal Y1036 i Stop signal Y1037 OFF Speed position switching enable signal OFF Y103C PLC READY signal Y103D ON When the positioning speed is set Buffer memory Positioning data No error ieee aaa at Pr5 Speed limit value 162 CHAPTER 7 PROGRAMMING c Device used by the user Device Description X2E Variable parameter change command X2F Positioning data write command X30 Forward run command X31 Reverse run command D46 Positioning mode D48 Positioning speed V1 lower 16 bits D49 Positioning speed V1 upper 16 bits M25 Variable parameter change M26 Positioning data writing M30 Speed control command pulse M250 Z P REMTO instruction completion M251 Z P REMTO instruction failure M252 Z P REMTO instruction completion M253 Z P REMTO instruction failure ueJ6oJd o3u09 Huluonisod soley e v7 AJOMJON O BOWSY e uir ejnpojy ayy BuIsy UYM p 7 163 d Program example 164 X2E 1 iN SET RST Y103C M25 X1024 y MOVP K1 Das A Z REMT J1 K1 K1 H2 K25
255. ore selection 6 40000 to 50000 65000 to 74000 111000 to 111000 75000 to 60000 111000 to 97500 i 104400 111001 or more selection 7 60000 to 75000 97500 to 111000 148000 to 148000 100000 to 80000 148000 to 130000 139200 148001 or more selection 8 80000 to 100000 130000 to 148000 1 If a range other than the selection 1 to 8 is set the default value 0 is used When performing gain adjustment a gain value can be adjusted within the range of 5 to 10V Adjust a gain value according to the rated speed command voltage of the servo amplifier to be used 60 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION Gain adjustment can be performed in the following two methods Adjusting with the default accumulated pulse amount Adjusting with specified accumulated pulse amount a Adjusting gain with the default accumulated pulse amount Follow the procedure below 1 Change the operation mode to the zero gain adjustment mode Set Accumulated pulse setting in the switch setting according to the necessary accumulated pulse amount Adjust the voltage to be the necessary voltage value between the check pins b Adjusting gain with specified accumulated pulse amount Follow the procedure below 1 Change the operation mode to the zero gain adjustment mode 2 Set Accumulated pulse setting in the switch setting according to the necessary
256. ore mounting or removing the module Failure to do so may cause the module to fail or malfunction After the first use of the product do not mount remove the module to from the base unit and the terminal block to from the module more than 50 times IEC 61131 2 compliant respectively Exceeding the limit may cause malfunction Use the programmable controller in an environment that meets the general specifications in the user s manual for the CPU module used Failure to do so may result in electric shock fire malfunction or damage to or deterioration of the product To mount the module while pressing the module mounting lever located in the lower part of the module fully insert the module fixing projection s into the hole s in the base unit and press the module until it snaps into place Incorrect mounting may cause malfunction failure or drop of the module AR When using the programmable controller in an environment of frequent vibrations fix the module with a E screw 2 Tighten the screws such as a module fixing screw within the specified torque range amp Undertightening can cause drop of the screw short circuit or malfunction d Overtightening can damage the screw and or module resulting in drop short circuit or malfunction 2 Screw Tightening torque range 3 Module fixing screw M3 screw 0 36 to 0 48N m Connector screw M2 6 screw 0 20 to 0 29N m 1 The module can be easily fixed onto the base unit u
257. orks2 When using GX Developer refer to the following 5 Page 271 Appendix 4 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES 1 Method of ensuring compliance To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment certain measures may be necessary Please refer to one of the following manuals QCPU User s Manual Hardware Design Maintenance and Inspection Safety Guidelines This manual is included with the CPU module or base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives 2 Additional measures To ensure that this product maintains EMC and Low Voltage Directives please refer to Page 65 Section 4 6 1 RELEVANT MANUALS 3 CPU module user s manual Manual name e Description manual number model code QCPU User s Manual Hardware Design Maintenance and Specifications of the hardware CPU modules power supply modules Inspection base units extension cables and memory cards system maintenance SH 080483ENG 13JR73 gt and inspection troubleshooting and error codes QnUCPU Users Manual Function Explanation Program Fundamentals lt SH 080807ENG 13JZ27 gt Qn H QnPH QnPRHCPU User s Manual Function Explanation Program Fundamentals lt SH 080808ENG 13JZ28 gt Functions methods and devices for programming 4 Operati
258. osition control switch dM au Page 193 switching command signal CHANGE the positioning can be continued f mode j Section 9 6 2 by requesting a restart In addition the positioning address movement amount can be changed if it is before the input of Speed position switching command signal CHANGE Positioning is executed in the specified direction at specified speed while a JOG operation command is on Turning on the signal starts operation Page 198 JOG operation M at a specified speed and speed control operation can be continued until a CHAPTER 10 2 Sub functions Sub functions compensate or limit control or add functions at the execution of major positioning functions stop signal is input Item Description Reference Functions to compensate control Electronic gear function This function controls moving distance and speed by multiplying command pulse output of the QD73A1 Page 207 Section 11 1 Functions to limit control Speed limit function This function limits command speed to the value set in Pr5 Speed limit value Page 209 Section 11 2 Stroke limit function This function controls operation not to execute positioning when a command that moves the workpiece outside the specified stroke limit range is given Page 211 Section 11 3 Upper limit switch FLSylower limit switch RLS function This function decelerates and stops operat
259. ositioning this signal turns off 21 Synchronization flag X24 This signal turns on when the CPU module becomes accessible to the QD73A1 after the power was turned off then on or after the CPU module was reset When the module synchronization setting of the CPU module is set to asynchronous use this signal as an interlock to access the QD73A1 from a sequence program 22 Zero gain adjustment data writing complete flag X2A This signal turns on when zero gain adjustment value writing to the QD73A1 is completed after Zero gain adjustment data writing request signal Y 1A was turned on When Zero gain adjustment data writing request signal Y1A is turned off this signal turns off ON Zero gain adjustment data opp gt A writing complete flag X2A zE E ON N Zero gain adjustment data OFF K writing request signal Y1A Executed in a sequence program SSeS Executed by the QD73A1 Use this signal as an interlock condition to turn on off Zero gain adjustment data writing request signal Y1A when writing the zero gain adjustment value to the QD73A1 For details on zero gain adjustment refer to the following L gt Page 60 Section 4 5 CHAPTER 3 SPECIFICATIONS 23 Zero gain adjustment change complete flag X2B This signal turns on when zero adjustment and gain adjustment were switched after Zero gain adjustment change request signal Y1B was turned on When Zero gain adjustment change reques
260. otection tube for the 15 pin connector only 2 Solder the wires to the connection part 3 Attach the connection part to cover A and wrap the protective seal around the part of the wires which contacts the wire clamp Cover A 4 Slide the protection tube over the protective seal for the 15 pin connector only y To the next page 70 From the previous page y Wire clamp Screw A Screw A Screw C CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION 5 Fixthe protective seal part or the protection tube part with the wire clamp using the screws A 6 Attach the screws C to the cover A 7 Put the cover B over the cover A and fasten them using the screws B and nuts 71 BULIM 9 r SJOJO9UUO9 SOIASP Jeux 9v 2 Wiring connectors The figure below shows the pin arrangement on the connectors Wire pins correctly according to the signal assigned to each pin number For details on the signal assigned to each pin number refer to the following 5 Page 44 Section 3 5 3 Pin arrangement viewed from the wire side 15 pin connector 9 pin connector Applies to the Applies to the SERVO connector CONT connector a Applicable wire size The applicable wire size is 0 3mm or less If thicker wires are used the wire clamp cannot be attached b Connection between the connectors and wires Solder the wires to the pins Strip parts of wire jackets properly to avoid
