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Type QD75P/QD75D Positioning Module User's Manual

User's Manual User's Manual

Mitsubishi Programmable

Logic Controller

When exported from Japan, this manual does not require application to the

Ministry of International Trade and Industry for service transaction permission.

Specifications subject to change without notice.

Printed in Japan on recycled paper.

HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CABLE MELCO TOKYO

NAGOYA WORKS : 1-14 , YADA-MINAMI 5 , HIGASHI-KU, NAGOYA , JAPAN

MODEL

CODE

QD75-U-S-E

13JR09

SH(NA)-080058-C(0106)MEE

Type QD75P/QD75D Positioning Module

QD75P1

QD75P2

QD75P4

QD75D1

QD75D2

QD75D4

Summary of content (768 pages)

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Type QD75P/QD75D Positioning Module U User's Manual Type QD75P/QD75D Positioning Module User's Manual Type QD75P/QD75D Positioning Module User's Manual MODEL QD75-U-S-E MODEL CODE 13JR09 SH(NA)-080058-C(0106)MEE HEAD OFFICE : MITSUBISHI DENKI BLDG MARUNOUCHI TOKYO 100-8310 TELEX : J24532 CABLE MELCO TOKYO NAGOYA WORKS : 1-14 , YADA-MINAMI 5 , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of International Trade and Industry for servic
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SAFETY INSTRUCTIONS (Always read these instructions before using this equipment.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For the safety instructions of the programmable logic controller system, please read the CPU module User's Manual.
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[Design Instructions] ! CAUTION Do not bundle or adjacently lay the control wire or communication cable with the main circuit or power wire. Separate these by 100mm (3.94in.) or more. Failure to observe this could lead to malfunctioning caused by noise. [Mounting Instructions] ! CAUTION Use the PLC within the general specifications environment given in this manual.
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[Startup/Maintenance Instructions] ! CAUTION Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires. Completely turn off the externally supplied power used in the system before installing or removing the module. Failure to turn all phases OFF could lead to module trouble or malfunctioning. Do not mount/remove the module onto/from the base unit more than 50 times (IEC61131-2compliant), after the first use of the product.
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REVISIONS The manual number is given on the bottom left of the back cover. Print Date Dec., 1999 Oct., 2000 Jun., 2001 Manual Number Revision SH (NA)-080058-A First edition SH (NA)-080058-B Addition of function version B (Overall revisions based on the Japanese Manual Version SH-080047-E) SH (NA)-080058-C The software package names (GPP function software package, QD75 software package) have been replaced by the product names (GX Developer, GX Configurator-QP) for standardization.
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REVISIONS The manual number is given on the bottom left of the back cover. Print Date Manual Number Revision Feb., 2004 SH (NA)-080058-F Nov., 2004 SH (NA)-080058-G Partial corrections and additions Partial corrections and additions CONTENTS, Section 3.4.1, Section 3.4.3, Section 3.4.4, Section 5.2.1, Section 5.4, Section 5.5, Section 5.6.2, Section 8.2.6, Section 10.1.2, Section 10.3.3, Section 10.3.5, Section 10.3.7, Appendix 9.2, Appendix 12 SAFETY INSTRUCTIONS, Section 1.4, Section 2.
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INTRODUCTION Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-Q Series. Always read through this manual, and fully comprehend the functions and performance of the Q Series PLC before starting use to ensure correct usage of this product. CONTENTS SAFETY INSTRUCTIONS.............................................................................................................................A- 1 REVISIONS ...............................................................
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3. Specifications and Functions 3- 1 to 3- 24 3.1 Performance specifications...................................................................................................................... 3- 2 3.2 List of functions ....................................................................................................................................... 3- 4 3.2.1 QD75 control functions......................................................................................................................
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5.2 List of parameters ................................................................................................................................... 5- 20 5.2.1 Basic parameters 1 .......................................................................................................................... 5- 20 5.2.2 Basic parameters 2 .......................................................................................................................... 5- 26 5.2.3 Detailed parameters 1................
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Section 2 Control Details and Setting 8. OPR Control 8- 1 to 8- 22 8.1 Outline of OPR control ............................................................................................................................. 8- 2 8.1.1 Two types of OPR control ................................................................................................................. 8- 2 8.2 Machine OPR.......................................................................................................................
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9.2.20 NOP instruction ............................................................................................................................. 9-110 9.2.21 JUMP instruction ........................................................................................................................... 9-111 9.2.22 LOOP............................................................................................................................................. 9-113 9.2.23 LEND ................................
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11.4.4 Creating a program to enable/disable the manual pulse generator operation .......................... 11- 33 12. Control Sub Functions 12- 1 to 12- 98 12.1 Outline of sub functions ....................................................................................................................... 12- 2 12.1.1 Outline of sub functions................................................................................................................. 12- 2 12.
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.4 PSTRT1, PSTRT2, PSTRT3, PSTRT4............................................................................................... 14- 8 14.5 TEACH1, TEACH2, TEACH3, TEACH4 ............................................................................................ 14- 12 14.6 PFWRT................................................................................................................................................ 14- 16 14.7 PINIT ..................................................................
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About Manuals The following manuals are also related to this product. In necessary, order them by quoting the details in the tables below. Related Manuals Manual Number Manual Name (Model Code) Type QD75P/QD75D Positioning Module User's Manual (Hardware) Describes the performance, specifications, I/O interface, component names, and startup procedure of the respective positioning modules: QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4. IB-0800063 (13JQ73) (The manual is supplied with the module.
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Generic Terms and Abbreviations Unless specially noted, the following generic terms and abbreviations are used in this manual. Generic term/abbreviation Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which QD75 can be mounted. QD75 Generic term for positioning module QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and QD75D4. The module type is described to indicate a specific module.
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Component List The table below shows the component included in respective positioning modules: Module name Description Quantity QD75P1 QD75P1 Positioning Module(1-axis open collector output system) 1 QD75P2 QD75P2 Positioning Module(2-axes open collector output system) 1 QD75P4 QD75P4 Positioning Module(4-axes open collector output system) 1 QD75D1 Positioning Module(1-axis differential driver output system) 1 Differential driver common terminal 1 QD75D2 Positioning Module(2-axes differentia
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MEMO A - 16
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Section 1 Section 1 Product Specifications and Handling Section 1 is configured for the following purposes (1) to (5).
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MEMO
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1 Chapter 1 Product Outline The purpose and outline of positioning control using QD75 are explained in this chapter. Reading this chapter will help you understand what can be done using the positioning system and which procedure to use for a specific purpose. By understanding "What can be done", and "Which procedure to use" beforehand, the positioning system can be structured smoothly. 1.1 Positioning control ................................................................................................
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1 PRODUCT OUTLINE MELSEC-Q 1.1 Positioning control 1.1.1 Features of QD75 The features of the QD75 are shown below. (1) Availability of one, two, and four axis modules (a) One, two and four axis modules are available for both the open collector system pulse output (QD75P1, QD75P2, and QD75P4) and differential driver system pulse output (QD75D1, QD75D2, and QD75D4), comprising six different models. A model is determined by the drive unit type and number of axes. (Refer to Section 2.2.
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1 PRODUCT OUTLINE MELSEC-Q (c) Continuous positioning control using multiple positioning data can be executed in accordance with the operation patterns the user assigned to the positioning data. (Refer to Section 5.3 and 9.1.2) Continuous positioning control can be executed over multiple blocks, where each block consists of multiple positioning data. (Refer to Section 10.3.2.) (d) OPR control is given additional features (Refer to Section 8.2.
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1 PRODUCT OUTLINE MELSEC-Q (6) Support of intelligent function module dedicated instructions Dedicated instructions such as the absolute position restoration instruction, positioning start instruction, and teaching instruction are provided. The use of such dedicated instruction simplifies sequence programs.(Refer to Chapter 14.
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1 PRODUCT OUTLINE MELSEC-Q 1.1.2 Purpose and applications of positioning control "Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter, generically called "workpiece") at a designated speed, and accurately stopping it at the target position. The main application examples are shown below.
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1 PRODUCT OUTLINE MELSEC-Q Lifter (Storage of Braun tubes onto aging rack) Unloader Loader/unloader B conveyor C conveyor A conveyor Counterweight storage onto the rack is carried out by positioning with the AC servo. • The up/down positioning of the lifter is carried Aging rack Lifter • During the aging process of braun tubes, Servo amplifier out with the 1-axis servo, and the horizontal position of the aging rack is positioned with the 2-axis servo.
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1 PRODUCT OUTLINE MELSEC-Q 1.1.3 Mechanism of positioning control Positioning control using the QD75 is carried out with "pulse signals". (The QD75 is a module that generates pulses). In the positioning system using the QD75, various software and devices are used for the following roles. The QD75 realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU. Stores the created program.
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1 PRODUCT OUTLINE MELSEC-Q The principle of "position control" and "speed control" operation is shown below. Position control The total No. of pulses required to move the designated distance is obtained in the following manner. Designated distance Total No. of pulses = Movement amount of machine (load) required to move designated distance side when motor rotates once No. of pulses required for motor to rotate once The No.
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1 PRODUCT OUTLINE MELSEC-Q 1.1.4 Outline design of positioning system The outline of the positioning system operation and design, using the QD75, is shown below. (1) Positioning system using QD75 PLC CPU Drive unit Positioning module QD75 Forward run pulse train Program Read, write, etc. Setting data Peripheral devices interface Reverse run pulse train Deviation counter D/A converter Speed command Servomotor Servo amplifier M Interface Read, write, etc.
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1 PRODUCT OUTLINE MELSEC-Q (b) Pulse train output from the QD75 1) As shown in Fig. 1.3, the pulse frequency increases as the motor accelerates. The pulses are sparse when the motor starts and more frequent when the motor speed comes close to the target speed. 2) The pulse frequency stabilizes when the motor speed equals the target speed. 3) The QD75 decreases the pulse frequency (sparser pulses) to decelerate the motor before it finally stops the output.
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1 PRODUCT OUTLINE MELSEC-Q (a) In the system shown in Fig. 1.4, the movement amount per pulse, command pulse frequency, and the deviation counter droop pulser amount are determined as follows: 1) Movement amount per pulse The movement amount per pulse is determined by the worm gear lead, deceleration ratio, and the pulse encoder resolution. The movement amount, therefore, is given as follows: (Number of pulses output) × (Movement amount per pulse).
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1 PRODUCT OUTLINE MELSEC-Q 1.1.5 Communicating signals between QD75 and each module PLC CPU Y0 X0 X1 Y8,YA,YC,YE Y9,YB,YD,YF Y14,Y15,Y16,Y17 The outline of the signal communication between the QD75 and PLC CPU, peripheral device and drive unit, etc., is shown below.
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1 PRODUCT OUTLINE QD75 MELSEC-Q PLC CPU The QD75 and PLC CPU communicate the following data via the base unit. Direction QD75 Communication PLC CPU PLC CPU QD75 Control signal Signal indicating QD75 state, such as QD75 READY signal, BUSY signal.
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1 PRODUCT OUTLINE QD75 MELSEC-Q External signal The QD75 and external signal communicate the following data via the external device connection connector.
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1 PRODUCT OUTLINE MELSEC-Q 1.2 Flow of system operation 1.2.1 Flow of all processes The positioning control processes, using the QD75, are shown below. GX Configurator-QP QD75 Servo, etc.
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1 PRODUCT OUTLINE MELSEC-Q The following work is carried out with the processes shown on the previous page. Details Reference Understand the product functions and usage methods, the configuration devices 1) and specifications required for positioning control, and design the system. 2) • Chapter 1 • Chapter 2 • Chapter 3 • Chapter 8 to Chapter 13 Install the QD75 onto the base unit, wire the QD75 and external connection devices • Chapter 4 (drive unit, etc.).
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1 PRODUCT OUTLINE MELSEC-Q MEMO 1 - 17
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1 PRODUCT OUTLINE MELSEC-Q 1.2.2 Outline of starting The outline for starting each control is shown with the following flowchart. It is assumed that each module is installed, and the required system configuration, etc., has been prepared.
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1 PRODUCT OUTLINE MELSEC-Q Setting method : Indicates the sequence program that must be created. Set with GX Configurator-QP Write Set the parameter and data for executing main function, and the sub functions that need to be set beforehand. QD75 Create sequence program for setting data Write PLC CPU Write When set with "GX Configurator-QP", this does not need to be created.
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1 PRODUCT OUTLINE MELSEC-Q 1.2.3 Outline of stopping Each control is stopped in the following cases. (1) (2) (3) (4) (5) (6) When each control is completed normally. When the drive unit READY signal is turned OFF. When a PLC CPU error occurs When the PLC READY signal is turned OFF. When an error occurs in the QD75. When control is intentionally stopped (Stop signal from PLC CPU turned ON, stop signal from an external device, etc.) The outline for the stopping process in these cases is shown below.
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1 PRODUCT OUTLINE MELSEC-Q 1.2.4 Outline for restarting When a stop cause has occurred during operation with position control causing the axis to stop, positioning to the end point of the positioning data can be restarted from the stopped position by using the " Cd.6 Restart command". If issued during a continuous positioning or continuous path control operation, the restart command will cause the positioning to be re-executed using the current position (pointed by the positioning data No.
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1 PRODUCT OUTLINE MELSEC-Q 1.3 Restrictions with a system using a stepping motor Note the following restrictions applicable to a system that uses a stepping motor: (1) The S-pattern acceleration/deceleration is disabled because it requires a servomotor for the controlled axis. (2) The circular interpolation control is disabled because it requires a servomotor for each of the two controlled axes. 1.