261. oving the module Failure to do so may result in damage to the product Wiring Precautions NWARNING O Shut off the external power supply all phases used in the system before installation and wiring Failure to do so may result in electric shock or cause the module to fail or malfunction O After installation and wiring attach the included terminal cover to the module before turning it on for operation Failure to do so may result in electric shock NCAUTION O Check the rated voltage and terminal layout before wiring to the module and connect the cables correctly Connecting a power supply with a different voltage rating or incorrect wiring may cause a fire or failure Use applicable solderless terminals and tighten them within the specified torque range If any spade solderless terminal is used it may be disconnected when the terminal screw comes loose resulting in failure Tighten the connector screws within the specified torque range Undertightening can cause short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfunction Connectors for external devices must be crimped with the tool specified by the manufacturer or must be correctly soldered Incomplete connections may cause short circuit fire or malfunction Place the cables in a duct or clamp them If not dangling cable may swing or inadvertently be pulled resulting in damage to the module o
262. plication for electronic gear Pr4 Denominator of command pulse multiplication for 4 electronic gear 7 As X21 is turned on the following variable parameters are set Item Setting detail Pr5 Speed limit value 30000pulse Pr6 Acceleration time 400ms Pr7 Deceleration time 250ms E AR Pr8 In position range 10pulse y 5 Pr9 Positioning mode 0 Position control mode S az 23 age o gt 2 Execution condition Oo 3z Check item Condition E amp at WDT error H W error signal X1020 OFF 3 1 0 signal QD73A1 READY signal X1021 OFF 3 D 0 PLC READY signal Y103D OFF 2 o O 3 Device used by the user z o x Device Description X20 Fixed parameter setting command X21 Variable parameter setting command DO Stroke limit upper limit lower 16 bits D1 Stroke limit upper limit upper 16 bits D2 Stroke limit lower limit lower 16 bits D3 Stroke limit lower limit upper 16 bits D4 Numerator of command pulse multiplication for electronic gear D5 Denominator of command pulse multiplication for electronic gear D10 Speed limit value lower 16 bits 147 148 Device Description D11 Speed limit value upper 16 bits D12 Acceleration time D13 Deceleration time D14 In position range D15 Positioning mo
263. pulses exceed the amount of Accumulated pulse setting in the switch setting an alert is output according to the setting of Accumulated pulse setting The above is applicable to Cd 14 Immediate stop accumulated pulse setting value maximum value and a 16 Immediate stop accumulated pulse setting value minimum value When the measured reference value maximum value is 2000 and the setting values are as follows Accumulated pulse setting in the switch setting 3700 to 3700 selection 1 e ca 13 Alert output accumulated pulse setting value maximum value 3000 The calculated value of alert output accumulated pulses maximum value is 5000 2000 3000 However the value of alert output accumulated pulses maximum value becomes 3700 because the calculated value exceeds the amount of Accumulated pulse setting 3 If ca 17 Accumulated pulse setting value selection is set to 1 Set with magnification Alert output accumulated pulses and immediate stop accumulated pulses can be obtained as follows Alert output accumulated pulses reference value Alert output accumulated pulse setting value 1000 x reference value 1000 Immediate stop accumulated pulses reference value immediate stop accumulated pulse setting value 1000 x reference value 1000 Last three digits of the setting value indicate the value after the decimal point Ex
264. r Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi 7 Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued 3 Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repa
265. r cables or malfunction due to poor contact When disconnecting the cable from the module do not pull the cable by the cable part For the cable with connector hold the connector part of the cable Pulling the cable connected to the module may result in malfunction or damage to the module or cable Prevent foreign matter such as dust or wire chips from entering the module Such foreign matter can cause a fire failure or malfunction A protective film is attached to the top of the module to prevent foreign matter such as wire chips from entering the module during wiring Do not remove the film during wiring Remove it for heat dissipation before system operation Startup and Maintenance Precautions NWARNING O Shut off the external power supply all phases used in the system before cleaning the module or retightening the connector screws Failure to do so may result in electric shock NCAUTION O Do not disassemble or modify the module Doing so may cause failure malfunction injury or a fire O Shut off the external power supply all phases used in the system before mounting or removing a module Failure to do so may cause the module to fail or malfunction O After the first use of the product do not mount remove the module to from the base unit and the terminal block to from the module more than 50 times IEC 61131 2 compliant respectively Exceeding the limit may cause malfunction Before testing operation set a low sp
266. rameters and variable parameters are already set 7 gt Page 147 Section 7 4 1 a Program detail As X22 is turned on the following OPR parameters are written and PLC READY signal Y103D turns on Item Setting detail Pr10 OP address 100pulse Pr 11 OPR speed 5000pulse s Pr 12 Creep speed 500pulse s As X23 is turned on after PLC READY signal Y103D turned on the module executes OPR b Switch setting Before executing the program set Near point dog method to OPR method setting 7 Project windowc Intelligent Function Module gt QD73A1 Switch Setting Switch Setting 0020 QD73A1 Item Axis 1 Rotation direction setting _ Positive voltage is output when the positioning address increases Accumulated pulse setting 14800 to14800pulse Multiplication setting 4 OPR direction setting Reverse direction address decreasing OPR method setting Encoder I F setting Open collector output Analog voltage resolution setting 12 bit resolution Zero gain adjustment mode Normal mode setting Normal mode welbold HdO ZZ OMEN O I BJOWSY e ur ejnpoy ay Buisn ueuM HZ This dialog setting is linked to the Switch Setting of the PLC parameter Default value will be shown in the dialog if the Switch Setting of the PLC parameter contains an out of range value Cancel 149 150 c Execution condition Check item
267. rammable controller Failure to do so may result in an accident due to an incorrect output or malfunction 1 When using a servo amplifier with Servo ON signal connect the signal to the module When using a servo amplifier whose control cannot be stopped through Servo ON signal satisfy the following Analog voltage must be OV motor stop to power off the programmable controller 2 Emergency stop circuits protection circuits and protective interlock circuits for conflicting operations such as forward reverse rotations or upper lower limit positioning must be configured external to the programmable controller 3 OPR Original Point Return is controlled by two kinds of data OPR direction and OPR speed Deceleration starts when the near point dog turns on If an incorrect OPR direction is set motion control may continue without deceleration To prevent machine damage caused by this configure an interlock circuit external to the programmable controller O Do not write any data to the system area of the buffer memory in the intelligent function module Also do not use any use prohibited signal as an output signal from the CPU module to the intelligent function module Doing so may cause malfunction of the programmable controller system CAUTION O Do not install the connection cables for external I O signals and for the drive unit together with the main circuit lines power cables or load circuit lines of a device other than th
268. reflected Set a value within the setting range Setting range Depends on Accumulated pulse setting in the intelligent function module switch setting Unit pulse Selection 1 3700 to 3700 Selection 2 7400 to 7400 Selection 3 11100 to 11100 Default value selection 4 14800 to 14800 Set a value within the setting range Setting range Depends on Accumulated pulse setting in the intelligent function module switch setting Unit pulse Selection 5 37000 to 37000 Selection 6 74000 to 74000 Selection 7 111000 to 111000 Selection 8 148000 to 148000 258 CHAPTER 14 TROUBLESHOOTING Error Error Error a Operation at the R code Wie Error name Description Action category classification error occurrence decimal Accumulated pulses s Accumulated The positioning 130 reached the alert gt pulse alert continues level The number of accumulated pulses used as the reference of the accumulated pulse Measure the error detection reference value and function is then execute the unmeasured accumulated pulse Either of the values error detection in C 13 Alert function output accumulated Set the values of pulse setting value cd 13 Alert output maximum value accumulated pulse and setting value 2414 Immediate maximum value to stop accumu
269. refresh setting omits data reading writing through a program 1 Setting method Open the Auto_Refresh window 1 Start Auto Refresh in the project window X Project windows gt Intelligent Function Module cz Module name z Auto Refresh 2 Click the item to set and input the destination device for auto refresh h 0010 QD73A1 Auto Refresh Display Filter Display All y Item Axis 1 Transfer to CPU The data of the buffer memory is transmitted to the specified device Current feed value Actual current value Feedrate Error code ERR 1 Error code ERR 2 108 CHAPTER 7 PROGRAMMING CHAPTER 7 PROGRAMMING This chapter describes sequence programs of the QD73A1 When applying the program examples introduced in this chapter to the actual system ensure the applicability and confirm that they will not cause system control problems 7 1 Precautions on Programming 1 At power on and operation start At a power on or operation start execute OPR to confirm the original point OP When an OPR request is issued take the OPR into consideration 2 Near point dog signal Use a high performance near point dog signal If Near point dog signal is not input upon OPR the workpiece continues to move at the OPR speed 3 Measures against an overrun By setting a stroke limit upper limit and lower limit of the QD73A1 an overrun can be prevented Note that this is only when the QD73A1 is operatin
270. ress set to Positioning address P2 The setting condition is the same as that of Da 3 Positioning speed V1 7 gt Page 85 Section 5 4 3 ejeg Buiuonisod p G 85 5 5 Monitor Data This section describes the details of monitor data Buffer SOR memory Item Description Default value address decimal The current commanded position is stored different from the actual motor position during operation The update cycle is 0 5ms 100 Ma1 Current feed value Opulse When OPR is completed the value of Pr10 OP address is stored 101 When the current value is changed with the current value change function the changed value is stored 3 Page 215 Section 11 5 The actual servomotor movement amount calculated based on feedback pulses is stored as an actual current value the number of 102 Md 2 Actual current value feedback pulses Actual current value Current feed value Opulse 103 Accumulated pulses in the deviation counter The update cycle is 0 5ms When a minor error occurs the corresponding error code is stored The latest error code is stored at all times When a new error occurs the error code is overwritten Md 3 Error code ERR 1 When Error reset signal Y28 is turned on the error code is cleared 9 104 to 0 For details on error codes refer to the following
271. ror error code 85 occurs and the axis does not act 233 PON YMS Jouo2 uonisod peeds ay BuNeIseY ZZL CHAPTER 13 common FUNCTIONS Functions referred to as common function can be used regardless of control method when necessary Common functions can be used on GX Works2 1 3 1 Module Status Monitor Function The module status monitor function monitors the module information switch setting information and external I O signal information The module s detailed information can be displayed on the system monitor of GX Works2 1 Hardware LED information The following LED statuses are displayed Item Value Condition to be 0001 RUN ERR BUSY ZERO GAIN SV RDY DOG STOP FLS RLS CHG 0000 Indicates that the LED is off 00014 Indicates that the LED is on Operating normally same as the RUN LED Error occurrence During positioning Adjusting zero Adjusting gain Servo READY signal READY ON Near point dog signal DOG ON Stop signal STOP ON Upper limit signal FLS ON Lower limit signal RLS ON Speed position switching command signal CHANGE ON 234 CHAPTER 13 COMMON FUNCTIONS 2 Hardware switch information The following switch setting statuses are displayed Item Switch setting Value ROT DIR Rotation direction setting ACCUM PLS Accumulated pulse sett
272. rors Check the error code and eliminate the error cause by correcting the sequence program Hardware errors or errors caused due to control commands from external input ERR 2 major errors signals Check the error code and eliminate the error cause on an external input signal 2 Buffer memory areas for error codes The latest error codes are stored in the following buffer memory areas every time an error occurs deleting the previous error codes When there is no error or when the errors were reset 0 is stored Corresponding error Error classification Buffer memory area name Buffer memory address detection signal ERR 1 minor errors Ma3 Error code ERR 1 104 Error detection signal X18 ERR 2 major errors Md 4 Error code ERR 2 105 14 3 3 Error reset Eliminate the error cause according to the corrective action described in the error code list s Page 250 Section 14 3 4 then cancel the error status by turning on Error reset signal Y28 At the time the QD73A1 operates as follows 1 Clears 43 Error code ERR 1 to 0 2 Clears Md 4 Error code ERR 2 to 0 3 Turns off Error detection signal X18 249 sJoJJe JO SBBJOIS Z vL SJOJJ3 JO SJIeJ9Q pl 14 3 4 Error code list The following table describes error details and corrective actions Error category Error code decimal Setting data
273. rrence is stored in hexadecimal WDT error H W error signal QD73A1 READY signal OPR request signal OPR complete signal BUSY signal Positioning complete signal In position signal Excessive error signal Error detection signal Overflow signal Underflow signal Servo READY signal Near point dog signal External stop signal Upper limit signal Lower limit signal OPR start complete signal Absolute positioning start complete signal Forward start complete signal Reverse start complete signal Synchronization flag Zero gain adjustment data writing complete flag Zero gain adjustment change complete flag Set value change complete signal Operating status of the speed position control switch mode The statuses of input signals X at the time of error occurrence are stored 241 ZS310M X9 UO 10113 ue Bunjoeu pi 242 c Button to create a CSV file An error history is output to a CSV file Point If errors occur in the QD73A1 frequently HSTLOSS may be displayed under Error Code instead of an actual error code No Error Code Date and Time Model Name Start I O 00126 HST LOSS 2012 02 15 14 22 49 QD73A1 0010 00125 OC4E 2012 02 15 14 10 30 Q10UDHCPU If HST LOSS is displayed frequently set a large value for the number of errors collected per scan under the PLC RAS tab in PLC Parameter For the
274. rvo amplifier For details refer to the manual for the servo amplifier For connection between the QD73A1 and an encoder refer to the following C gt Page 67 Section 4 6 2 6 2 2 Accumulated pulse setting Select the maximum accumulated pulse amount that can be counted in the deviation counter 1 Calculating accumulated pulse amount When a servomotor is used maximum accumulated pulse amount obtained by the following formula generates Maximum accumulated pulse amount Speed command pulse s Position loop gain s 1 Configure this setting so that maximum accumulated pulse amount stays within the accumulated pulse setting range a Position loop gain Position loop gain is a parameter to be set on the servomotor side It effects operation in case of a servomotor stop and pulse amount in the deviation counter during operation Position loop gain value Description Low Accumulated amount is large and adjustment time at a stop becomes long High Overshoot becomes large at a stop or vibration tends to occur during a stop 102 Position loop gain is adjusted to 20 to 30s normally Make fine adjustment if necessary For details refer to the manual for the servomotor CHAPTER 6 VARIOUS SETTINGS b Accumulated pulse amount and analog output voltage from the QD73A1 The analog output voltage from the QD73A1 is controlled in proportion to accumulated pulse amount Ana
275. rvomotor The generated feedback pulses are subtracted from the accumulated pulses in the deviation counter The deviation counter continues to rotate the servomotor maintaining a constant amount of accumulated pulse Stop Once the command pulse output from the QD73A1 stops the accumulated pulses in the deviation counter decrease so does the speed When there is no more accumulated pulse the servomotor stops The rotation speed of a servomotor is proportional to command pulse frequency while the rotation degree of the servomotor is proportional to the output command pulse amount By setting feed per pulse beforehand analog voltage that is proportional to the number of pulses in a pulse train is output and a workpiece can be moved to the set position Note that pulse frequency defines the rotation speed of the servomotor feedrate 17 1 1 18 1 2 3 4 5 6 Features Analog output type that possesses a deviation counter and D A converter inside This module converts command pulse for positioning into analog voltage inside then outputs a speed command to a servo amplifier Compatible with analog input servo amplifiers A servo amplifier does not require an extra module to convert pulse input into analog voltage a standard servo amplifier can be used Servomotor control using a high resolution encoder This module handles up to 1Mpulse s of pulse input from an encoder Servomotor control t
276. s e ul ejnpojy eui Buis ueuM 7 120 2 Count method OPR program This program executes OPR in the count method Suppose that fixed parameters and variable parameters are already set 7 gt Page 115 Section 7 3 1 a Program detail The following OPR parameters are written once the CPU module is in the RUN status and PLC READY signal Y2D turns on Item Setting detail Pr 10 OP address 100pulse Pr 11 OPR speed 5000pulse s Pr 12 Creep speed 500pulse s E Setting for the movement amount after near point dog 2000pulse As X31 is turned on after PLC READY signal Y2D turned on the module executes OPR b Switch setting Before executing the program set Count method to OPR method setting Switch Setting 0010 QD73A1 Item amp Project window Intelligent Function Module 2 QD73A1 2 Switch Setting Axis 1 Rotation direction setting Accumulated pulse setting Multiplication setting OPR direction setting OPR method setting Encoder I F setting Analog voltage resolution setting Zero gain adjustment mode Normal mode setting Positive voltage is output when the positioning address increases 14800 to14800pulse 4 Reverse direction address decreasing JST method CS Open collector output 12 bit resolution Normal mode This dialog setting is linked to the Switch Setting of the PLC parameter Default valu