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Chapter 2 System Configuration In this chapter, the general image of the system configuration of the positioning control using QD75, the configuration devices, applicable CPU and the precautions of configuring the system are explained. Prepare the required configuration devices to match the positioning control system. 2.1 General image of system .............................................................................................2- 2 2.2 Component list..............................................
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2 SYSTEM CONFIGURATION MELSEC-Q 2.1 General image of system The general image of the system, including the QD75, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in Section 2.2 "Component list". Main base unit Extension cable 2 Positioning module 1 CPU module I/O module 1 USB cable 5 Extension system RS-232 cable 4 REMARK 1 Refer to Section 2.3 "Applicable system" for the CPU modules that can be used.
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2 SYSTEM CONFIGURATION MELSEC-Q 6 Drive unit Motor Manual pulse generator 7 Cable Machine system inputs (switches) 8 Near point dog Limit switch External command signal Stop signal Peripheral device Personal computer 2 3 GX Configurator -QP SWnD5C -QD75P-E (For details, refer to GX Configurator -QP Operating Manual.
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2 SYSTEM CONFIGURATION MELSEC-Q 2.2 Component list The positioning system using the QD75 is configured of the following devices. No. Part name Type Remarks 1 Positioning module QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 QD75D4 2 GX Configurator-QP SW D5CQD75P-E Refer to GX Configurator-QP Operating Manual for details. 3 Personal computer DOS/V personal computer (Prepared by user) Refer to GX Configurator-QP Operating Manual for details.
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2 SYSTEM CONFIGURATION MELSEC-Q 2.3 Applicable system The QD75 can be used in the following system. (1) Applicable modules and the number of installable modules The following table indicates the CPU modules and network modules (for remote I/O station) usable with the QD75 and the number of installable modules. Applicable modules Number of installable modules Remarks Q00JCPU Max. 16 modules Q00CPU ( 1) Max. 24 modules Q01CPU Q02CPU Q02HCPU Installable in the Q mode CPU Max.
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2 SYSTEM CONFIGURATION MELSEC-Q 2.4 How to check the function version and SERIAL No. The function version and SERIAL No. of the QD75 can be checked in the following methods. [1] Method using the rated plate on the module side face [2] Method using the software [1] Method using the rated plate on the module side face Check the function version and SERIAL No. in the "SERIAL" field. SERIAL No.
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Chapter 3 Specifications and Functions 3 The various specifications of the QD75 are explained in this chapter. The "General specifications", "Performance specifications", "List of functions", "Specifications of input/output signals with PLC CPU", and the "Specifications of input/output interfaces with external devices", etc., are described as information required when designing the positioning system. Confirm each specification before designing the positioning system. 3.1 Performance specifications ......
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.1 Performance specifications Model Item No.
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3 SPECIFICATIONS AND FUNCTIONS Model Item Starting time (ms) 3 MELSEC-Q QD75P1 1 QD75P2 1 QD75D1 QD75D2 1-axis linear control 1-axis speed control 2-axis linear interpolation control (Composite speed) 2-axis linear interpolation control (Reference axis speed) 2-axis circular interpolation control 2-axis speed control 3-axis linear interpolation control (Composite speed) 3-axis linear interpolation control (Reference axis speed) 3-axis speed control 4-axis linear interpolation control 4-axis speed contr
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2 List of functions 3.2.1 QD75 control functions The QD75 has several functions. In this manual, the QD75 functions are categorized and explained as follows. Main functions (1) OPR control "OPR control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Main functions OPR control Sub functions Control registered in QD75 (Functions characteristic to machine OPR) OPR retry function [Positioning start No.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.2 QD75 main functions The outline of the main functions for positioning control with the QD75 is described below. (Refer to Section 2 for details on each function.) Details Reference section Machine OPR control Mechanically establishes the positioning start point using a near-point dog or stopper. (Positioning start No. 9001) 8.2 Fast OPR control Positions a target to the OP address ( Md.21 Machine feed value) stored in the QD75 using machine OPR.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Details Reference section Block start (Normal start) With one start, executes the positioning data in a random block with the set order. 10.3.2 Condition start Carries out condition judgment set in the "condition data" for the designated positioning data, and then executes the "block start data". When the condition is established, the "block start data" is executed.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.3 QD75 sub functions and common functions Sub functions The functions that assist positioning control using the QD75 are described below. (Refer to Section 2 for details on each function.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Details Reference section Step function This function temporarily stops the operation to confirm the positioning operation during debugging, etc. The operation can be stopped at each "automatic deceleration" or "positioning data". 12.7.1 Skip function This function stops (decelerates to a stop) the positioning being executed when the skip signal is input, and carries out the next positioning. 12.7.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Common functions The outline of the functions executed as necessary are described below. (Refer to Section 2 for details on each function.) Common functions Details Reference section Parameter initialization function This function returns the "parameters" stored in the QD75 buffer memory and flash ROM to the default values. The following two methods can be used. 1) Method using sequence program 2) Method using GX Configurator-QP 13.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q MEMO 3 - 11
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.2.4 Combination of QD75 main functions and sub functions With positioning control using the QD75, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below. OPR control OP shift function Combination with operation pattern.
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3 3 - 13 Deceleration start flag function Stop command processing for deceleration stop function Pre-reading start function Acceleration/deceleration process function Command in-position function Functions that change control details Target position change function Teaching function M code output function Skip function Step function Torque change function Acceleration/ deceleration time change function Override function Functions that limit control Speed change function Hardware stroke limi
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.3 Specifications of input/output signals with PLC CPU 3.3.1 List of input/output signals with PLC CPU The QD75 uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD75 to the PLC CPU, and device Y refers to the signals output from the PLC CPU to the QD75.
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3 SPECIFICATIONS AND FUNCTIONS 3.3.2 Details of input signals (QD75 MELSEC-Q PLC CPU) The ON/OFF timing and conditions of the input signals are shown below. Device Signal name Details No. • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting X0 QD75 READY ON: READY OFF: Not READY/ range is checked. If no error is found, this signal turns ON. Watch dog • When the PLC READY signal [Y0] turns OFF, this signal turns OFF.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Important 1: The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the sequence program. 2: "Positioning complete" of the QD75 refers to the point when the pulse output from QD75 is completed. Thus, even if the QD75's positioning complete signal turns ON, the system may continue operation. 3.3.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4 Specifications of input/output interfaces with external devices 3.4.1 Electrical specifications of input/output signals Input specifications Signal name Rated input Working voltage/current voltage range Drive unit READY (READY) Stop signal (STOP) Upper limit signal (FLS) Lower limit signal (RLS) ON voltage/current OFF voltage/current Input resistance Response time 24VDC/5mA 19.2 to 26.4VDC 17.5VDC or more/ 7VDC or less/ Approx. 4.7kΩ 4ms or less 3.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Output specifications Max. load Max. voltage Leakage current current/rush Response time drop at ON at OFF current • Differential driver equivalent to Am26C31 (For QD75D ) • Select the CW/CCW type, PULSE/SIGN type and A phase/B phase type using the parameter ( Pr.5 Pulse Rated load voltage Signal name Working load voltage range output mode) according to the drive unit specifications. • The relation of the pulse output with the " Pr.5 Pulse output mode" and " Pr.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.2 Signal layout for external device connection connector The specifications of the connector section, which is the input/output interface for the QD75 and external device, are shown below. The signal layout for the QD75 external device connection connector is shown.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.3 List of input/output signal details The details of each QD75 external device connection connector are shown below: Signal name Manual pulse generator A phase Manual pulse generator B phase Pin No. AX1 AX2 AX3 AX4 1A19 1A20 Signal details (Negative logic is selected by external I/O signal logic selection) • Input the pulse signal from the manual pulse generator A phase and B phase.
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3 SPECIFICATIONS AND FUNCTIONS Signal name Stop signal External command signal Pin No. AX1 AX2 AX3 AX4 1A4 1A5 1B4 1B5 2A4 2A5 MELSEC-Q Signal details (Negative logic is selected by external I/O signal logic selection) • Input this signal to stop positioning. • When this signal turns ON, the QD75 will stop the positioning being 2B4 executed. After that, even if this signal is turned from ON to OFF, the system will not start.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 3.4.4 Input/output interface internal circuit The outline diagrams of the internal circuits for the QD75P1/QD75D1 external device connection interface are shown below. (1) Input (Common to QD75P1 and QD75D1) External wiring Pin No.
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (a) Input signal ON/OFF status The input signal ON/OFF status is defied by the external wiring and logic setting. This is explained below with the example of near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point dog signal (DOG).
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3 SPECIFICATIONS AND FUNCTIONS MELSEC-Q (2) Output (For QD75P1) External wiring Pin No. Internal circuit Need for wiring 1 Signal name 1A13 Deviation counter clear 1A14 Common CLEAR COM 1A15 CW A phase PULSE PULSE F 1A16 1A17 PULSE COM PULSE R CCW B phase SIGN 1A18 CLEAR PULSE COM (3) Output (For QD75D1) External wiring Pin No.
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Chapter 4 Installation, Wiring and Maintenance of the Product 4 The installation, wiring and maintenance of the QD75 are explained in this chapter. Important information such as precautions to prevent malfunctioning of the QD75, accidents and injuries as well as the proper work methods are described. Read this chapter thoroughly before starting installation, wiring or maintenance, and always following the precautions. 4.1 Outline of installation, wiring and maintenance ....................................
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1 Outline of installation, wiring and maintenance 4.1.1 Installation, wiring and maintenance procedures The outline and procedures for QD75 installation, wiring and maintenance are shown below. STEP 1 Preparation Refer to Section 4.1 Installing the module Refer to Section 4.2 STEP 2 STEP 3 Refer to Section 4.3 Wiring the module STEP 4 Refer to Section 4.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.2 Names of each part (1) The part names of the QD75 are shown below: For QD75P4 For QD75D4 (1) (1) QD75P4 RUN ERR AX3 AX4 QD75D4 AX1 AX2 AX3 AX4 RUN AX1 AX2 AX3 AX4 (2) ERR AX1 AX2 AX3 AX4 (2) AX1 AX2 (3) (3) (4) No. Name (1) RUN indicator LED, ERR indicator LED (2) Axis display LED (AX1 to AX4) Details Refer to the next page.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q (2) The LED display indicates the following operation statuses of the QD75 and axes. QD75P4 RUN AX1 AX2 AX3 AX4 ERR Display RUN Attention point AX1 AX2 RUN is OFF. AX3 AX4 ERR RUN AX1 AX2 RUN illuminates. AX3 ERR is OFF. AX4 AX1 AX2 AX3 ERR illuminates. AX4 ERR RUN ERR RUN AX1 AX2 AX1 to AX4 are AX3 OFF. AX4 ERR Description Display Hardware failure, watch dog timer error The module operates normally.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.1.3 Handling precautions Handle the QD75 and cable while observing the following precautions. [1] Handling precautions ! CAUTION Use the PLC within the general specifications environment given in this manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration. Do not directly touch the conductive section and electronic parts of the module.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [2] Other precautions (1) Main body • The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. • Do not remove the QD75 PCB from the case. Failure to observe this could lead to faults. (2) Cable • • • • • • Do not press on the cable with a sharp object. Do not twist the cable with force. Do not forcibly pull on the cable. Do not step on the cable. Do not place objects on the cable.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.2 Installation 4.2.1 Precautions for installation The precautions for installing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. Precautions for installation ! DANGER Completely turn off the externally supplied power used in the system before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.3 Wiring The precautions for wiring the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. 4.3.1 Precautions for wiring (1) Always confirm the terminal layout before connecting the wires to the QD75. (For the terminal layout, refer to Section 3.4.2 "Signal layout for external device connection connector".) (2) Correctly solder the external wiring connector.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Wiring example of shielded cable] The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used. Connector Connector (A6CON1) Shielded cable To external devices Drive unit To external device To drive unit To QD75 The length between the connector and the shielded cables should be the shortest possible. Use the shortest possible length to ground the 2mm2 or more FG wire.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT Assembling of connector (A6CON1) Wrap the coated parts with a heat contractile tube.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q (10) To make this product conform to the EMC and Low Voltage Directive, be sure to use of a AD75CK type cable clamp (manufactured by Mitsubishi Electric) for grounding to the control box. Inside control box QD75 20cm(7.88inch) to 30cm(11.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q [Wiring examples using duct (incorrect example and corrected example)] Wiring duct Relay Relay Drive Drive unit unit Relay Control panel PLC QD The drive units are placed 75 near the noise source. The connection cable between Noise source the QD75 and drive units is (power system, etc.) too long. Changed Wiring duct Relay Relay Relay Control panel PLC QD 75 The QD75 and drive units are placed closely.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.3.2 Wiring of the differential driver common terminal When the differential driver output system (QD75D1, QD75D2, QD75D4) is used, a potential difference between commons may occur between the differential driver common terminal and the differential receiver common terminal of the drive unit.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.4 Confirming the installation and wiring 4.4.1 Items to confirm when installation and wiring are completed Check the following points when completed with the QD75 installation and wiring. • Is the module correctly wired? ... "Connection confirmation" With "connection confirmation", the following three points are confirmed using GX Configurator-QP's connection confirmation function.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MELSEC-Q 4.5 Maintenance 4.5.1 Precautions for maintenance The precautions for servicing the QD75 are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work. ! DANGER Always turn all phases of the power supply OFF externally before cleaning or tightening the screws. Failure to turn all phases OFF could lead to electric shocks. ! CAUTION Never disassemble or modify the module.
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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT MEMO 4 - 16 MELSEC-Q