277. s follows Project windowe Parameter gt gt Network Parameter z Ethernet CC IEIMELSECNET rare button Network Parameter MNET 10H Refresh Parameter Module No 1 5 Write the set parameters to the CPU module on the master station Then reset the CPU module or turn off and on the power supply of the programmable controller Online z Write to PLC or Power off on 142 CHAPTER 7 PROGRAMMING 3 Setting on the remote I O station 1 Create a project on GX Works2 Select QCPU Q mode for PLC Series and select QJ72LP25 QJ72BR15 Remotel O for PLC Type O Project gt New New Project Cancel san PLC Series QCPU Q mode v PLC Type QJ72LP25 QI72BR15 Remotel O y 2 Add the QD73A1 to the project on GX Works2 O Project windowc Intelligent Function Module 2 Right clickz New Module New Module Module Selection Module Type QD70 Type Positioning Module v Module Name foo73a1 m r Mount Position se No p y Mounted Slot No 2 Acknowledge I O Assignment IV Specify start XY address 0020 H 2 Slots Occupy empty 16 points 32 points Title setting Title cma OMJON O I IWY e ur ejnpoy ay Buisn ueuM 7 143 Switch Setting 0020 QD73A1 Item 3 Display the QD73A1 s switch setting window and configure the setting as follows D Project window gt Intelligent Function Module gt QD73
278. se s Section Set in the unit of 10pulse s 21 5 2 3 Pro Acceleration time 22 Page 79 2 to 9999ms 300ms Section Variable Pr7 Deceleration time 23 52 4 parameter Page 79 Pr8 In position range 1 to 20479pulse 5pulse 24 Section 5 2 5 0 Position control mode PE Page 79 n 0 Position control i Pr9 Positioning mode 1 Speed position control switch made 25 Section mode 5 2 6 Point The set data of fixed parameters are activated when PLC READY signal Y2D is turned on and the error check is executed at the same time O Variable parameters can be set any time but the error check is executed when a start signal is turned on 76 CHAPTER 5 DATA USED FOR POSITIONING 1 5 JStroke limit upper limit Pr2 Stroke limit lower limit Set the upper and lower limits of the workpiece moving range Stroke limit lower limit Stroke limit upper limit CHEINAHENMINMM R Vrnrrnrnnnininno ES i E Limit switch for 3 Moving range of the workpiece Limit switch for emergency stop OP emergency stop For details on the stroke limit function refer to the following 257 Page 211 Section 11 3 O in general the OP is set at the lower limit or upper limit of the stroke limit O Setting the upper and lower limits of the stroke limit prevents the workpiece to overrun the set range although in addition
279. servomotor in the servo lock status Is the ERR LED off 3 Turn on both DIP switch 1 and 2 on the lower part of Gain adjustment the module then turn on the power Specify gain adjustment by changing the SELECT SET Switch to SELECT while checking the GAIN LED Zero gain adjustment switches every time when the Switch is set to SELECT Check that the module is in the zero gain adjustment mode on the RUN LED The LED flashes in the zero gain adjustment mode Gain adjustment Configure Accumulated pulse setting in the switch setting and write it to the CPU module Turn off then on the power or reset the CPU module Adjust the voltage to be the gain value between check pins using the UP DOWN switch Holding the switch increases the adjustment amount Zero adjustment Specify zero adjustment by changing the SELECT SET Switch to SELECT while checking the ZERO LED Zero gain adjustment switches every time when the Switch is set to SELECT Set the SELECT SET switch to the SET side and check that the BUSY LED turns on After the BUSY LED turned off set the SELECT SET switch back to the center 2 Zero adjustment B ZERO Is the ERR LED off 3 GAIN Adjust the voltage to be OV between check pins using the UP DOWN switch Holding the switch increases the adjustment amount Turn off the power then turn
280. setting in the switch setting is set to the default 0 and the command voltage is 10V set accumulated pulse amount of 14800 to 13000 or 13000 to 14800 as a reference as in the following table In this case the default accumulated pulse amount becomes 13920 pulses In the factory default setting adjustment is made so that the gain value becomes 10V when accumulated pulse amount is 13920 pulses default value If Accumulated pulse setting was changed from its default perform gain adjustment again E Accumulated pulse amount unit pulse Accumulated pulse Excessive error T A setting range reference A setting range reference setting i Default value unit pulse when the gain value is 5V when the gain value is 10V Not set Same as the case in which 14800 to 14800 selection 4 is selected 3700 to 3700 2500 to 2000 3700 to 3250 3480 3701 or more selection 1 2000 to 2500 3250 to 3700 7400 to 7400 5000 to 4000 7400 to 6500 j 6960 7401 or more selection 2 4000 to 5000 6500 to 7400 11100 to 11100 7500 to 6000 11100 to 9750 10440 11101 or more selection 3 6000 to 7500 9750 to 11100 14800 to 14800 10000 to 8000 14800 to 13000 13920 14801 or more selection 4 8000 to 10000 13000 to 14800 37000 to 37000 25000 to 20000 37000 to 32500 34800 37001 or more selection 5 20000 to 25000 32500 to 37000 74000 to 74000 50000 to 40000 74000 to 65000 69600 74001 or m
281. setting refer to the following The user s manual Function Explanation Program Fundamentals for the CPU module used CHAPTER 14 TROUBLESHOOTING 14 2 Troubleshooting 14 2 1 Troubleshooting procedure This section shows the troubleshooting procedure for the QD73A1 Start Error occurrence gt Page 244 Section 14 2 2 Has the motor stopped Check the LED on the front of the QD73A1 Is the ERR LED off NO gt Page 250 Section 14 3 4 NO Es Page 244 Section 14 2 3 NO i E Page 245 Section 14 2 4 NO 737 Page 246 Section 14 2 5 YES Is positioning executed YES Has the work reached the set position YES Is the work operating in the set speed Bunoouse qnoi zv YES eunpeooud Bunoouse qnoJ L z vL Does the work stop normally NO 5 Page 246 Section 14 2 6 during positioning YES NO Page 247 Section 14 2 7 Is OPR executed 57 Page 247 Section 14 2 YES Are other modules NO Refer to the manual for the module operating normally having the problem YES Consult your local Mitsubishi representative 243 14 2 2 When the motor does not stop Check item Action Is the QD73A1 s zero adjustment performed properly Perform zero adjustment lt gt Page 60 Section 4 5 Is the servo amplifier s zero adjustment performed properly Refer to the manual for the servo amplifier
282. signment empty 16 points and special 32 points Speed command 1 to 4000000 pulse s 1 to 400000 pulse s Positioning In position range 1 to 20479pulse 1 to 2047pulse Positioning Open collector 200kpulse s Open collector 100kpulse s feedback Pulse frequency TTL 200kpulse s TTL 100kpulse s pulse input Differential output 1Mpulse s Differential output 100kpulse s With OPR address change With OPR address change OPR control OPR method and OPR direction depend on the parameter setting OPR method and OPR direction depend on the Switch setting Internal current consumption 5VDC 0 52A 5VDC 0 3A External supply voltage current terminal block External dimensions No external power supply 98 H mm x 55 2 W mm x 90 D mm 15VDC 0 2A 15VDC 0 02A 250 H mm x 37 5 W mm 130 H mm x 69 5 W mm x 119 D mm x 93 6 D mm Weight 0 20kg 0 5kg 0 4kg Absolute system 1 2ms same for two phase Absolute system 4 4ms additional 0 2ms for two trapezoidal positioning phase trapezoidal positioning Starting time Incremental system 1 2ms same for two phase Incremental system 4 5ms additional 0 2ms for from a start request to analog output start trapezoidal positioning JOG operation 1 2ms OPR near point dog method 1 2ms OPR count method 1 2ms two phase trapezoidal positioning JOG operation 4 3ms OPR near point dog method 4 4ms OPR count method 5 1ms 264 APPEN
283. sing the hook at the top of the module However it is recommended to secure the module with the module fixing screw if the module is subject to significant vibration Do not directly touch any conductive parts and electronic components of the module Doing so can cause malfunction or failure of the module Prevent foreign matter such as dust or wire chips from entering the module Such foreign matter can cause a fire failure or malfunction Do not drop the module case or do not subject it to strong impact Lock the control panel so that only specialists educated in electric installation can open it 99 4 2 Settings and Procedure Before Operation This section shows the procedure before operating the QD73A1 Start Mounting the module Mount the QD73A1 on a specified slot Wiring Wire external devices to the QD73A1 5 Page 65 Section 4 6 Switch setting Configure settings using GX Works2 3 Page 101 Section 6 2 Execute zero gain adjustment Zero gain adjustment Adjust a gain using a switch on the front part of the QD73A1 or I O signals and the buffer memory 35 Page 60 Section 4 5 Connection check Check the connection using GX Works2 3 Page 234 Section 13 1 Operation check of the drive unit Check the operation of the drive unit with forward reverse JOG operations in the factory default status 737 Page 133 Section 7 3 5
284. software packages 23 Applicable wire size o oooooooo 72 Auto refresh ooo 108 Backup sas as Beka Bb eaten RE 48 Buffer memory llli 16 Buffer memory areas for error occurrence data 89 BUSY LED 2 2 oi huia Bae beans tad 57 BUSY signal X14 0 00oooococococoo o 33 Calculating accumulated pulse amount 102 Cause of a stop and process of stopping 228 Checking an error on GX Works2 239 Combination of main function and sub function 30 Communication using intelligent function module devices cruce 110 Communication using the FROM TO instruction 110 Comparison of the QD73A1 and the AD70 A1SD70 Mods a E kot hs pthc duae a A teu 264 Connector screw lee 55 CONT connector a aana naaa anana eee 58 70 Control mode 0 cc ee 86 Count method 0 0 0 0 ee 179 Creep speed icone ea ie ined 80 81 278 CSV file au see e ee 2 IS eee 240 Current feed Valle oo oooooo 86 187 Current value change 0005 215 Current value change request 92 D A CON Verte oo ated Sate ace sa 17 Deceleration time o o 76 79 Denominator of command pulse multiplication for electronic gear 3 eie om weder RES 76 78 Deviation counter o oooo o 17 275 Deviation counter clear 218 Deviation counter clearcommand 91 Deviation counter value
285. solute system b Execution condition The execution condition is the same as that of positioning control program 7 5 Page 123 Section 7 3 3 1 b c Device used by the user Device Description X35 Positioning data write command X36 Two phase trapezoidal positioning control start command D30 Positioning pattern D31 Positioning address P1 lower 16 bits D32 Positioning address P1 upper 16 bits D33 Positioning speed V1 lower 16 bits D34 Positioning speed V1 upper 16 bits D35 Positioning address P2 lower 16 bits D36 Positioning address P2 upper 16 bits D37 Positioning speed V2 lower 16 bits D38 Positioning speed V2 upper 16 bits M43 Two phase trapezoidal positioning control start command pulse 125 ueJ6oJd josjuos Buruonisod sofe g e uoneunBijuo wajs s pyepueis e ul ejnpojy eui Buisn ueuM 7 d Program example i Positioning pattern Two phase trapezoidal i i EMOVP el pad positioning control DMOVP K100000 D31 Positioning address P1 100000pulse DMOVP K10000 D33 Positioning speed V1 10000pulse s i DMOVP K150000 D35 Positioning address P2 150000pulse DMOVP K12000 D37 Positioning speed V2 12000pulse s i UtY i BMOVP D30 G301 K9 Set positioning data to the QD73A1 zr uM MM HN PLS M43 J Command the positioning start M43 X11 X14 Y2 Y21 X21 a iss AF M Mr sET Y21 J Turn
286. ss Possible Status of External Power Supply Fuse Blown Status Status of I O Address Verify 1 0 Clear Hold Setting Noise Filter Setting Input Type HIW Information Remote Password Setting Status Error Information 7 Error and Solution Latest Error Code Update Error History Clear Error Histor Outside the setting range 2 outside the setting range Display Format signal Y2D DEC Setting range y AMA 1 to 9999 error history is sequentially displayed from old error The latest error is displayed at he bottom line L The set value in Pr 3 Numerator of command pulse Error Gear No ErrorCode multiplication for electronic gear Outside the setting range is C Hex Solution Seta value within the setting range and turn on PLC READY Contents Numerator of command pulse multiplication For electronic gear Stop Monitor Click the Detailed Information button to display the Module s Detailed Information window The error detail and solution can be checked under Error and Solution 2 Checking on the Error History window An error history that includes errors in the QD73A1 and other modules is displayed in a list and it can be output to a CSV file The error codes and the error occurrence time can be checked even after the power was turned off and on or the CPU module was reset Diagnostics z System Monitor 5 g
287. start A gt request OFF t 5 ON a Md 20 Reference value x 2 measurement flag OFF ON Cd 20 Reference value write request OFF 1 Cleared to 0 by the QD73A1 ES Executed by the QD73A1 223 11 9 2 Setting the accumulated pulse error detection function Set the values of Cd 13 Alert output accumulated pulse setting value maximum value to Cd 16 Immediate stop accumulated pulse setting value minimum value and set ca 18 Accumulated pulse error detection request to 1 to execute the accumulated pulse error detection function Set the data required for control in the sequence program The following table lists the data to be set setting condition and check timing Buffer Jeu Default y e Check timing of memory Setting item Setting range Setting condition value the set data address decimal Alert output accumulated pulse If ca 17 Accumulated pulse cpm setting value setting value selection is set 0 ge maximum to 0 valia ite 1 to 148000 pulse salada If ca 17 Accumulated pulse eas ulated PE setting value selection is set j to 1 402 ca14 Setting value 0 maximum 1000 to 50000 When accumulated 403 vallis 12 x 103 pulse error detection aens LL 3 SUD is requested accumulated f 6317 Accumulated pulse The data
288. stem Q50UDEH Q100UDEHCPU N A Multiple CPU system When mounted on a MELSECNET H remote I O station Version 6 or later 23 2 2 How to Check the Function Version and Serial Number The function version and serial number of the QD73A1 can be checked on the rating plate front part of the module or system monitor of the programming tool 1 Checking on the rating plate The rating plate is on the side of the QD73A1 wa MITSUBISHI Serial number first five digits Function version SERIAL 14041000000000CB F Relevant regulation standards MITSUBISHI ELE MADE IN JAPAN 2 Checking on the front part bottom part of the module The function version and serial number on the rating plate are also shown on the front part bottom part of the module E DRN oa OB ZERO ERR BUSY GAIN SET SELECT o O DOWN UP O SERVO CONT o of O se E wmm o o o o ae o O e o 2 o o o QD73A1 Eee em O l 140410000000000 U gt Sooo QD73A1 q 1 gt I Z Serial No Function version 24 CHAPTER 2 SYSTEM CONFIGURATION 3 Checking on the system monitor The function version and serial number can be checked on the Product Information List window Diagnostics System Monitor Je gt _Product Information ist button A E o
289. t 7 gt Page 115 Section 7 3 1 a Program detail As X3C is turned on the positioning mode is set to speed position control switch mode As X3D is turned on the following positioning data is written Item Setting detail Da3 Positioning speed V1 1000pulse s As X3E is turned on the module starts speed control of forward run As X3F is turned on the module starts speed control of reverse run b Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON o Lower limit signal RLS ON 7 QD73A1 READY signal X11 ON BUSY signal X14 OFF Excessive error signal X17 OFF Error detection signal X18 OFF Forward start complete signal X22 OFF Reverse start complete signal X23 OFF Au Synchronization flag X24 ON w w I O signal oo z Forward start signal Y22 OFF 3 Reverse start signal Y23 OFF El c D o0 Speed position mode restart signal Y26 OFF 22 Stop signal Y27 OFF Sz 2 Speed position switching enable signal e OFF ge Y2C 20 PLC READY signal Y2D ON E When the positioning speed is set amp 2 os exceeding Pr5 Speed limit 3e Buffer memory Positioning data No error 7 ing gt P un A value the positioning is executed F at Pr5 Speed limit value a 3 Q o 3 2 c 8 5 129 c Device used
290. t System Error History button Error History Monitor Status Stop Monitor Match all of the criteria below None Connection Channel List Es Seri rt PLC Mode Connecting USB Error Code Notation C DEC HEX Error History List Displayed Errors Errors 200 200 No 7 Error Code 00199 00198 00197 00196 00195 00194 00193 00192 00191 0020 00190 osDc 00189 ospc 00188 050C 00187 soc 00186 ospc 00185 osc 00184 o5pC 00183 ospc 00182 050C TUSI Refresh a Error History List Date and Time 2012 05 09 1 2012 05 09 13 20 44 2012 05 09 11 36 12 2012 05 09 09 14 45 2012 05 08 17 03 14 2012 04 27 16 30 21 2012 04 27 11 58 19 2012 04 27 10 40 52 2012 04 27 10 16 54 2012 04 27 10 14 05 2012 04 26 19 01 01 Model Name QD73A1 QD73A1 QD73A1 QD73 1 QD73A1 QZOUDEHCPU QD73A1 Q073A1 QZOLDEHCPU QD73 1 Q2OLDEHCPU QZOLDEHCPU Q20UDEHCPU Q2OUDEHCPU Q2OUDEHCPU Q20UDEHCPU Q2OUDEHCPU Q20UDEHCPU QZOLDEHCPU Error logs of modules are displayed in a list 240 Start 1 0 0010 0010 0010 0010 0010 0010 0010 System Image Clear Refine Criteria Enter Refine Criteria Error Details ModelName QD73AL Start jo 0010 Ta TA a Error and solution Inteligent Module 1r Estan b Upper imit signal OFF at start Upper limit signal FLS is off at the start of major postioning OPR or JOG operat Solution Return the workpiece to
291. t an encoder output type from open collector TTL or differential output For connection between the QD73A1 and an encoder refer to the following L gt Page 67 Section 4 6 2 6 2 7 Analog voltage resolution setting Set resolution of analog voltage to be output as a speed command Point The default value of Analog voltage resolution setting is 12 bit resolution When the analog voltage resolution of the connected drive unit is higher than 12 bits and the motor rotates even with a tiny voltage the resolution can be set higher 14 bits or 16 bits In that way fine control can be achieved 105 Dunes 4 Jepoou3 939 Bumes yoms z 9 6 3 Parameter Setting Set positioning parameters and OPR parameters Setting parameters on the screen omits the parameter setting in a sequence program 1 Setting method Open the Parameter window 1 Start Parameter in the project window v Project windows gt gt Intelligent Function Module z Module name gt Parameter W 0010 0D73A1 Parameter ox Display Filter Display All m Item Fixed parameter Stroke limit upper limit Stroke limit lower limit Numerator of command pulse multiplication For electronic gear Denominator of command pulse multiplication For electronic gear Variable parameter Speed limit value Acceleration time Deceleration time In position range Positioning mode OPR parameter OP address OPR speed Creep speed