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Chapter 5 Data Used for Positioning Control 5 The parameters and data used to carry out positioning control with the QD75 are explained in this chapter. With the positioning system using the QD75, the various parameters and data explained in this chapter are used for control. The parameters and data include parameters set according to the device configuration, such as the system configuration, and parameters and data set according to each control.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1 Types of data 5.1.1 Parameters and data required for control The parameters and data required to carry out control with the QD75 include the "setting data", "monitor data" and "control data" shown below. Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM.) Positioning parameters Parameters Basic parameters 1 Pr.1 to Pr.57 ) Pr.1 to Pr.42 , Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q The only valid data assigned to these parameters are the data read at the moment when a positioning or JOG operation is started. Once the operation has started, any modification to the data is ignored. Exceptionally, however, modifications to the following are valid even when they are made during a positioning operation: acceleration time 0 to 3, deceleration time 0 to 3, and external start command.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.2 Setting items for positioning parameters The table below lists items set to the positioning parameters. Setting of positioning parameters is similarly done for individual axes for all controls achieved by the QD75. For details of controls, refer to Section 2. For details of setting items, refer to Section 5.2 "List of parameters".
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5 DATA USED FOR POSITIONING CONTROL Manual control – – – Pr.28 Deceleration time 1 – – – Pr.29 Deceleration time 2 – – – Pr.30 Deceleration time 3 – – – Pr.31 JOG speed limit value – – – – – – – – – 12.4.1 Pr.32 JOG operation acceleration time selection – – – – – – – – – – Pr.33 JOG operation deceleration time selection – – – – – – – – – – Pr.34 Acceleration/deceleration process selection – – – Pr.35 S-pattern proportion – – – Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.3 Setting items for OPR parameters When carrying out "OPR control", the "OPR parameters" must be set. The setting items for the "OPR parameters" are shown below. The "OPR parameters" are set commonly for each axis. Refer to Chapter 8 "OPR control" for details on the "OPR control", and to Section 5.2 "List of parameters" for details on each setting item.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.4 Setting items for positioning data Positioning data must be set for carrying out any "major positioning control". The table below lists the items to be set for producing the positioning data. One to 600 positioning data items can be set for each axis. For details of the major positioning controls, refer to Chapter 9 "Major Positioning Control". For details of the individual setting items, refer to Section 5.3 "List of positioning data".
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5 DATA USED FOR POSITIONING CONTROL Checking the positioning data The items Da.1 to Da.
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5 DATA USED FOR POSITIONING CONTROL MEMO 5-9 MELSEC-Q
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.5 Setting items for block start data The "block start data" must be set when carrying out "high-level positioning control". The setting items for the " block start data" are shown below. Up to 50 points of " block start data" can be set for each axis. Refer to Chapter 10 "High-level Positioning Control" for details on the "high-level positioning control", and to Section 5.4 "List of block start data" for details on each setting item.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.6 Setting items for condition data When carrying out "high-level positioning control" or using the JUMP instruction in the "major positioning control", the "condition data" must be set as required. The setting items for the "condition data" are shown below. Up to 10 "condition data" items can be set for each axis. Refer to Chapter 10 "High-level Positioning Control" for details on the "high-level positioning control", and to Section 5.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.7 Types and roles of monitor data The monitor data area in the buffer memory stores data relating to the operating state of the positioning system, which are monitored as required while the positioning system is operating. The following data are available for monitoring. • System monitoring: Monitoring of the QD75 configuration and operation history (through the system monitor data Md.1 through Md.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [2] Monitoring the axis operation state Monitoring the position Monitor details Corresponding item Monitor the current machine feed value Md.21 Machine feed value Monitor the current "current feed value" Md.20 Current feed value Monitor the current target value Md.32 Target value Monitoring the speed Monitor details During independent axis control When "0: Composite speed" is set for " Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Monitoring the state Monitor details Corresponding item Monitor the axis operation state Md.26 Axis operation status Monitor the latest error code that occurred with the axis Md.23 Axis error No. Monitor the latest warning code that occurred with the axis Md.24 Axis warning No. Md.30 External input/output signal Md.31 Status Monitor the valid M codes Md.25 Valid M code Monitor whether the speed is being limited Md.
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5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 15 MELSEC-Q
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.1.8 Types and roles of control data Operation of the positioning system is achieved through the execution of necessary controls. (Data required for controls are given through the default values when the power is switched ON, which can be modified as required by the sequence program.) Controls are performed over system data or machine operation. • Controlling the system data : Performs write/initialization, etc. of the QD75 "setting data".
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [2] Controlling the operation Controlling the operation Control details Corresponding item Set which positioning to execute (start No.) Cd.3 Positioning start No. Clear (reset) the axis error ( Md.23 ) and warning ( Md.24 ) Cd.5 Axis error reset Issue instruction to restart (When axis operation is stopped) Cd.6 Restart command End current positioning (deceleration stop), and start next positioning Cd.37 Skip command Set start point No.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Making settings related to operation Control details Corresponding item Turn M code ON signal OFF Cd.7 M code OFF request Set new value when changing current value Cd.9 New current value Validate speed-position switching signal from external source Cd.24 Speed-position switching enable flag Change movement amount for position control during speed-position Cd.
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5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 19 MELSEC-Q
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2 List of parameters 5.2.1 Basic parameters 1 Setting value, setting range Item Value set with peripheral device Pr.1 Unit setting 0 : mm 1 : inch 2 : degree 3 : pulse Movement amount per pulse Pr.2 No. of pulses per rotation (Ap) (Unit : pulse) 1 to 65535 Value set with sequence program 0 1 2 3 1 to 65535 1 to 32767 :Set as a decimal 32768 to 65535 :Convert into hexadecimal and set The setting value range differs according to the " Pr.1 Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.2 to Pr.4 Movement amount per pulse These parameters define the amount of movement achieved by each single pulse within a pulse train output by the QD75. The following paragraphs explain how to set the individual parameters Pr.2 , Pr.3 , and Pr.4 assuming that the unit "mm" is selected with Pr.1 . The movement amount per pulse is given by the following expression: Movement amount per pulse = Movement amount per rotation (Al) No.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q However, the maximum value that can be set for this "movement amount per rotation (Al)" parameter is 6553.5 µm (approx. 6.5mm). Set the "movement amount per rotation (Al)" as shown below so that the "movement amount per rotation (AL)" does not exceed this maximum value. Movement amount per rotation (AL) = PB × 1/n = Movement amount per rotation (Al) × Unit magnification (Am) Note) The unit magnification (Am) is a value of 1, 10, 100 or 1000.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.5 Pulse output mode Set the pulse output mode to match the servo amplifier being used. IMPORTANT The only valid value of the " Pr.5 Pulse output mode" is the value at the moment when the PLC READY signal [Y0] turns from OFF to ON for the first time after the power is switched ON or the PLC CPU is reset.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) A phase/B phase mode Forward run and reverse run are controlled with the phase difference of the A phase (A ) and B phase (B ). • • When the B phase is 90° behind the A phase, the motor will forward run. When the B phase is 90° ahead of the A phase, the motor will reverse run.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q POINT When Pr.6 has been changed from "0" to "1", check if the upper and lower limit switches operate properly by JOG operation. If any malfunction is identified, check and correct the wiring.
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5 DATA USED FOR POSITIONING CONTROL Setting value, setting range Item Value set with sequence program Value set with peripheral device MELSEC-Q Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Pr.7 0 Bias speed at start [Table 1] on right page 6 7 156 157 306 307 456 457 Pr.7 Bias speed at start Set the bias speed (minimum speed) upon starting.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0 to 20000000.00 (mm/min) 0 to 2000000000 (×10-2mm/min) 1 : inch 0 to 2000000.000 (inch/min) 0 to 2000000000 (×10-3inch/min) 2 : degree 3 : pulse 0 to 2000000.000 (degree/min) 0 to 1000000 (pulse/s) 0 to 2000000000 (×10-3degree/min) 0 to 1000000 (pulse/s) [Table 2] Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.3 Detailed parameters 1 Setting value, setting range Item Value set with peripheral device Value set with sequence program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs according to the " Pr.1 Unit Pr.11 Backlash compensation amount setting". Here, the value within the [Table 1] range is set.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1) The backlash compensation is valid after machine OPR. Thus, if the backlash compensation amount is set or changed, always carry out machine OPR once. 2) The backlash compensation amount setting range is 0 to 65535, but it should be set to 255 or less by using the following expression. Backlash compensation amount Movement amount per pulse 0≤ ≤ 255 [Table 1] Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1) Generally, the OP is set at the lower limit or upper limit of the stroke limit. 2) By setting the upper limit value or lower limit value of the software stroke limit, overrun can be prevented in the software. However, an emergency stop limit switch must be installed nearby outside the range. 3) To invalidate the software stroke limit, set the setting value to "upper limit value = lower limit value". (The setting value can be anything.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.17 Torque limit setting value Set the maximum value of the torque generated by the servomotor as a percentage between 1 and 500%. The torque limit function limits the torque generated by the servomotor within the set range. If the torque required for control exceeds the torque limit value, it is controlled with the set torque limit value.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q An M code is a number between 0 and 65535 that can be assigned to each positioning data ( Da.10 ). The sequence program can be coded to read an M code from the buffer memory address specified by " Md.25 Valid M code" whenever the M code ON signal [X4, X5, X6, X7] turns ON so that a command for the sub work (e.g. clamping, drilling, tool change) associated with the M code can be issued.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.19 Speed switching mode Set whether to switch the speed switching mode with the standard switching or front-loading switching mode. 0 : Standard switching............... Switch the speed when executing the next positioning data. 1 : Front-loading switching ........ The speed switches at the end of the positioning data currently being executed.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.21 Current feed value during speed control Specify whether you wish to enable or disable the update of " Md.20 Current feed value" while operations are performed under the speed control (including the speed-position and position-speed switching control). 0: The update of the current feed value is disabled The current feed value will not change. (The value at the beginning of the speed control will be kept.
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5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 35 MELSEC-Q
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit) 0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (× 10-2mm/min) 1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (× 10-3inch/min) 2 : degree 0.001 to 2000000.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Pr.34 Acceleration/deceleration process selection Value set with sequence program 0 : Automatic trapezoid acceleration/deceleration process 1 : S-pattern acceleration/deceleration process Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.35 S-pattern ratio Set the S-pattern ratio (1 to 100%) for carrying out the S-pattern acceleration/deceleration process. The S-pattern ratio indicates where to draw the acceleration/deceleration curve using the Sin curve as shown below. (Example) A Positioning speed B B/2 V B/2 t When S-pattern ratio is 100% V Positioning speed b sin curve S-pattern ratio = B/A a 100% 5 - 39 b/a = 0.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.36 Sudden stop deceleration time Set the time to reach speed 0 from " Pr.8 Speed limit value" during the sudden stop. The illustration below shows the relationships with other parameters. 1) Positioning start When positioning is started, the acceleration starts following the "acceleration time". 2) Sudden stop cause occurrence When a "sudden stop cause" occurs, the deceleration starts following the "sudden stop deceleration time". Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.37 Stop group 1 sudden stop selection to Pr.39 Stop group 3 sudden stop selection Set the method to stop when the stop causes in the following stop groups occur. • Stop group 1 .............. Stop with hardware stroke limit • Stop group 2 .............. PLC CPU error occurrence, PLC READY signal [Y0] OFF, Fault in test mode • Stop group 3 ..............
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Pr.40 0 to 65535 (ms) Positioning complete signal output time Value set with sequence program 0 to 65535 (ms) 0 to 32767 : Set as a decimal 32768 to 65535: Convert into hexadecimal and set The setting value range differs depending on the " Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device Value set with sequence program (unit) (unit) 0 : mm 0 to 10000.0 (µm) 0 to 100000 (× 10-1µm) 1 : inch 0 to 1.00000 (inch) 0 to 100000 (× 10-5inch) 2 : degree 0 to 1.00000 (degree) 0 to 100000 (× 10-5degree) 3 : pulse 0 to 100000 (pulse) 0 to 100000 (pulse) Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.42 External command function selection Select a command with which the external command signal should be associated. 0: External positioning start The external command signal input is used to start a positioning operation. 1: External speed change request The external command signal input is used to change the speed in the current positioning operation. The new speed should be set in the " Cd.
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5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 45 MELSEC-Q
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.5 OPR basic parameters Setting value, setting range Item Value set with sequence program 0 1 2 3 4 5 Value set with peripheral device 0 : Near-point dog method 1 : Stopper method 1) 2 : Stopper method 2) 3 : Stopper method 3) 4 : Count method 1) 5 : Count method 2) Pr.43 OPR method Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 70 220 370 520 Pr.43 OPR method Set the "OPR method" for carrying out machine OPR.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 1 : Stopper method 1) (1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".) V Pr.46 OPR speed (2) (2) Detect the near-point dog ON, and start deceleration. Pr.47 Creep speed (3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (At this time " Pr.54 OPR torque limit value" is required. If (3) Creep t Range to forcibly stop the servomotor rotation with the stopper.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 4 : Count method 1) (1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the " Pr.44 OPR direction".) Pr.50 Setting for the movement amount after near-poing dog ON Pr.46 OPR speed V (2) (2) Detect the near-point dog ON, and start deceleration. Pr.47 Creep speed (3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (4) After the near-point dog turns ON and the movement amount set in " Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.44 OPR direction Set the direction to start movement when starting machine OPR. 0: Positive direction (address increment direction) Moves in the direction that the address increments. (Arrow 2)) 1: Negative direction (address decrement direction) Moves in the direction that the address decrements. (Arrow 1)) Normally, the OP is set near the lower limit or the upper limit, so " Pr.44 OPR direction" is set as shown below.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.45 OP address Set the address used as the reference point for positioning control (ABS system). (When the machine OPR is completed, the stop position address is changed to the address set in " Pr.45 OP address". At the same time, the " Pr.45 OP address" is stored in " Md.20 Current feed value" and " Md.21 Machine feed value".) Pr.46 OPR speed Set the speed for OPR. Note) Set the "OPR speed" to less than " Pr.8 Speed limit value".