292. t is not checked with the in position range uonouny uonisod u gr b Timing at which In position signal X16 turns off In position signal X16 turns off at the following timings When OPR starts When positioning control starts When two phase trapezoidal positioning control starts When the speed position control switch mode starts When JOG operation starts 219 3 Setting the in position function The following table lists the data to be set setting condition and check timing Buffer n Setting Default 20 Check timing of memory Setting item Setting condition range value the set data address decimal f When a positioning The data can be set anytime 5 start signal Y21 to Note that the set data at the rise Y23 is turned on ON of a start signal is used for EM When a JOG start In position 1 to the operation If the data is Pr8 5pulse f signal Y24 Y25 is 24 range 20479pulse written when BUSY signal turned on X14 is on the data will be When OPR start accepted at the rise ON of the signal Y20 is next start signal turned on 220 CHAPTER 11 CONTROL SUB FUNCTIONS 11 9 Accumulated Pulse Error Detection Function The accumulated pulse error detection function outputs an alert and immediately stops the positioning when the accumulated pulses reached the amount specified by the user before the pulses exceed the amount set in
293. t signal Y1B is turned off this signal turns off Cd 10 Zero gain adjustment pe specification ON Zero gain adjustment change OFF j complete flag X2B 7 if ON N Zero gain adjustment change OFF v t request signal Y1B Executed in a sequence program Seem Executed by the QD73A1 Use this signal as an interlock condition to turn on off Zero gain adjustment change request signal Y1B when changing ca 10 Zero gain adjustment specification For details on zero gain adjustment refer to the following 257 Page 60 Section 4 5 24 Set value change complete flag X2C This signal turns on when the analog output value of zero gain adjustment was changed after Set value change request signal Y1C was turned on When Set value change request signal Y1C is turned off this signal turns off Set value change complete flag opp F A een ON mus o Set value change request signal opr a Y1C Executed in a sequence program e Executed by the QD73A1 Use this signal as an interlock condition to turn on off Set value change request signal Y 1C when performing zero gain adjustment For details on zero gain adjustment refer to the following C gt Page 60 Section 4 5 25 Operating status of the speed position control switch mode X2D This signal indicates the operating status in the speed position control switch mode This si
294. t value change request NN M61 Current value change w w o d Program example og g p 58 SF o2 X45 X14 BS M DMOVP KO D100 New current value Opulse ae e o UN J 2 BMOVPD100 G80 K2 Set a new current value to the QD73A1 S 2 y o SET M61 Completes the new current value setting 3 A s i E 1 MOV K1 D90 Current value change 5 S Un a BMOVPD90 G90 K1 H Request a current value change m lt g Un y T G90 KO RST M61 Completes the current value change 3 g END 3 Q c 8 2 135 136 2 Speed change program This program changes positioning speed a Program detail As X46 is turned on positioning speed is changed Item Setting detail Cd 2_ New speed value 50000pulse s b Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON o Lower limit signal RLS ON WDT error H W error signal X10 OFF QD73A1 READY signal X11 ON BUSY signal X14 ON VO signal Excessive error signal X17 OFF u Error detection signal X18 OFF Synchronization flag X24 ON Stop signal Y27 OFF PLC READY signal Y2D ON When ca2 New speed value is Buffer memory New speed value No error set exceeding ms Speed limit value the operation is executed at _Pr 5_ Speed limit value c
295. this signal as an interlock in sequence programs OPR request signal X12 This signal turns on at any of the following timing When the power is turned on When the CPU module was reset When OPR starts When Servo READY signal READY turns off while BUSY signal X14 is on This signal turns off when OPR is completed When PLC READY signal Y2D is turned on rising edge this signal does not turn on OPR complete signal X13 This signal turns on when OPR is completed This signal does not turn on if operation stopped during OPR This signal turns off when JOG operation or major positioning control is started In the count method this signal turns off when OPR starts BUSY signal X14 This signal turns on when major positioning control JOG operation or OPR starts This signal turns off when command pulse output is completed If positioning is started while BUSY signal X14 is on the error BUSY signal ON at start error code 81 occurs 33 sjeuBis ndu jo sjiejeq zZ v BINPOW NAO eui OYwoy sjeUuBIs O I Ye 34 6 7 8 Positioning complete signal X15 This signal turns on when major positioning control is completed completion of command pulse output This signal turns off when the next positioning major positioning control OPR or JOG operation starts If major positioning control was cancelled during its operation this signal does not turn on For the operation in case of cancellatio
296. tion failure 170 d Program example X37 x1024 A SET M70 M70 DMOVP KO D100 st K1 K1 H2 K80 D100 K2 M280 MOV K1 D104 KO gt RST M70 SET M71 HKO ZP REMTO J1 K2 K1 H2 K90 D104 K1 M282 M71 ZP REMFR Jr K3 K1 H2 K90 D106 K1 M284 RST M71 M284 M285 lt gt KO D106 LSET M71 CHAPTER 7 PROGRAMMING Command a current value change New current value Opulse Set a new current value to the QD73A1 Current value change Completes the current value change Command to check the current value change Request a current value change to the QD73A1 Read the current value change from the QD73A1 Completes checking the current value change Command to check the current value change again when it is incomplete 171 welbold eBueuo onuo 97 OMION O I BOWSY e ur apoya ayy BuIsy ueuM 7 172 2 Speed change program This program changes positioning speed a Program detail As X38 is turned on positioning speed is changed Item Setting detail Cd 2_ New speed value 50000pulse s b Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON o Lower limit signal RLS ON WD
297. tion signal X16 while the accumulated pulse amount in the deviation counter is within the Paae 219 In position function specified in position range 1 to 20479pulse In position signal ndn 44 8 i X16 can be used as the signal right before positioning Other completion functions This function outputs an alert and immediately stops the positioning when the accumulated pulses reached the amount Accumulated pulse error detection Ei Page 221 specified by the user before the pulses exceed the amount set function Section 11 9 in Accumulated pulse setting in the switch setting and an excessive error occurs 206 CHAPTER 11 CONTROL SUB FUNCTIONS 11 1 Electronic Gear Function The electronic gear function controls machine movement amount per one command pulse by multiplying command pulse output of the QD73A1 Positioning is much more flexible with the use of this function eliminating the process of selecting a detector according to the machine system 1 Details of the electronic gear function Machine movement amount per one pulse is adjusted inside the QD73A1 Electronic gear is active on all of OPR control major positioning control and JOG operation pulse QD73A1 Drive unit r Speed Electronic Deviation D A command 1 Setting data T gear P counter T converter 1 YO 2s Number of Accumulated pulses Analog voltage rU ERE
298. tioning speed and movement amount that are multiplied by the set value for electronic gear Satisfy the following condition when setting electronic gear Positioning speed x Electronic gear lt 4Mpulse s When the positioning speed value that is multiplied by the set value of electronic gear exceeds Pr5 Speed limit value the limit value is ignored On the other hand if the speed exceeds 4Mpulse s the error Outside the command frequency range error code 104 occurs In this case the speed is 4Mpulse s resulting in a positioning error When there are decimal pulses the fractions are maintained inside and accumulated for the next command O If positioning is continued after the CPU module was reset a positioning error by the fractions of pulses occurs due to electronic gear when CMX CDV 1 In that case execute OPR 3 Speed limit value Set the upper limit speed of major positioning control or JOG operation If command speed that is faster than this limit is specified the speed is limited to this value orar ERES e If speed for OPR control is set to the one faster than Pr5 Speed limit value the error OPR speed Outside the setting range error code 20 occurs at the start of OPR O Positioning speed must be limited properly depending on the device and control subject O Seta value in a unit of 10 pulses If a single digit is set the value is rounded off CHAPTER 5 DATA USED FOR POSITIONING
299. to X Y103F SAA Intelli 32points GX Works2 Network No 1 140 CHAPTER 7 PROGRAMMING 2 Setting on the master station 1 Create a project on GX Works2 Select QCPU Q mode for PLC Series and select the CPU module used for PLC Type XC Project gt New New Project Simple Project QCPU Q made 2 Display the network parameter setting window and configure the setting as follows Project window Parameter gt gt Network Parameter z Ethernet CC IE MELSECNET 3 Network Parameter MELSECNET CC IE Ethernet Module Configuration Porte 5 wde2 A wde3 meme c O CA 0000 XJONI9N O I GOWY e ui ejnpoy 24 Buisr UIM yz 141 3 Display the network range assignment setting window and configure the setting as follows D Project windows gt Parameter gt gt Network Parameter 2 gt Ethernet CC IE MELSECNET gt eec Asian button RM Network Parameter Assignment the MNET 10 H Remote Station Network Range Module No 1 s BW Setting j DO Project windows gt Parameter gt gt Network Parameter c Ethernet CC IEIMELSECNET z eee Asian buttonz Switch Screens z2 XY Setting M Network Parameter Assignment the MNET 10 H Remote Station Network Range Module No 1 Jrvsettng i 4 Display the refresh parameter setting window and configure the setting a
300. top position is 2000 and the stroke limit upper limit is set to 5000 As the current value is changed from 2000 to 1000 ma 1 Current feed value changes to 1000 expanding the moving range of the workpiece Before current Moving range value change T Md 1 Current feed value 2000 5000 Stop position Stroke limit upper limit After current Moving range value change Md 1 Current feed value 1000 4000 5000 Stroke limit upper limit 211 uonounj jur SONS LL 2 Stroke limit check details and processing for each control The following table describes stroke limit checks and processing in case of an error that are performed by the QD73A1 Check number Check detail Processing in case of an error If a current value is outside the stroke limit range the The module turns on Error detection signal 1 module reports an error The module checks X18 and reports the error Outside the 147 Current feed value stroke limit range at start error code 83 If a positioning address setting is outside the stroke limit The module turns on Error detection signal X18 and reports the error Positionin 2 range 1 the module reports an error The module checks dn P RM address Outside the setting range error Da2 Positioning address P1 code 30 If a current value exceeds the stroke limit range the The module turns on Error detecti
301. tor data Data that indicates the control status The data can be monitored when necessary Monitoring area Monitor data such as a current position error codes and error history Md 1 to Md 20 74 CHAPTER 5 DATA USED FOR POSITIONING Control data Data for the user to control the positioning system Set data for operation and data for current value Control change area change or speed change during operation Cd 1 to Cd 4 Cd 6 to Cd 8 Cd 13to Cd 20 Zero gain adjustment data area Set data for zero gain adjustment Cd 5 Cd 9 to Cd 12 Point P Set control data using sequence programs ejeq jo sed G 15 9 2 Positioning Parameters This section describes the details of positioning parameters Buffer memory Item Setting range Default value Reference address decimal Y u 0 Prd Stroke limit upper limit 2147483647 pulse Page 77 2147483648 to 1 Section 2147483647pulse 2 Pr2 Stroke limit lower limit Opulse 3 5 2 1 Numerator of Fixed command pulse parameter ms multiplication for electronic gear CMX ie 9999 Page 78 Satisfy the following condition 1 Section Denominator of 1 50 lt CMX CDV lt 50 5 2 2 command pulse 5 Pr multiplication for electronic gear CDV Page 78 o 10 to 4000000pulse s 20 Pr5 Speed limit value 200000pul
302. tors 0 0 0 ee 70 10 CHAPTER 5 DATA USED FOR POSITIONING 74 5 1 Types ofD t iii een iy ET Ge ERES I WE nedehecierY aec e TRU 74 5 2 Positioning Parameters 0 00 0 cc cece n 76 5 3 SOPR Parameters museo rper hee pide aae ed te adhe eo oss 80 54 gt Positioning Data enc sate hed a feed Deed Peed perdida oer ass 83 5 5 Monitor Data sire katt cst baie hed RH UR een b ES 86 5 6 ControlDatar ce utet tu eee e doe S RD eae v a a aE 90 CHAPTER 6 VARIOUS SETTINGS 100 6 1 Adding a Module 100 6 2 Switch Setting cakes ai wh ela bis ee ee Ao ee ade deba 101 6 2 1 Rotation direction setting 0 0c RR RII 102 6 2 2 Accumulated pulse setting 0 cence Re 102 6 2 3 Multiplication settingi asra siise s a e RRRRRRRRRRRIRIRIRMIlIl3 104 6 2 4 OPR direction setting nnas nunnana RI lr 104 6 2 5 OPR method setting noo ce EP REPERIO EI raan hea ale 104 6 2 6 Encoder l E s tting eeoa ig ie ned area a as riada 105 6 2 7 Analog voltage resolution setting 0 0 000 ccc cece eee ene eee 105 6 3 Parameter Settihg ke ori a eR AE TIN Gp eee BIN EY EGG 106 6 4 Positioning Data Setting isses bid ee a as 107 6 5 Auto Refresh ciao 108 CHAPTER 7 PROGRAMMING 109 7 1 Precautions on Programming 0 0 00 c cece eens 109 7 2 Programs for Positioning 0 0 0 0 cee ence ence eens 112 7 3 When Using the Module in a Standard System Configuration
303. turned on Positioning data When a positioning start signal Y21 to Y23 is turned on Control change areas Before the execution of a control change Start error Start error is a type of errors that occur at a start of OPR control major positioning control or JOG operation Operation does not start if an error occurs Operation error Operation error is a type of errors that occur during OPR control major positioning control or JOG operation If an error occurs operation decelerates and stops or continues without decelerating depending on the error detail For the operation at the error occurrence refer to the following gt Page 250 Section 14 3 4 Control change error Control change error is a type of errors that occur at a control change during positioning The data for the control change is ignored if an error occurs Zero gain adjustment error Zero gain adjustment error is a type of errors that occur during zero gain adjustment The details of the zero gain adjustment are not reflected in the QD73A1 if an error occurs Eliminate the error cause and perform zero gain adjustment again CHAPTER 14 TROUBLESHOOTING 14 3 2 Storage of errors When an error occurs in the QD73A1 the corresponding error code is stored in the buffer memory 1 ERR 1 and ERR 2 Errors are classified into ERR 1 and ERR 2 depending on the error details Error classification Description Errors caused due to sequence programs ERR 1 minor er
304. tus is 1 Adjusting zero Check that Zero gain adjustment change complete flag X2B is off Check that Md 10 Zero gain adjustment status is 2 Adjusting gain Check that Set value change complete flag X2C turned on following the change of voltage between check pins Then turn off Set value change request signal Y1C Check that Set value change complete flag X2C is off after turning off Set value change request signal Y1C Is the voltage between check pins equal to the gain value Turn on Zero gain adjustment data writing request signal Y1A 1 Check that Zero gain adjustment data writing complete flag X2A is on Turn off Zero gain adjustment data writing request signal Y1A Check that Zero gain adjustment data writing complete flag X2A is off Is the ERR LED off 2 Change Zero gain adjustment mode Normal mode setting to Normal mode in the switch setting End 1 The zero adjustment value and gain adjustment value are recorded in the flash ROM inside the QD73A1 by turning on Zero gain adjustment data writing request signal Y 1A and they are not erased even at a power off 2 If an error occurs in the zero gain adjustment mode the ERR LED turns on If the ERR LED is on turn on Error reset signal Y28 then perform zero gain adjustment again 63 jueunsn py uleB oJaz S y
305. tween each speed change lf there are not enough intervals between speed changes the QD73A1 may not be able to follow the requests and process the commands normally e When 0 is set in Ca 2 New speed value When 0 is set in ca2 New speed value and a speed change is requested the axis stops Though BUSY signal X14 stays on Inputting Stop signal turns off BUSY signal X14 To activate the axis again set a value other than 0 in ca2 New speed value and request the speed change Positioning operation t ON Positioning start signal 1 Y21 to Y23 OFF y ON BUSY signal B 0 l X14 OFF Cd 2 New speed value 0 X 1000 ON Cd 8 Speed change request pp a a aia gt Executed by the QD73A1 3 Data setting and the execution condition of the function The following table lists the data to be set and the condition to execute the speed change function Buffer MENS q Execution condition of the speed memory Setting item Setting range Default value 3 change function address decimal 0 to _Pr5_ Speed limit BUSY signal X14 must be on Note that New speed value pulse s speed cannot be changed at the following 82 Cd 2 Opulse s value Maximum 4000000 After the start of automatic deceleration 83 pulse s After the input of Stop signal Y27 or Stop signal STOP Speed After a JOG