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.47 Creep speed Set the creep speed after near-point dog ON (the low speed just before stopping after decelerating from the OPR speed). The creep speed is set within the following range. ( Pr.46 OPR speed ) ( Pr.47 Creep speed) ( Pr.7 Bias speed at start) Note) The creep speed is related to the detection error when using the OPR method with zero signal, and the size of the collision if a collision occurs during OPR method using the stopper method.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Pr.48 OPR retry Set whether to carry out OPR retry. When the OPR retry function is validated and the machine OPR is started, first the axis will move in the OPR direction (1)). If the upper/lower limit signal turns OFF before the near-point dog signal ON is detected (2)), the axis will decelerate to a stop, and then will move in the direction opposite to the specified OPR direction (3)).
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5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 53 MELSEC-Q
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.2.6 OPR detailed parameters Setting value, setting range Item Value set with peripheral device Pr.49 0 to 65535 (ms) OPR dwell time Value set with sequence program 0 to 65535 (ms) 0 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set The setting value range differs depending on the " Pr.1 Pr.50 Setting for the movement amount after near-point dog ON setting". Here, the value within the [Table 1] range is set.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Pr.1 setting value Value set with peripheral device Value set with sequence program (unit) (unit) 0 : mm 0 to 214748364.7 (µm) 0 to 2147483647 (× 10-1µm) 1 : inch 0 to 21474.83647 (inch) 0 to 2147483647 (× 10-5inch) 2 : degree 0 to 21474.83647 (degree) 0 to 2147483647 (× 10-5degree) 3 : pulse 0 to 2147483647 (pulse) 0 to 2147483647 (pulse) Example of setting for " Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Default value Value set with sequence program Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs depending on the " Pr.1 Unit setting". Pr.53 Here, the value within the [Table 1] range is set. OP shift amount Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] Value set with peripheral device (unit) Pr.1 setting value Value set with sequence program (unit) 0 : mm -214748364.8 to 214748364.7 (µm) -2147483648 to 2147483647 (× 10-1µm) 1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 (× 10-5inch) 2 : degree -21474.83648 to 21474.83647 (degree) -2147483648 to 2147483647 (× 10-5degree) 3 : pulse -2147483648 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse) Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.3 List of positioning data Before explaining the positioning data setting items Da.1 to Da.10 , the configuration of the positioning data will be shown below. The positioning data stored in the QD75 buffer memory has the following type of configuration. ’[ Œ ˆ ^ƒ ß ‚‡ f@[ ^ƒ 599 ‡ ‚ @ 600 Ê̂ u ’ Œ ˆ ß ‚ Ê̂ƒ fu ‚ƒ Positioning data No. 1 2 ’ Œ ˆ•Ê q ß ‚ ¯ •Ê q Ê̂ u ’ Œ ˆ ß ‚Ê̂ ¯u 7980 7990 3 Da.1@ ` @ Da.4 Da.1@ ` @ Da.
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5 DATA USED FOR POSITIONING CONTROL 599 Positioning data No. MELSEC-Q 600 ’ Œ ˆ•Ê q ß ‚ ¯ •Ê q Ê̂ u ’ Œ ˆ ß ‚Ê̂ ¯u 19990 3 Da.1@ ` @ 19980 Da.4 2 Da.1@ ` @ Da.4 1 ’ Œ ˆ•Ê q ß ‚ ¯ •Ê q Ê̂ u ’ Œ ˆidentifier ß ‚Ê̂ ¯u Positioning 14020 Da.5 14010 Da.1@ ` @ Da.5 Da.4 14000 19981 19991 Da.1@ ` Da.1 to Da.5 @ Da.4 ’ Œ ˆƒ ß ‚ ƒ AX ƒ ƒ Œ ƒ X Ê̂ u ’ Œ ˆ ß ‚Ê̂ ƒ Au h ƒ Œ ƒh Da.6 14022 14012Da.7 Da.7 ~ ‰ Œƒ A14002 ƒ ƒ Œ ƒ X ‰ ~ Ê Œ A h ƒ ƒÊ Œƒ Xh ƒ ß ¬ ‘ “x Dwell time w — ß ¬ ‘wx“ — Da.6 ² ‚P Da.
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5 DATA USED FOR POSITIONING CONTROL Setting value Item Value set with peripheral device Da.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.1 Operation pattern The operation pattern designates whether positioning of a certain data No. is to be ended with just that data, or whether the positioning for the next data No. is to be carried out in succession. [Operation pattern] Positioning complete ............................................................................. Independent positioning control (Positioning complete) Continuous positioning with one start signal ..........
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.4 Deceleration time No. Set which of "deceleration time 0 to 3" to use for the deceleration time during positioning. 0 : Use the value set in " Pr.10 Deceleration time 0". 1 : Use the value set in " Pr.28 Deceleration time 1". 2 : Use the value set in " Pr.29 Deceleration time 2". 3 : Use the value set in " Pr.30 Deceleration time 3". Da.5 Axis to be interpolated Set the target axis (partner axis) for operations under the 2-axis interpolation control.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4 • The setting value (movement amount) for the INC system is set as a movement amount with sign.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) Speed-position switching control • INC mode: Set the amount of movement after the switching from speed control to position control. • ABS mode: Set the absolute address which will be the target value after speed control is switched to position control.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q When " Pr.1 Unit Setting" is "pulse" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with peripheral device (pulse) Da.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q When " Pr.1 Unit Setting" is "inch" The table below lists the control systems that require the setting of the positioning address or movement amount and the associated setting ranges. (With any control system excluded from the table below, neither the positioning address nor the movement amount needs to be set.) Value set with peripheral device (inch) Da.
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5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 67 MELSEC-Q
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Value set with sequence program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs according to the " Da.2 Control Da.7 system". Here, the value within the [Table 1] range is set. 0 Arc address 2008 8008 14008 20008 2009 8009 14009 20009 [Table 1] on right page Da.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q [Table 1] When " Pr.1 Unit Setting" is "mm" The table below lists the control systems that require the setting of the arc address and shows the setting range. (With any control system excluded from the table below, the arc address does not need to be set.) Value set with peripheral device (µm) Da.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value, setting range Item Value set with peripheral device Value set with sequence program Default value Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set. Da.8 [Table 1] on right page Command speed -1: Current speed (Speed set for previous positioning data No.) Da.9 Dwell time Da.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.10 M code (or condition data No./No. of LOOP to LEND repetitions) Set an "M code", a "condition data No. ", or the "number of LOOP to LEND repetitions" depending on how the " Da.2 Control system" is set. • If a method other than "JUMP instruction" and "LOOP" is selected as the " Da.2 Control system" ............... Set an "M code". If no "M code" needs to be output, set "0" (default value). • If "JUMP instruction" or "LOOP" is selected as the " Da.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.9 Dwell time/JUMP designation positioning data No. Set the "dwell time" or "positioning data No." corresponding to the " Da.2 Control system". • When a method other than "JUMP instruction " is set for " Da.2 Control system" • ..... Set the "dwell time". When "JUMP instruction " is set for " Da.2 Control system" ..... Set the "positioning data No." for the JUMP destination.
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5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 73 MELSEC-Q
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.4 List of block start data The illustrations below show the organization of the block start data stored in the QD75 buffer memory. The block start data setting items Da.11 to Da.14 are explained in the pages that follow.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 50th point Buffer memory address Setting item 2nd point 1st point Setting item Buffer memory address Axis 3 (Start block 0) Setting item œ ˆÊ u ’ Œ ˆ ß ‚ n “® fƒ [ ^ƒ b15 b8 b7 Buffer memory address 28049 28001 b0 28000 Da.12 Start data No. Da.11 Shape b15 b8 b7 28099 28051 b0 28050 Da.13 Special start instruction Da.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q REMARK To perform an high-level positioning control using block start data, set a number between 7000 and 7004 to the " Cd.3 Positioning start No." and use the " Cd.4 Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block. The number between 7000 and 7004 specified here is called the "block No.".
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Setting value Item Value set with peripheral device Default value Value set with sequence program 0 : End 0 1 : Continue 1 Setting value buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Da.11 Shape b15 b11 0 0 0 b7 b3 b0 0000H 26000 27000 28000 29000 Shape Da.12 Start data No. Positioning data No.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.11 Shape Set whether to carry out only the local "block start data" and then end control, or to execute the "block start data" set in the next point. Setting value Setting details 0 : End Execute the designated point's "block start data", and then complete the control. 1 : Continue Execute the designated point's "block start data", and after completing control, execute the next point's "block start data". Da.12 Start data No.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.14 Parameter Set the value as required for " Da.13 Special start instruction ". Da.13 Special start instruction Block start (Normal start) Setting value – 1 to 10 0 to 255 Set the No. of repetitions. 1 to 10 Set the condition data No. (No. of "condition data" set to perform condition judgment) (For details of the condition data, refer to Section 5.5.) Simultaneous start Repeated start (FOR loop) Repeated start (FOR condition) 5 - 79 Not used.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.5 List of condition data The illustrations below show the organization of the condition data stored in the QD75 buffer memory. The condition data setting items Da.15 to Da.19 are explained in the pages that follow. No.10 Buffer memory address Setting item No.2 No.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q No.10 Buffer memory address Setting item No.2 No.1 Setting item Setting item Axis 3 (start block 0) b15 b12 b11 b8 b7 Buffer memory Buffer memory address address b0 28110 28100 Da.16 Condition operator Da.15 Condition target 28101 28102 28103 28104 28105 28106 28107 28108 28109 Open Da.17 Address Da.18 Parameter 1 Da.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q REMARK To perform an high-level positioning control using block start data, set a number between 7000 and 7004 to the " Cd.3 Positioning start No." and use the " Cd.4 Positioning starting point No." to specify a point number between 1 and 50, a position counted from the beginning of the block. The number between 7000 and 7004 specified here is called the "block No.".
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5 DATA USED FOR POSITIONING CONTROL Setting value Item Value set with peripheral device Da.15 Condition identifier Condition target Da.16 Condition operator MELSEC-Q Value set with sequence program 01 : Device X 01H 02 : Device Y 02H 03 : Buffer memory (1-word) 03H 04 : Buffer memory (2-word) 04H 05 : Positioning data No.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.15 Condition target Set the condition target as required for each control. Setting value Setting details 01H : Device X Set the input/output signal ON/OFF as the conditions. 02H : Device Y 03H : Buffer memory (1-word) Set the value stored in the buffer memory as the condition. 03H: The target buffer memory is "1-word (16 bits)" 04H : Buffer memory (2-word) 04H: The target buffer memory is "2-word (32 bits)" 05H : Positioning data No.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Da.18 Parameter 1 Set the parameters as required for the " Da.16 Condition operator". Da.16 Condition operator 01H : ∗∗=P1 02H : ∗∗≠P1 03H : ∗∗≤P1 Setting value Value 04H : ∗∗≥P1 05H : P1≤∗∗≤P2 06H : ∗∗≤P1, P2≤∗∗ 07H : DEV=ON 08H : DEV=OFF Value (bit No.) Setting details The value of P1 should be equal to or smaller than the value of P2. (P1≤P2) If P1 is greater than P2 (P1>P2), the "condition data error" (error code 533) will occur.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.6 List of monitor data 5.6.1 System monitor data Storage item Md.1 In test mode flag Storage details Whether the mode is the test mode from the peripheral device or not is stored.
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5 DATA USED FOR POSITIONING CONTROL Reading the monitor value MELSEC-Q Default value Storage buffer memory address (common for axis 1 to axis 4) 0 1200 Monitoring is carried out with a decimal. Monitor value Storage value 0: Not in test mode 1: In test mode (Unless noted in particular, the monitor value is saved as binary data.
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5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Reading the monitor value [Storage details] This area stores the start information (restart flag, start origin, and start axis): • Restart flag: Indicates whether the operation has or has not been halted and restarted. • Start origin : Indicates the source of the start signal. • Start axis : Indicates the started axis. Monitoring is carried out with a hexadecimal display. [Reading the monitor value] b15 Md.
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5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-Q Storage buffer memory address (common to axes 1 to 4) Md.8 Start history pointer 1292 0000H Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records. Pointer No. Pointer No. 1 0 Md.3 2 1212 Start information Starting history Md.4 1213 Start No. Md.5 Start 1214 hour Md.6 Start 1215 min: sec Md.
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5 DATA USED FOR POSITIONING CONTROL Storage item Storage details Reading the monitor value Starting history (Up to 16 records can be stored) [Storage details] This area stores the following results of the error judgment performed upon starting: • BUSY start warning flag • Error flag • Error No. Monitoring is carried out with a hexadecimal display. [Reading the monitor value] A Md.
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5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-Q Storage buffer memory address (common to axes 1 to 4) Md.8 Start history pointer 1292 Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records. Pointer No. Pointer No. 1 0 Md.3 2 3 1212 1217 Start information 0000H Starting histroy Md.4 1213 1218 Start No. Md.5 1214 1219 Start hour Md.6 1215 1220 Start min: sec Md.
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5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details Reading the monitor value Monitoring is carried out with a decimal display. Md.9 Stores a number (Axis No.) Axis in which that indicates the axis that the error encountered an error. occurred Monitor value Storage value 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis 4 Error history (Up to 16 records can be stored) Monitoring is carried out with a decimal display. Md.10 Stores an axis error No. Monitor value Error No.
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5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-Q Storage buffer memory address (common to axes 1 to 4) Md.13 Error history pointer 0 1357 Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing error history records. Pointer No. Pointer No. 0 Md.10 3 1294 1298 Axis error No. Md.11 Axis error occurrence hour 1295 1299 Md.12 Axis error occurrence min: sec 1296 1300 Item 0000 2 Md.
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5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details Reading the monitor value Monitoring is carried out with a decimal display. Md.14 Warning history (Up to 16 records can be stored) Stores a number (Axis No.) Axis in which that indicates the axis that the warning encountered a warning. occurred Storage value 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis 4 Monitoring is carried out with a decimal display. Md.15 Axis warning No. Monitor value Stores an axis warning No.
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5 DATA USED FOR POSITIONING CONTROL Default value MELSEC-Q Storage buffer memory address (common to axes 1 to 4) Md.18 Warning history pointer 0 1422 Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing warning history records. Pointer No. Pointer No. Warning history 0 0000 3 4 Md.14 Axis in which the warning occured 1366 1358 1362 Md.15 1367 1359 1363 Axis warning No. Md.16 1364 1368 Axis warning occurrence 1360 hour Md.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.6.2 Axis monitor data Storage item Md.20 Current feed value Storage details The currently commanded address is stored. (Different from the actual motor position during operation) The current position address is stored. If "degree" is selected as the unit, the addresses will have a ring structure for values between 0 and 359.9999 degrees. • Update timing : 1.8ms • The OP address is stored when the machine OPR is completed.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal.
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5 DATA USED FOR POSITIONING CONTROL Storage item Md.24 Axis warning No. MELSEC-Q Storage details Whenever an axis warning is reported, a related warning code is stored. • This area stores the latest warning code always. (Whenever an axis warning is reported, a new warning code replaces the stored warning code.) • When the " Cd.5 Axis error reset" (axis control data) is set to ON, the axis warning No. is cleared to "0". This area stores an M code that is currently active (i.e.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display. Monitor value Warning No. For details of warning Nos. (warning codes), refer to Section 15.3 "List of warnings". 0 807 907 1007 1107 0 808 908 1008 1108 0 809 909 1009 1109 0 810 811 910 911 1010 1110 1011 1111 Monitoring is carried out with a decimal display. Monitor value M code No.
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5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details • The speed which is actually output as a command at that time in each axis is Md.28 Axis feedrate Md.29 Speed-position switching control positioning amount Md.30 External input/output signal stored. (May be different from the actual motor speed) "0" is stored when the axis is at a stop. Update timing: 56.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal.
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5 DATA USED FOR POSITIONING CONTROL Storage item Md.31 Status MELSEC-Q Storage details This area stores the states (ON/OFF) of various flags. Information on the following flags is stored. In speed control flag: This signal that comes ON under the speed control can be used to judge whether the operation is performed under the speed control or position control. The signal goes OFF when the power is switched ON, under the position control, and during JOG operation or manual pulse generator operation.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display.
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5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details • During operation with positioning data Md.33 Target speed : The actual target speed, considering the override and speed limit value, etc., is stored. "0" is stored when positioning is completed. • During interpolation : The composite speed or reference axis speed is stored in the reference axis address, and "0" is stored in the interpolation axis address.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a hexadecimal display.
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5 DATA USED FOR POSITIONING CONTROL Storage item Md.36 Special start data instruction code setting value Md.37 Special start data instruction parameter setting value Md.38 Start positioning data No. setting value MELSEC-Q Storage details • The " instruction code" used with special start and indicated by the start data pointer currently being executed is stored. The " instruction parameter" used with special start and indicated by the start data pointer currently being executed is stored.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display.
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5 DATA USED FOR POSITIONING CONTROL Storage item MELSEC-Q Storage details • This area stores the remaining number of repetitions during "repetitions" specific Md.41 Special start repetition counter to special starting. • The count is decremented by one (-1) at the loop end. • The control comes out of the loop when the count reaches "0". • This area stores "0" within an infinite loop. • This area stores the remaining number of repetitions during "repetitions" specific Md.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Reading the monitor value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7 List of control data 5.7.1 System control data Setting item Cd.1 Flash ROM write request Setting details • Requests writing of data (parameters, positioning data, and block start data) from the buffer memory to the flash ROM. • Requests initialization of setting data. Initialization: Resetting of setting data to default values Note: After completing the initialization of setting data, reset the PLC CPU or reboot the PLC power. Cd.
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5 DATA USED FOR POSITIONING CONTROL Setting value MELSEC-Q Default value Storage buffer memory address (common to axes 1 to 4) 0 1900 0 1901 0 1905 0 1907 Set with a decimal. Setting value K 1 Flash ROM write request 1: Requests write access to flash ROM. The QD75 resets the value to "0" automatically when the write access completes. (This indicates the completion of write operation.) Set with a decimal.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5.7.2 Axis control data Setting item Setting details • Set the positioning start No. Cd.3 Positioning start No. Cd.4 Positioning starting point No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Section 12.7.8 "Pre-reading start function".) • Set a " starting point No." (1 to 50) if block start data is used for positioning. (Handled as "1" if the value of other than 1 to 50 is set.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K Positioning data No. : Positioning data No.
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5 DATA USED FOR POSITIONING CONTROL Setting item Cd.8 External command valid MELSEC-Q Setting details • Validates or in validates external command signals. • When changing the "current feed value" using the start No. "9003", use this data item to specify a new feed value. • Set a value within the following range: Cd.9 New current value Pr.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K 0 1505 1605 1705 1805 0 1506 1606 1706 1806 1507 1607 1707 1807 External command valid 0: Invalidates an external command. 1: Validates an external command. Set with a decimal. Actual value Cd.9 New current value Conversion into an integer value Unit conversion table ( Cd.
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5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • When changing the acceleration time during a speed change, use this data item to specify a new acceleration time. Cd.10 New acceleration time value Cd.10 setting range (unit) 0 to 8388608 (ms) • When changing the deceleration time during a speed change, use this data item to specify a new deceleration time. Cd.11 New deceleration time value Cd.11 setting range (unit) 0 to 8388608 (ms) Cd.
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5 DATA USED FOR POSITIONING CONTROL Default value Setting value Set with a decimal. Setting value MELSEC-Q Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 1508 1608 1708 1808 1509 1609 1709 1809 0 1510 1610 1710 1810 1511 1611 1711 1811 0 1512 1612 1712 1812 Cd.10 New acceleration time value Cd.11 New deceleration time value Example: When the " Cd. 10 New acceleration time value" is set as "60000 ms", the buffer memory stores "60000". Set with a decimal.
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5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • To use the positioning operation speed override function, use this data item to Cd.13 Positioning operation speed override specify an "override" value. For details of the override function, refer to Section 12.5.2" Override function". If the speed resulting from a small override value (e.g. 1%) includes fractions below the minimum unit, the speed is raised to make a complete unit and the warning No. 110 is output.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K 100 1513 1613 1713 1813 0 1514 1614 1714 1814 1515 1615 1715 1815 0 1516 1616 1716 1816 Override value (%) 1 to 300 Set with a decimal. Actual value Cd.14 New speed value Conversion into an integer value Unit conversion table ( Cd.
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5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • Use this data item to set the amount of movement by inching. • The machine performs a JOG operation if "0" is set. • Set a value within the following range: Cd.16 Inching movement amount Pr.1 mm (×10-1 µm) inch (×10-5 inch) degree (×10-5 degree) pulse (pulse) Setting range 0 to 65535 0 to 65535 0 to 65535 0 to 65535 • Use this data item to set the JOG speed. • Set a value within the following range: Cd.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Actual value Cd.16 Inching movement amount Conversion into an integer value Unit conversion table ( Cd.16 ) 10n Setting value (Decimal) n R Unit -1 m -5 inch -5 degree 0 pulse 0 1517 1617 1717 1817 0 1518 1618 1718 1818 1519 1619 1719 1819 0 1520 1620 1720 1820 Example: When the " Cd. 16 Inching movement amount" is set as "1.
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5 DATA USED FOR POSITIONING CONTROL Setting item Cd.19 OPR request flag OFF request MELSEC-Q Setting details • The sequence program can use this data item to forcibly turn the OPR request flag from ON to OFF. • This data item determines the factor by which the number of pulses from the Cd.20 Manual pulse generator 1 pulse input magnification Cd.21 Manual pulse generator enable flag manual pulse generator is magnified. • Value "0" : read as "1". • Value "101" or less: read as "100".
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K 1 OPR request flag OFF request 1: Turns the "OPR request flag" from ON to OFF. 0 1521 1621 1721 1821 1 1522 1622 1722 1822 1523 1623 1723 1823 0 1524 1624 1724 1824 0 1525 1625 1725 1825 The QD75 resets the value to "0" automatically when the OPR request flag is turned OFF.
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5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details • During the speed control stage of the speed-position switching control (INC Cd.23 Speed-position switching control movement amount change register mode), it is possible to change the specification of the movement amount during the position control stage. For that, use this data item to specify a new movement amount.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Actual value Cd.23 Speed-position switching control movement amount change register Conversion into an integer value Unit conversion table ( Cd.
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5 DATA USED FOR POSITIONING CONTROL Setting item Cd.26 Position-speed switching control enable flag MELSEC-Q Setting details • Set whether the external control signal (external command signal [CHG]: "speed- position, position-speed switching request" is selected) is enabled or not. • When changing the target position during a positioning operation, use this data item to specify a new positioning address. • Set a value within the following range: Pr.1 Cd.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K Position-speed switching enable flag 0: Position control will not be taken over by speed control even when the external command signal comes ON. 1: Position control will be taken over by speed control when the external command signal comes ON.
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5 DATA USED FOR POSITIONING CONTROL Setting item MELSEC-Q Setting details Cd.30 Simultaneous starting axis start data No. (axis 1 start data No.) Cd.31 Simultaneous starting axis start data No. (axis 2 start data No.) • Use these data items to specify a start data No. for each axis that has to start simultaneously. Cd.32 Simultaneous starting axis • Set "0" to any axis that should not start simultaneously. start data No. (axis 3 start data No.) Cd.33 Simultaneous starting axis start data No.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 0 1540 1640 1740 1840 0 1541 1641 1741 1841 0 1542 1642 1742 1842 0 1543 1643 1743 1843 0 1544 1644 1744 1844 0 1545 1645 1745 1845 Set with a decimal. Setting value K Cd.30 to Cd.33 Simultaneous starting axis start data No.: 1 to 600 Set with a decimal. Setting value K Step mode 0: Stepping by deceleration units 1: Stepping by data No.
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5 DATA USED FOR POSITIONING CONTROL Setting item Cd.36 Step start information MELSEC-Q Setting details • During a step operation, this data item determines whether the operation is continued or restarted. Cd.37 Skip command • To skip the current positioning operation, set "1" in this data item. Cd.38 Teaching data selection • This data item specifies the teaching result write destination. Cd.39 Teaching positioning data No. • This data item specifies data to be produced by teaching.
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5 DATA USED FOR POSITIONING CONTROL MELSEC-Q Default value Setting value Storage buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Set with a decimal. Setting value K Step start information 1: Continues step opration 2: Restarts operation 0 1546 1646 1746 1846 0 1547 1647 1747 1847 0 1548 1648 1748 1848 0 1549 1649 1749 1849 0 1550 1650 1750 1850 The QD75 resets the value to "0" automatically when processing of the step start request completes. Set with a decimal.
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5 DATA USED FOR POSITIONING CONTROL MEMO 5 - 132 MELSEC-Q
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Chapter 6 Sequence Program Used for Positioning Control 6 The programs required to carry out positioning control with the QD75 are explained in this chapter. The sequence program required for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration. (The parameters, positioning data, block start data and condition data, etc.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.1 Precautions for creating program The common precautions to be taken when writing data from the PLC CPU to the QD75 buffer memory are described below. When diverting any of the program examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) System configuration Unless particularly designated, the sequence program for the following system is shown in this chapter and subsequent. Refer to Section 6.2 for the application of the devices to be used.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (b) When the circuit uses the "intelligent function device" on the source(s) side and the destination (D) side of a MOV command, change the command to a FROM command and a TO command. X15 X0C 0 MOVP U0\ G826 U6\ G1 Set the same device. X15 X0C 0 FROMP H0 K826 D100 K1 TOP K1 D100 K1 H6 (c) When the circuit uses the "intelligent function device" for a COMPARISON command, change the command to a FROM command and a COMPARISON command.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.2 List of devices used In the sequence programs shown in this chapter and subsequent, the application of the devices used are as follows. The I/O numbers for QD75 indicate those when QD75 is mounted in the 0-slot of the main base. If it is mounted in the slot other than the 0-slot of the main base, change the I/O number to that for the position where QD75 was installed.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Axis 1 Axis 2 Axis 3 Axis 4 M code OFF command Commanding M code OFF X2D JOG operation speed setting command X2E Forward run JOG/inching command X2F Reverse run JOG/inching command Commanding JOG operation speed setting Commanding forward run JOG/inching operation Commanding reverse run JOG/inching operation Commanding manual pulse generator operation enable Commanding manual pulse generator operation disable Manual pulse generat
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Details when ON M0 OPR request OFF command Commanding OPR request OFF M1 OPR request OFF command pulse OPR request OFF commanded M2 OPR request OFF command storage OPR request OFF command held M3 Fast OPR command Commanding fast OPR M4 Fast OPR command storage Fast OPR command held M5 Positioning start command pulse Positioning start commanded M6 Positioning start command storage Positioning start command held M7 In-
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Application Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Details when ON M34 TEACH1 instruction complete device TEACH1 instruction completed M35 TEACH1 instruction error complete device TEACH1 instruction error completed M36 PINIT instruction complete device PINIT instruction completed M37 PINIT instruction error complete device PINIT instruction error completed M38 PFWRT instruction complete device PFWRT instruction completed
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Application Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Details of storage D15 Acceleration time setting (low-order 16 bits) D16 Acceleration time setting (high-order 16 bits) D17 Deceleration time setting (low-order 16 bits) D18 Deceleration time setting (high-order 16 bits) value) D19 Acceleration/deceleration time change enable ( Cd.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Application Axis 1 Axis 2 Axis 3 Axis 4 D52 Movement amount per rotation MELSEC-Q Details of storage ( Pr.3 Movement amount per rotation) D53 Unit magnification ( Pr.4 Unit magnification) D54 Pulse output mode ( Pr.5 Pulse output mode) D55 Rotation direction setting ( Pr.6 Rotation direction setting) D56 Bias speed at start (low-order 16 bits) D57 Bias speed at start (high-order 16 bits) ( Pr.7 Bias speed at start) ( Da.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.3 Creating a program The "positioning control operation program" actually used is explained in this chapter. The functions and programs explained in Section 2 are assembled into the "positioning control operation program" explained here. (To monitor the control, add the required monitor program that matches the system. Refer to Section 5.6 "List of monitor data" for details on the monitor items.) 6.3.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.3.2 Positioning control operation program The various programs that configure the "positioning control operation program" are shown below. When creating the program, refer to the explanation of each program and Section 6.4 "Positioning program examples", and create an operation program that matches the positioning system. (Numbers are assigned to the following programs. Configuring the program in the order of these numbers is recommended.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Start details setting program No.7 Program required to carry out • "OPR control" • "Major positioning control" • "High-level positioning control" Positioning start No. setting program Refer to Section 6.5.2 Start program No.8 Positioning start program Refer to Section 6.5.3 No.9 Program to reset the start signal and turn the M code ON signal OFF M code OFF program JOG operation program No.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Continued from previous page Sub program No.14 No.15 No.16 No.17 No.18 No.19 No.20 No.21 No.22 No.23 No.24 No.25 No.26 No.27 Program added according to control details. (Create as required.) Speed change program Override program Refer to Section 12.5.1 Refer to Section 12.5.2 Acceleration/deceleration time change program Refer to Section 12.5.3 Torque change program Refer to Section 12.5.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.4 Positioning program examples An example of the "Axis 1" positioning program is given in this section. [No. 1] to [No. 3] parameter and data setting program When setting the parameters or data with the sequence program, set them in the QD75 using the TO command from the PLC CPU. (Carry out the settings while the PLC READY signal [Y1D] is OFF.) When setting the parameters or data with GX Configurator-QP, the [No. 1] to [No.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 2 Positioning data setting program (For positioning data No. 1 ) Operation pattern: Positioning complete Control system: 1-axis linear control (ABS) Acceleration time No.: 1, deceleration time No.: 2 <(Dummy data)>