306. ue maximum value 404 1944 Cd 18 Alert output accumulated pulse 0 R W 405 195 setting value minimum value 406 1964 Control 7415 Immediate stop accumulated 6 BRAN Control Page 90 407 1974 data pulse setting value minimum value data area Section 5 6 408 1984 Cd 17 Accumulated pulse setting 0 R W value selection 409 1994 Cd 18 Accumulated pulse error 0 RIW detection request 410 19A4 9419 Measurement start request 0 R W 411 19By 9420 Reference value write request 0 R W 412 19Cy 3 H System area es c 1001 3E9y 54 1 2 3 4 For types of data refer to the following 57 Page 74 Section 5 1 Default values are set after the power was turned off and on or the CPU module was reset This column indicates whether the data can be read from or written to the buffer memory area through sequence programs R Readable W Writable For the memory configuration refer to the following 57 Page 48 Section 3 6 CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION This chapter describes the procedure prior to operation part names zero gain adjustment and wiring method of the QD73A1 4 1 Handling Precautions This section describes the handling precautions for the QD73A1 Do not disassemble the module Doing so may cause failure malfunction injury or a fire Shut off the external power supply all phases used in the system bef
307. ule gt QD73A1 gt Switch Setting Switch Setting 0020 QD 7341 Item Axis 1 Rotation direction setting Positive voltage is output when the positioning address increases Accumulated pulse setting 14600 to14800pulse Multiplication setting J4 OPR direction setting Reverse direction address decreasing OPR method setting Countmethod ER Encoder I F setting A Open collector output Analog voltage resolution setting 12 bit resolution Zero gain adjustment mode Normal mode setting Normal mode This dialog setting is linked to the Switch Setting of the PLC parameter Default value will be shown in the dialog if the Switch Setting of the PLC parameter contains an out of range value Cancel 152 CHAPTER 7 PROGRAMMING c Execution condition Check item Condition Servo READY signal READY ON Stop signal STOP OFF External I O signal Upper limit signal FLS ON Lower limit signal RLS ON WDT error H W error signal X1020 OFF QD73A1 READY signal X1021 OFF BUSY signal X1024 OFF Excessive error signal X1027 OFF Error detection signal X1028 OFF I O signal OPR start complete signal X1030 OFF Synchronization flag X1034 ON OPR start signal Y 1030 OFF Stop signal Y1037 OFF PLC READY signal Y103D OFF Buffer memory OPR parameters No error d Device used by the user T
308. value and Md 2 Actual current value OPR speed Set the speed of OPR control Satisfy the following condition when setting the speed Pr 11 OPR speed lt If the OPR speed exceeds Creep speed lt Pr 5 Pr 5 Speed limit value Speed limit value the error OPR speed Outside the setting range error code 20 occurs and the OPR is not executed CHAPTER 5 DATA USED FOR POSITIONING 3 P12 Creep speed Once the near point dog turns on the control decelerates from Pr 11 OPR speed and stops Set the speed of right before the stop which is a creep speed Pr 11 OPR speed OPR start Creep speed gt t Near point dog signal OFF DOG Zero signal Satisfy the following condition when setting the speed Pr 12 Creep speed lt Pr 11 OPR speed lt Pr5 Speed limit value If the creep speed exceeds Pr 11 JOPR speed the error Creep speed Outside the setting range error code 21 occurs and the OPR is not executed SJojoulBJed HdO S 81 4 LPr13 Setting for the movement amount after near point dog ON When the OPR method is the count method set the movement amount from the position where Near point dog signal X1C turns on to the original point Set a value equal to or greater than the decelerati
309. wer supply to activate the settings O After writing the contents of the switch settings reset the CPU module or turn off and on the power supply to activate the settings 6 1 Adding a Module 1 Addition procedure Open the New Module window Project window Intelligent Function Module Right clicke New Module New Module Module Selection Module Type Q070 Type Positioning Module Module Name QD73A1 Mount Position y Mounted Slot No 0 ES Acknowledge I O Assignment IV Specify start xY address 0000 H 2 Slots Occupy empty 16 points 32 points Title setting Title Item Description Module Module Type Set QD70 Type Positioning Module Selection Module Name Set the name of the module to mount Base No Set the base unit where the module is mounted Mount Mounted Slot No Set the slot No where the module is mounted Position Specify start XY The start I O number hexadecimal of the module is set according to the mounted address slot No Any start I O number can be set Title setting Title Set any title 100 CHAPTER 6 VARIOUS SETTINGS 6 2 Switch Setting Configure settings related to the drive unit and encoder that are connected to the QD73A1 1 Setting method Open the Switch Setting window Project window Intelligent Function Module 2 Module name lt gt Switch Setting Switch Setting 0010 QD73A1 PEN tem Rotation directi
310. witch mode Turn on Forward start signal Turn on Speed position switching enable signal Command the restart of the speed position control switch mode Turn on Speed position mode restart signal Turn on Speed position switching enable signal Turn off Forward start signal Turn off Speed position mode restart signal 257 Page 106 Section 6 3 Page 107 161 ueJ6oJd josjuos Buiuonisod soley e v7 OMION O GPW e ur ejnpojy ayy Buisp ueuM y 2 4 Speed control operation program This program executes speed control using the speed control function of the speed position control switch mode Suppose that parameters are already set K gt Page 147 Section 7 4 1 a Program detail As X2E is turned on the positioning mode is set to speed position control switch mode As X2F is turned on the following positioning data is written Item Setting detail Da 3 Positioning speed V1 1000pulse s As X30 is turned on the module starts speed control of forward run As X31 is turned on the module starts speed control of reverse run b Execution condition Check item Condition Note Servo READY signal READY ON External I O Stop signal STOP OFF signal Upper limit signal FLS ON m Lower limit signal RLS ON QD73A1 READY signal X1021 ON BUSY signal X1024 OFF Excessive error signal X1027 OFF Err
311. witching 1 enable signal Y2C OFF i 1 ON Speed position switching command signal CHANGE OFF 1 Md 1 Current feed value K 0 P 0 gt P1 1 AREA P Executed by the QD73A1 193 3 ve Current feed value and va2 Actual current value In va 1 Current feed value and va2 JActual current value O is set at the start of the speed position control switch mode and the settings are not updated during speed control They are updated once the operation switched to position control by the input of Speed position switching command signal CHANGE 4 Positioning error in the speed position control switch mode In the speed position control switch mode operation switches to position control by an input of Speed position switching command signal CHANGE during speed control The process from the signal input to the completion of switchover to position control takes some time resulting in a positioning error by pulses output during the process The process time varies by approximately 2ms including the response delay of Speed position switching command signal CHANGE v Movement amount set to Da 2 Positioning address P1 Positioning speed V1 Time takes to switch control ON Speed position switching i command signal CHANGE OFF i Switched to position control Z7 Set movement amount RSX Posit
312. xternal wiring connector sassa sasaaa anaana 73 QALED redu des citet dM au E TEE 57 WEED 1 ooi erlincs dele nibs Sedul ded ddr and 57 UZDBD x p Ur AME EI NS I AM Rh s 57 Factory default zero gain adjustment value restoration IND 93 Feedback pulse 17 44 104 275 Miniature relay llle 42 Feedrate so reus Do dtr be Patna ea Reds 87 Minimum accumulated pulse value 88 Fixed parameter llle 76 Mode switch 0 0 0 0 cee eee eres 58 Forward JOG start signal Y24 39 Model name 271 Forward start complete signal X22 36 Module erro 3 dp tod RESP dad IESUS 237 Forward start signal Y22 38 Module fixing screw llle 55 Function version llle 24 Module Selection 000000005 100 Module s Detailed Information 239 G Motor rotation direction o o o oo 68 MountPosition llle sess 100 Gain adjustment llle 60 Movement amount after near point dog ON 86 GAIN LED do ss an as 57 MR J3DA ooo 262 GND terminal llli eese 57 Multiple CPU system 1 6 eee eee eee 23 GX Developer isses 16 23 271 Multiplication setting 101 104 GX Works2 oc sca ed de om boobs s 16 23 N H Near pointdog llle 274 Hardware LED informati0n 234 Near point dog method sess sees 177 Near point dog signal DOG 4
313. y area name QD73A1 AD70 A1SD70 Current value change request 90 Speed change request 91 92 Analog output adjustment area 2 di Zero gain adjustment specification 94 Zero gain adjustment value specification 95 Factory default zero gain adjustment value 96 restoration request Zero gain execution status 112 Zero gain adjustment status 113 114 Feedrate 115 Error history 0 to 16 120 to 183 Error history pointer 184 A 200 Maximum accumulated pulse value am 202 Minimum accumulated pulse value 203 Accumulated pulse error detection function status 204 Reference value measurement flag 205 Positioning pattern 301 60 z jo 302 61 9 Positioning address P1 2 303 62 x wo Positioni d V1 T is Sg ositioning spee xis 305 64 3 306 65 a Positioning address P2 El 307 66 9 308 67 F Positioning speed V2 o 309 68 e Q Alert output accumulated pulse setting value 400 x gt maximum value 401 a g a Immediate stop accumulated pulse setting value 402 maximum value 403 HT gt e Alert output accumulated pulse setting value 404 minimum value 405 o oO Immediate stop accumulated pulse setting value 406 3 minimum value 407 Accumulated pulse setting value selection 408 Accumulated pulse error detection request 409 Measurement start request 410 Reference value write request 411 All the other buffer memory addresses are the same 269 6 Ext

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