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [Setting of special start instruction to normal start] 150 No.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) Speed-position switching operation (positioning data No. 2) (In the ABS mode, new movement amount write is not needed.) 287 295 301 307 (5) Position-speed switching operation positioning data No. 3 313
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) When positioning start signal (Y10) is used (When fast OPR is not made, contacts of M3 and M4 are not needed.) (When M code is not used, contact of X04 is not needed.) (When JOG operation/inching operation is not performed, contact of M7 is not needed.) (When manual pulse generator operation is not performed, contact of M9 is not needed.) 397 408 421
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 17 Torque change program 645 652 No. 18 Step operation program 660 667 No. 19 Skip program 681 688 692 No.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 23 Absolute position restoration program (1) Absolute position restoration command acceptance 788 796 (2) Setting of transmit data to servo-amplifier and confirmation of absolute position restoration completion ABRST1 instruction completed when M42 is ON and M43 is OFF. Absolute position data restoration completed when status = 0.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q No. 26 Flash ROM write program 911 918 922 929 No. 27 Error reset program 944 953 957 No.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5 Program details 6.5.1 Initialization program [1] OPR request OFF program This program forcibly turns OFF the "OPR request flag" ( Md.31 Status : b3) which is ON. When using a system that does not require OPR, assemble the program to cancel the "OPR request" made by the QD75 when the power is turned ON, etc. Data requiring setting Set the following data to use the OPR request flag OFF request. Setting value Setting item Cd.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.2 Start details setting program This program sets which control, out of "OPR", "major positioning control" or "high-level positioning control" to execute. For " high-level positioning control", "fast OPR", "speedposition switching control" and "position-speed switching control", add the respectively required sequence program. (Refer to Chapter 10 for details on starting the " high-level positioning control.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (4) For "position-speed switching control", set the control data shown below. (As required, set the " Cd.25 Position-speed switching control speed change resister".) Setting item Cd.25 Position-speed switching control speed change resister Cd.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.3 Start program This program is used to start the control with start commands. The control can be started with the following two methods. [1] Starting by inputting positioning start signal [Y10, Y11, Y12, Y13] [2] Starting by inputting external command signal Buffer memory 3) Control with positioning data No.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the sequence program so that the control is not started when the conditions are not satisfied.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [1] Starting by inputting positioning start signal Operation when starting (1) When the positioning start signal turns ON, the start complete signal and BUSY signal turn ON, and the positioning operation starts. It can be seen that the axis is operating when the BUSY signal is ON. (2) When the positioning start signal turns OFF, the start complete signal also turns OFF.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Starting time chart The time chart for starting each control is shown below. (1) Time chart for starting "machine OPR" V t Near-point dog Zero signal ON Positioning start signal OFF [Y10] ON PLC READY signal [Y0] OFF ON QD75 READY signal [X0] OFF ON Start complete signal [X10] OFF ON BUSY signal [XC] Error detection signal [X8] OFF OFF Cd. 3 Positioning start No. 9001 ON OPR request flag [ Md.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (2) Time chart for starting "fast OPR" V t ON Positioning start signal OFF [Y10] ON PLC READY signal [Y0] OFF ON QD75 READY signal [X0] OFF ON Start complete signal [X10] OFF ON BUSY signal [XC] Error detection signal [X8] OFF OFF 9002 Cd. 3 Positioning start No. Fig. 6.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (3) Time chart for starting "major positioning control" Operation pattern V Positioning data No. Dwell time 1(11) 2(00) t Positioning start signal [Y10] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete signal [X14] [X8] Error detection signal 1 Cd. 3 Positioning start No. Fig. 6.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (5) Time chart for starting "position-speed switching control" V Operation pattern (00) Position control Positioning data No. (1) Speed control t Positioning start signal [Y10] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal [XC] Positioning complete signal Error detection signal [X14] [X8] Position-speed switching signal (external) Stop command Cd. 3 Positioning start No. 1 Cd.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Machine OPR operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 Start complete signal [X10, X11, X12, X13] t4 Waiting Md. 26 Axis operation status In OPR Waiting t2 Output pulse to external source (PULSE) Positioning operation OPR request flag [ Md. 31 Status: b3] t3 OPR complete flag [ Md. 31 Status: b4] Fig. 6.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q Position control operation timing and process time Positioning start signal [Y10, Y11, Y12, Y13] BUSY signal [XC, XD, XE, XF] t1 M code ON signal (WITH mode) [X4, X5, X6, X7] t2 Cd. 7 M code OFF request Start complete signal [X10, X11, X12, X13] t3 Md.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [2] Starting by inputting external command signal When starting positioning control by inputting the external command signal, the start command can be directly input into the QD75. This allows the variation time equivalent to one scan time of the PLC CPU to be eliminated. This is an effective procedure when operation is to be started as quickly as possible with the start command or when the starting variation time is to be suppressed.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.4 Continuous operation interrupt program During positioning control, the control can be interrupted during continuous positioning control and continuous path control (continuous operation interrupt function). When "continuous operation interruption" is execution, the control will stop when the operation of the positioning data being executed ends.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (3) If the operation cannot be decelerated to a stop because the remaining distance is insufficient when "continuous operation interrupt request" is executed with continuous path control, the interruption of the continuous operation will be postponed until the positioning data shown below. • • • Positioning data No. have sufficient remaining distance Positioning data No. for positioning complete (pattern: 00) Positioning data No.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.5 Restart program When a stop factor occurs during position control and the operation stops, the positioning can be restarted from the stopped position to the position control end point by using the "restart command" ( Cd.6 Restart command). ("Restarting" is not possible when "continuous operation is interrupted.") [1] Restart operation Axis 1 Positioning with positioning data No. 11 Positioning data No.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q REMARK Restarting after stopping is possible even for the following control. • Incremental system position control • Continuous positioning control • Continuous path control • Block start [3] Control data requiring setting Set the following data to execute restart. Cd.6 Setting item Setting value Restart command 1 Setting details Set "1: Restarts". Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1503 1603 1703 1803 Refer to Section 5.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q (5) Time chart for restarting Dwell time V t Positioning start signal [Y10] Axis stop signal [Y4] PLC READY signal [Y0] QD75 READY signal [X0] Start complete signal [X10] BUSY signal Positioning complete signal Error detection signal [XC] [X14] [X8] Md. 26 Axis operation status 0 8 0 Cd. 6 Restart command Fig. 6.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q 6.5.6 Stop program The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external source is used to stop the control. Create a program to turn ON the axis stop signal [Y4, Y5, Y6, Y7] as the stop program. The process for stopping control is explained below. Each control is stopped in the following cases. (1) (2) (3) (4) (5) (6) When each control is completed normally. When the drive unit READY signal is turned OFF.
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [2] Types of stop processes The operation can be stopped with deceleration stop, sudden stop or immediate stop. (1) Deceleration stop 1 The operation stops with "deceleration time 0 to 3" ( Pr.10 , Pr.28 , Pr.29 , Pr.30 ). Which time from "deceleration time 0 to 3" to use for control is set in positioning data ( Da.4 ). (2) Sudden stop The operation stops with " Pr.36 Sudden stop deceleration time".
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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL MELSEC-Q [3] Order of priority for stop process The order of priority for the QD75 stop process is as follows. Deceleration stop < Sudden stop < Immediate stop (1) If the deceleration stop command ON (stop signal ON) or deceleration stop cause occurs during deceleration to speed 0 (including automatic deceleration), operation changes depending on the setting of " Cd.42 Stop command processing for deceleration stop selection".
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Chapter 7 Memory Configuration and Data Process 7 The QD75 memory configuration and data transmission are explained in this chapter. The QD75 is configured of two memories. By understanding the configuration and roles of two memories, the QD75 internal data transmission process, such as "when the power is turned ON" or "when the PLC READY signal changes from OFF to ON" can be easily understood. This also allows the transmission process to be carried out correctly when saving or changing the data. 7.
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7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1 Configuration and roles of QD75 memory 7.1.1 Configuration and roles of QD75 memory The QD75 is configured of the following two memories. Area that can be directly accessed Not possible • Buffer memory with sequence program from PLC CPU. • Flash ROM Backup PLC CPU memo area Block start data area (No.7000 to 7004) Positioning data area (No.
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7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Details of areas • Parameter area Area where parameters, such as positioning parameters and OPR parameters, required for positioning control are set and stored. (Set the items indicated with Pr.1 to Pr.57 , Pr.150 for each axis.) • Monitor data area Area where positioning system or QD75 operation state is stored. (Set the items indicated with Md.1 to Md.48 .
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7 MEMORY CONFIGURATION AND DATA PROCESS User accesses here. Data is backed up here. Buffer memory Flash ROM Parameter area Parameter area Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) MELSEC-Q Positioning data area (No.1 to 600) Copy Block start data area (No.
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7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.1.2 Buffer memory area configuration The QD75 buffer memory is configured of the following types of areas.
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7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q 7.2 Data transmission process The data is transmitted between the QD75 memories with steps (1) to (8) shown below. The data transmission patterns numbered (1) to (8) on the right page correspond to the numbers (1) to (8) on the left page. PLC CPU (4) FROM command (2) TO command QD75 Buffer memory Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Parameter area (a) Pr.1 to Pr.7 Pr.11 to Pr.
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7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (1) Transmitting data when power is turned ON or PLC CPU is reset ) ( When the power is turned ON or the PLC CPU is reset, the "parameters", "positioning data" and "block start data" stored (backed up) in the flash ROM is transmitted to the buffer memory. (2) Transmitting data with TO command from PLC CPU ( ) The parameters or data is written from the PLC CPU to the buffer memory using the TO command.
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7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q Peripheral devices (6) Flash ROM request (Write) PLC CPU (6) Flash ROM request (Write) (5) Flash ROM write (Set "1" in Cd.1 with TO command) QD75 Buffer memory Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.7000 to 7004) Monitor data area Control data area PLC CPU memo area (5) Flash ROM write (6) Flash ROM request (Write) Flash ROM Parameter area (a) Parameter area (b) Positioning data area (No.
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7 MEMORY CONFIGURATION AND DATA PROCESS (5) Flash ROM write ( MELSEC-Q ) The following transmission process is carried out by setting "1" in " Cd.1 Flash ROM write request" (buffer memory [1900]). 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to the flash ROM. The writing to the flash ROM may also be carried out using a dedicated instruction "PFWRT". (Refer to Chapter 14 "Dedicated instructions" for details.
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7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q QD75 Buffer memory Parameter area (a) Pr.1 to Pr.7 Parameter area (a) Pr.11 to Pr.24 Pr.43 to Pr.57 Pr.150 Parameter area (b) Positioning data area (No.1 to 600) Parameter area (b) Pr.8 to Pr.10 Block start data area (No.7000 to 7004) Pr.25 to Pr.42 Monitor data area Control data area PLC CPU memo area Flash ROM Parameter area (a) Parameter area (b) Positioning data area (No.1 to 600) Block start data area (No.
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7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q (7) Reading data from buffer memory to peripheral device ( ) The following transmission processes are carried out with the [Read from module] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No. 7000 to 7004)" in the buffer memory area are transmitted to the peripheral device via the PLC CPU. The following transmission processes are carried out with the [monitor] from the peripheral device.
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7 MEMORY CONFIGURATION AND DATA PROCESS MELSEC-Q The data transmission is carried out as shown in the previous pages, but the main method of using this data process is shown below. (Ex.) Setting the positioning data The following methods can be used to set the positioning data. From peripheral device Using sequense program Write positioning data into buffer memory using TO command. Set the data according to the peripheral device menu.
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Section 2 Control Details and Setting Section 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors Chapter 8 Chapter 9 Chapter 10 Chapter 11 Chapter 12 Chapter 13 Chapter 14 Chapter 15 OPR Control .............................................................................................. 8- 1 to 8- 22 Major Positioning Control...................
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MEMO
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Chapter 8 OPR Control The details and usage of "OPR control" are explained in this chapter. OPR control includes "machine OPR" that establish a machine OP without using address data, and "fast OPR" that store the coordinates established by the machine OPR, and carry out positioning to that position. OPR carried out by sequence programs from the PLC CPU are explained in this chapter. Refer to GX Configurator-QP Operating Manual for details on OPR using the peripheral device. 8.1 Outline of OPR control ....
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8 OPR CONTROL MELSEC-Q 8.1 Outline of OPR control 8.1.1 Two types of OPR control In "OPR control" a position is established as the starting point (or "OP") when carrying out positioning control, and positioning is carried out toward that starting point. It is used to return a machine system at any position other than the OP to the OP when the QD75 issues a "OPR request" with the power turned ON or others, or after a positioning stop.
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8 OPR CONTROL MELSEC-Q OPR sub functions Refer to Section 3.2.4 "Combination of QD75 main functions and sub functions" for details on "sub functions" that can be combined with OPR control. Also refer to Chapter 12 "Control sub functions" for details on each sub function. [Remarks] The following two sub functions are only related to machine OPR. Sub function name Machine OPR Fast OPR Reference OPR retry function Section 12.2.1 OP shift function Section 12.2.
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8 OPR CONTROL MELSEC-Q 8.2 Machine OPR 8.2.1 Outline of the machine OPR operation Important Use the OPR retry function when the OP position is not always in the same direction from the workpiece operation area (when the OP is not set near the upper or lower limit of the machine). The machine OPR may not complete unless the OPR retry function is used. Machine OPR operation In a machine OPR, a machine OP is established.
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8 OPR CONTROL MELSEC-Q 8.2.2 Machine OPR method The method by which the machine OP is established (method for judging the OP position and machine OPR completion) is designated in the machine OPR according to the configuration and application of the positioning method. The following table shows the six methods that can be used for this OPR method. (The OPR method is one of the items set in the OPR parameters. It is set in " Pr.43 OPR method" of the basic parameters for OPR.) Pr.
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8 OPR CONTROL MELSEC-Q 8.2.3 OPR method (1): Near-point dog method The following shows an operation outline of the "near-point dog method" OPR method. Operation chart The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 1) 2) designated in " Pr.44 OPR direction". It then moves at the " Pr.46 4) OPR speed" when the acceleration is completed.) The machine begins decelerating when the near-point dog ON is detected. The machine decelerates to the " Pr.
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8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precautions during operation (1) An error "Start at OP (error code: 201)" will occur if another machine OPR is attempted after a machine OPR completion when the OPR retry function is not set ("0" is set in " Pr.48 OPR retry"). (2) Machine OPR carried out from the near-point dog ON position will start at the " Pr.
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8 OPR CONTROL MELSEC-Q 8.2.4 OPR method (2): Stopper method 1) The following shows an operation outline of the "stopper method 1)" OPR method. Operation chart The machine OPR is started. 1) (The machine begins the acceleration designated in " " Pr.44 OPR direction". It then moves at the " Pr.51 Pr.46 OPR acceleration time selection", in the direction designated in OPR speed" when the acceleration is completed.) 2) The machine begins decelerating when the near-point dog ON is detected.
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8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".) (2) In the "stopper method 1)", the OPR retry function is unusable. Precautions during operation (1) Set a value in the " Pr.
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8 OPR CONTROL MELSEC-Q (3) If the " Pr.49 OPR dwell time" elapses before the stop at the stopper, the workpiece will stop at that position, and that position will be regarded as the OP. At this time, an error will not occur. V Pr. 46 OPR speed Pr. 47 Creep speed Stops at stopper t Valid torque limit range Torque limit ON Near-point dog OFF Time out of dwell time Dwell time measurement ON Machine OPR start (Positioning start signal) OFF ON OPR request flag [ Md.
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8 OPR CONTROL MELSEC-Q 8.2.5 OPR method (3): Stopper method 2) The following shows an operation outline of the "stopper method 2)" OPR method. Operation chart The machine OPR is started. 1) (The machine begins the acceleration designated in " Pr.51 " Pr.44 2) 3) 4) 5) OPR direction". It then moves at the " Pr.46 OPR acceleration time selection", in the direction designated in OPR speed" when the acceleration is completed.) The machine begins decelerating when the near-point dog ON is detected.
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8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".) (2) Use an external input signal as the zero signal. (3) In the "stopper method 2)", the OPR retry function is unusable.
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8 OPR CONTROL MELSEC-Q (3) If the zero signal is input before the workpiece stops at the stopper, the workpiece will stop at that position, and that position will be regarded as the OP. V Pr. 46 OPR speed Pr. 47 Creep speed Stops at stopper t Zero signal Valid torque limit range Torque limit ON Near-point dog OFF ON OFF Machine OPR start (Positioning start signal) ON OFF OPR request flag [ Md.31 Status : b3] ON OFF OPR complete flag [ Md.31 Status : b4] Deviation counter clear output Md.
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8 OPR CONTROL MELSEC-Q 8.2.6 OPR method (4): Stopper method 3) The following shows an operation outline of the "stopper method 3)" OPR method. The "stopper method 3)" method is effective when a near-point dog has not been installed. (Note that the operation is carried out from the start at the " Pr.47 Creep speed", so it will take some time until the machine OPR completion.) Operation chart The machine OPR is started. 1) (The machine moves at the " Pr.
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8 OPR CONTROL MELSEC-Q Restrictions (1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the torque is not limited, the servomotor may fail when the machine presses against the stopper. (Refer to Section 12.4.2 "Torque limit function".) (2) Use an external input signal as the zero signal. (3) The OPR retry function cannot be used in "stopper stop method 3)".
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8 OPR CONTROL MELSEC-Q 8.2.7 OPR method (5): Count method1) The following shows an operation outline of the "count method 1)" OPR method. In the "count method 1)" machine OPR, the following can be performed: • Machine OPR on near-point dog ON • Second machine OPR after completion of first machine OPR Operation chart The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 1) designated in " Pr.44 OPR acceleration time selection", in the direction OPR direction".
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8 OPR CONTROL MELSEC-Q Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, generate a zero signal using an external signal. Precautions during operation (1) An error "Count method movement amount fault (error code: 206)" will occur and the operation will not start if the " Pr.50 Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the " Pr.46 OPR speed" to " Pr.47 Creep speed".
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8 OPR CONTROL MELSEC-Q 8.2.8 OPR method (6): Count method 2) The following shows an operation outline of the "method 2)" OPR method. The "count method 2)" method is effective when a "zero signal" cannot be received. (Note that compared to the "count method 1)" method, using this method will result in more deviation in the stop position during machine OPR.) Operation chart The machine OPR is started. 1) (The machine begins the acceleration designated in " Pr.51 direction designated in " Pr.
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8 OPR CONTROL MELSEC-Q Restrictions When this method is used, a deviation will occur in the stop position (OP) compared to other OPR methods because an error of about 1 ms occurs in taking in the near-point dog ON. Precautions during operation (1) An error "Count method movement amount fault (error code: 206)" will occur and the operation will not start if the " Pr.50 Setting for the movement amount after near-point dog ON" is smaller than the deceleration distance from the " Pr.46 OPR speed" to " Pr.
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8 OPR CONTROL MELSEC-Q 8.3 Fast OPR 8.3.1 Outline of the fast OPR operation Fast OPR operation In a fast OPR, positioning is carried out by a machine OPR to the " Md.21 Machine feed value" stored in the QD75. The following shows the operation during a fast OPR start. 1) The fast OPR is started. 2) Positioning control to the " Md.21 Machine feed value" begins at the speed set in the OPR parameters ( Pr.43 to Pr.57 ). 3) The fast OPR is completed. Pr.
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8 OPR CONTROL MELSEC-Q Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR. Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 Start complete signal [X10,X11,X12,X13] t3 Md.26 Axis operation status Standing by Standing by In position control t2 Output pulse to external source (PULSE) Positioning operation Fig. 8.
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8 OPR CONTROL MELSEC-Q MEMO 8 - 22
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Chapter 9 Major Positioning Control The details and usage of the major positioning controls (control functions using the "positioning data") are explained in this chapter.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1 Outline of major positioning controls "Major positioning controls" are carried out using the "positioning data" stored in the QD75. The basic controls such as position control and speed control are executed by setting the required items in this "positioning data", and then starting that positioning data. The control system for the "major positioning controls" is set in setting item " Da.2 Control system" of the positioning data.
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9 MAJOR POSITIONING CONTROL Major positioning control Speed-position switching control Position-speed switching control NOP instruction MELSEC-Q Details Da.2 Control system Forward run speed/position Reverse run speed/position Forward run position/speed Reverse run position/speed The control is continued as position control (positioning for the designated address or movement amount) by turning ON the "speed-position switching signal" after first carrying out speed control.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.1 Data required for major positioning control The following table shows an outline of the "positioning data" configuration and setting details required to carry out the "major positioning controls". Setting item Setting details Da.1 Operation pattern Set the method by which the continuous positioning data (Ex: positioning data No. 1, No. 2, No. 3) will be controlled. (Refer to Section 9.1.2.) Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.2 Operation patterns of major positioning controls In "major positioning control" (high-level positioning control), " Da.1 Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The "operation pattern" includes the following 3 types.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [1] Independent positioning control (Positioning complete) This control is set when executing only one designated data item of positioning. If a dwell time is designated, the positioning will complete after the designated time elapses. This data (operation pattern [00] data) becomes the end of block data when carrying out block positioning. (The positioning stops after this data is executed.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [2] Continuous positioning control (1) The machine always automatically decelerates each time the positioning is completed. Acceleration is then carried out after the QD75 command speed reaches 0 to carry out the next positioning data operation. If a dwell time is designated, the acceleration is carried out after the designated time elapses. (2) In operation by continuous positioning control (operation pattern "01"), the next positioning No. is automatically executed.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [3] Continuous path control (1) Continuous path control (a) The speed is changed without deceleration stop between the command speed of the positioning data currently being run and the speed of the positioning data that will be run next. The speed is not changed if the current speed and the next speed are equal. (b) The speed will become the speed used in the previous positioning operation if the command speed is set to "-1".
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning continue (11) Positioning continue (11) Dwell time Positioning complete (00) Address (+) direction Time Address (-) direction ON Positioning start signal OFF [Y10, Y11, Y12, Y13] ON Start complete signal OFF [X10, X11, X12, X13] ON BUSY signal [XC, XD, XE, XF] OFF ON OFF Positioning complete signal [X14, X15, X16, X17] Fig. 9.
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9 MAJOR POSITIONING CONTROL MELSEC-Q (b) When the operation pattern of the positioning data currently being executed is "continuous path control: 11", and the movement amount of the next positioning data is "0". (c) During operation by step operation. (Refer to Section 12.7.1 Step function".) (d) When there is an error in the positioning data to carry out the next operation. POINTS (1) The movement direction is not checked during interpolation operations.
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9 MAJOR POSITIONING CONTROL MELSEC-Q (3) Speed handling (a) Continuous path control command speeds are set with each positioning data. The QD75 then carries out the positioning at the speed designated with each positioning data. (b) The command speed can be set to "–1" in continuous path control. The control will be carried out at the speed used in the previous 1 positioning data No. if the command speed is set to "–1".
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9 MAJOR POSITIONING CONTROL MELSEC-Q (4) Speed switching (Refer to " Pr.19 Speed switching mode".
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9 MAJOR POSITIONING CONTROL MELSEC-Q [When the speed cannot change over in P2] When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2. P1 P2 P3 [When the movement amount is small during automatic deceleration] The movement amount required to carry out the automatic deceleration cannot be secured, so the machine immediately stops in a speed ≠ 0 status. P4 Positioning address.
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9 MAJOR POSITIONING CONTROL 3) Speed switching condition If the movement amount is small in regard to the target speed, the current speed may not reach the target speed even if acceleration/deceleration is carried out. In this case, the machine is accelerated/decelerated so that it nears the target speed. If the movement amount will be exceeded when automatic deceleration is required (Ex.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.3 Designating the positioning address The following shows the two methods for commanding the position in control using positioning data. Absolute system Positioning is carried out to a designated position (absolute address) having the OP as a reference. This address is regarded as the positioning address. (The start point can be anywhere.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.4 Confirming the current value Values showing the current value The following two types of addresses are used as values to show the position in the QD75. These addresses ("current feed value" and "machine feed value") are stored in the monitor data area, and used in monitoring the current value display, etc. • This is the value stored in " Md.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) A 1.8ms error will occur in the current value update timing when the stored "current feed value" is used in the control. A 56.8ms error will occur in the current value update timing when the stored "machine feed value" is used in the control. (2) The "current feed value" and "machine feed value" may differ from the values set in " Da.6 Positioning address/movement amount" of the positioning data if the movement amount per pulse is not set to "1".
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.5 Control unit "degree" handling When the control unit is set to "degree", the following items differ from when other control units are set. [1] Current feed value and machine feed value addresses The address of “ Md.20 Current feed value” becomes a ring address from 0 to 359.99999°. But the address of “ Md.21 Machine feed value” doesn’t become a ring address. 359.99999° 0° 0° 359.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [3] Positioning control method when the control unit is set to "degree" 1) Absolute system (a) When the software stroke limit is invalid Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is called "shortcut control".) Example 1) Positioning is carried out in a clockwise direction when the current value is moved from 315° to 45°.
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9 MAJOR POSITIONING CONTROL MELSEC-Q (b) When the software stroke limit is valid The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting method. Because of this, positioning with "shortcut control" may not be possible. Example When the current value is moved from 0° to 315°, positioning is carried out in the clockwise direction if the software stroke limit lower limit value is 0° and the upper limit value is 345°. 345.00000° 0° 315.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.1.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Setting the positioning data during interpolation control When carrying out interpolation control, the same positioning data Nos. are set for the "reference axis" and the "interpolation axis". The following table shows the "positioning data" setting items for the reference axis and interpolation axis. Axis Setting item Reference axis setting item Da.1 Operation pattern Same positioning data Nos Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Starting the interpolation control The positioning data Nos. of the reference axis (axis in which interpolation control was set in " Da.2 Control system") are started when starting the interpolation control. (Starting of the interpolation axis is not required.) The following errors or warnings will occur and the positioning will not start if both reference axis and the interpolation axis are started.
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9 MAJOR POSITIONING CONTROL MELSEC-Q POINT • When the "reference axis speed" is set during interpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". Limits to interpolation control There are limits to the interpolation control that can be executed and speed ( Pr.20 Interpolation speed designation method) that can be set, depending on the " Pr.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2 Setting the positioning data 9.2.1 Relation between each control and positioning data The setting requirements and details for the setting items of the positioning data to be set differ according to the " Da.2 Control system". The following table shows the positioning data setting items corresponding to the different types of control. Details and settings for the operation of each control are shown in Section 9.2.2 and subsequent sections.
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9 MAJOR POSITIONING CONTROL MELSEC-Q REMARK • It is recommended that the "positioning data" be set whenever possible with GX Configurator-QP. Execution by sequence program uses many sequence programs and devices. The execution becomes complicated, and the scan times will increase. Major positioning control Other control NOP instruction Current value changing JUMP instruction LOOP instruction LEND instruction Positioning data setting items Independent positioning control Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.2 1-axis linear control In "1-axis linear control" (" Da.2 Control system" = ABS linear 1, INC linear 1), one motor is used to carry out position control in a set axis direction. [1] 1-axis linear control (ABS linear 1) Operation chart In absolute system 1-axis linear control, addresses established by a machine OPR are used. Positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 1-axis linear control (INC linear 1) Operation chart In incremental system 1-axis linear control, addresses established by a machine OPR are used. Positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.3 2-axis linear interpolation control In "2-axis linear interpolation control" (" Da.2 Control system" = ABS linear 2, INC linear 2), two motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" ... The "Outside linear movement amount range error (error code: 504)" occurs at a positioning start.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis linear interpolation control (INC linear 2) Operation chart In incremental system 2-axis linear interpolation control, addresses established by a machine OPR on a 2-axis coordinate plane are used. Linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount".
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9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" ... The "Outside linear movement amount range error (error code: 504)" occurs at a positioning start.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.4 3-axis linear interpolation control In "3-axis linear interpolation control" (" Da.2 Control system" = ABS linear 3, INC linear 3), three motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning control. • If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" ... The "Outside linear movement amount range error (error code: 504)" occurs at a positioning start.
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9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS • When the "reference axis speed" is set during 3-axis linear intrpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit • value". Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 3-axis linear interpolation control (INC linear 3) Operation chart In the incremental system 3-axis linear interpolation control, using an address established by a machine OPR in the 3-axis coordinate space, a linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the " Da.6 Positioning address/movement amount".
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9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions An error will occur and the positioning will not start in the following cases. The machine will immediately stop if the error is detected during a positioning operation. • If the movement amount of each axis exceeds "1073741824 (=230)" when "0: Composite speed" is set in " Pr.20 Interpolation speed designation method" ... The "Outside linear movement amount range error (error code: 504)" occurs at a positioning start.
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9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS (1) When the "reference axis speed" is set during 3-axis linear intrpolation control, set so the major axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit value". (2) Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.5 4-axis linear interpolation control In "4-axis linear interpolation control" (" Da.2 Control system" = ABS linear 4, INC linear 4), four motors are used to carry out position control in a linear path while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (ABS linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis Setting item Da.1 Operation pattern Da.2 Control system Da.3 Acceleration time No.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 4-axis linear interpolation control (INC linear 4) Operation chart In the incremental system 4-axis linear interpolation control, using an address established by a machine OPR in the 4-axis coordinate plane, a linear interpolation positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in the " Da.6 Positioning address/movement amount".
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis linear interpolation control (INC linear 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.6 1-axis fixed-feed control In "1-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 1), one motor is used to carry out fixed-feed control in a set axis direction. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example The following table shows setting examples when "1-axis fixed-feed control (fixedfeed 1)" is set in positioning data No. 1 of axis 1. Setting item Da.1 Operation pattern Axis 1 Positioning data No. 1 Da.2 Control system Da.3 Da.4 Positioning complete Fixed-feed 1 Acceleration time No. 1 Deceleration time No. 0 Axis to be Da.5 interpolated Da.6 Setting example Positioning address/ movement amount Da.7 Arc address Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.7 2-axis fixed-feed control (interpolation) In "2-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 2), two motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis fixed-dimension feed control (fixed-feed 2)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.8 3-axis fixed-feed control (interpolation) In "3-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 3), three motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart In incremental system 3-axis fixed-feed control, the addresses ( Md.20 Current feed value) of the current stop position (start addresses) of every axes are set to "0". Linear interpolation positioning is then carried out from that position to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount". The movement direction is determined by the sign of the movement amount.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) An axis error "Continuous path control not possible (error code: 516)" will occur and the operation cannot start if "continuous path control" is set in " Da.1 Operation pattern". ("Continuous path control" cannot be set in fixedfeed control.) 30 (2) If the movement amount of each axis exceeds "1073741824 (=2 )" when "0: Composite speed" is set in " Pr.
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9 MAJOR POSITIONING CONTROL Axis Setting item Da.1 Operation pattern Axis 1 Positioning data No. 1 Da.2 Control method MELSEC-Q Axis 1 Axis 2 Axis 3 (reference (interpolation (interpolation axis) setting axis) setting axis) setting example example example Setting details Positioning complete – – Set "Positioning complete" assuming the next positioning data will not be executed. Fixed-feed 3 – – Set 3-axis fixed-feed control. Designate the value set in " Pr.25 Da.3 Acceleration time No.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.9 4-axis fixed-feed control (interpolation) In "4-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 4), four motors are used to carry out fixed-feed control in a linear path while carrying out interpolation for the axis directions set in each axis. In fixed-feed control, any remainder of the movement amount designated in the positioning data is rounded down if less than that required for control accuracy to output the same amount of pulses.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis fixed-feed control (fixedfeed 4)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.) Axis Setting item Da.1 Operation pattern Da.2 Control method Da.3 Acceleration time No.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.10 2-axis circular interpolation control with sub point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular sub, INC circular sub), two motors are used to carry out position control in an arc path passing through designated sub points, while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • When the units set in " Pr.1 Unit setting" are different for the reference axis • and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in " Pr.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (ABS circular sub)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Setting item Setting details Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis circular interpolation control with sub point designation (INC circular sub) Operation chart In the incremental system, 2-axis circular interpolation control with sub point designation, positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount" in an arc path that passes through the sub point address set in " Da.7 Arc address".
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9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) 2-axis circular interpolation control cannot be set in the following cases. • When "degree" is set in " Pr.1 Unit setting" • When the units set in " Pr.1 Unit setting" are different for the reference axis • and interpolation axis. ("mm" and "inch" combinations are possible.) When "reference axis speed" is set in " Pr.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting example [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with sub point designation (INC circular sub)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Setting item Setting details Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.11 2-axis circular interpolation control with center point designation In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular right, INC circular right, ABS circular left, INC circular left), two motors are used to carry out position control in an arc path having a designated center point, while carrying out interpolation for the axis directions set in each axis. (Refer to Section 9.1.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Circular interpolation error compensation In circular interpolation control with center point designation, the arc path calculated from the start point address and arc address may deviate from the position of the end point address set in " Da.6 Positioning address/movement amount". (Refer to " Pr.41 Allowable circular interpolation error width".) (1) Calculated error < " Pr.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [1] 2-axis circular interpolation control with center point designation (ABS circular right, ABS circular left) Operation chart In the absolute system, 2-axis circular interpolation control with center point designation, addresses established by a machine OPR on a 2-axis coordinate plane are used. Positioning is carried out from the current stop position (start point address) to the address (end point address) set in " Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (ABS right arc, ABS left arc)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Setting item Setting details Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [2] 2-axis circular interpolation control with center point designation (INC circular right, INC circular left) Operation chart In the incremental system, 2-axis circular interpolation control with center point designation, addresses established by a machine OPR on a 2-axis coordinate plane are used. Positioning is carried out from the current stop position (start point address) to a position at the end of the movement amount set in " Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q In circular interpolation control with center point designation, an angular velocity is calculated on the assumption that operation is carried out at a command speed on the arc using the radius calculated from the start point address and center point address, and the radius is compensated in proportion to the angular velocity deviated from that at the start point.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples [Reference axis and interpolation axis are designated as axis 1 and axis 2, respectively.] The following table shows setting examples when "2-axis circular interpolation control with center point designation (INC circular right, INC circular left)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.) Axis Setting item Setting details Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.12 1-axis speed control In "1-axis speed control" (" Da.2 Control system" = Forward run: speed 1, Reverse run: speed 1), control is carried out in the axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 1-axis speed control The following table shows the " Md.20 Current feed value" during 1-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during speed Md.20 Current feed value control" setting Speed 0: Do not update current feed value The current feed value at speed control start is maintained. 1: Update current feed value The current feed value is updated.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "1-axis speed control (forward run: speed 1)" is set in the positioning data No. 1 of axis 1. Axis 1 Positioning data No. 1 Setting item Setting example Setting details Da.1 Operation pattern Positioning complete Setting other than "Positioning complete" is not possible in speed control. Da.2 Control system Forward run speed 1 Set 1-axis speed control. Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.13 2-axis speed control In "2-axis speed control" (" Da.2 Control system" = Forward run: speed 2, Reverse run: speed 2), control is carried out in the 2-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 2-axis speed control The following table shows the " Md.20 Current feed value" during 2-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) " Pr.21 Current feed value during speed Md.20 Current feed value control" setting Speed 0: Do not update current feed value The current feed value at speed control start is maintained.
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9 MAJOR POSITIONING CONTROL MELSEC-Q (5) An error "No command speed" (error code: 503) occurs if a current speed (-1) is set in " Da.8 Command speed". (6) The software stroke limit check is not carried out when the control unit is set to "degree". Positioning data setting examples [Setting examples when the reference axis and interpolation axis are designated as axes 1 and 2, respectively.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.14 3-axis speed control In "3-axis speed control" (" Da.2 Control system" = Forward run: speed 3, Reverse run: speed 3), control is carried out in the 3-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 3-axis speed control The following table shows the " Md.20 Current feed value" during 3-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) " Pr.21 Current feed value during speed Md.20 Current feed value control" setting Speed 0: Do not update current feed value The current feed value at speed control start is maintained.
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9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of three axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " Da.8 Command speed". (Examples) Axis Axis 1 setting Axis 2 setting Axis 3 setting Setting item Pr.8 Speed limit value 4000.00mm/min 5000.00mm/min 6000.00mm/min Da.8 Command speed 8000.00mm/min 6000.00mm/min 4000.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "3-axis speed control (forward run: speed 3)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis Axis 1 Positioning data No. 1 Setting item Axis 1 Axis 2 Axis 3 (reference (interpolation (interpolation axis) setting axis) setting axis) setting example example example Setting details Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.15 4-axis speed control In "4-axis speed control" (" Da.2 Control system" = Forward run: speed 4, Reverse run: speed 4), control is carried out in the 4-axis direction in which the positioning data has been set by continuously outputting pulses for the speed set in " Da.8 Command speed" until the input of a stop command.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart shows the operation timing for 4-axis speed control with axis 1 as the reference axis. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control. The "positioning complete signal" is not turned ON. V Interpolation axis (axis 4) Da. 8 Command speed t V Interpolation axis (axis 3) Da. 8 Command speed t V Interpolation axis (axis 2) Da. 8 Command speed t V Referense axis (axis 1) Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during 4-axis speed control The following table shows the " Md.20 Current feed value" during 4-axis speed control corresponding to the " Pr.21 Current feed value during speed control" settings. (Note that the reference axis setting values are used for parameters.) " Pr.21 Current feed value during speed Md.20 Current feed value control" setting Speed 0: Do not update current feed value The current feed value at speed control start is maintained.
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9 MAJOR POSITIONING CONTROL MELSEC-Q (4) When either of four axes exceeds the speed limit, that axis is controlled with the speed limit value. The speeds of the other axes are limited at the ratios of " Da.8 Command speed". (Examples) Axis Axis 1 setting Setting item Axis 2 setting Axis 3 setting Axis 4 setting Pr.8 Speed limit value 4000.00mm/ 5000.00mm/ 6000.00mm/ 8000.00mm/ min min min min Da.8 Command speed 8000.00mm/ 6000.00mm/ 4000.00mm/ 1500.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows the setting examples when "4-axis speed control (forward run: speed 4)" is set in the positioning data No. 1 of axis 1 (reference axis). Axis Setting item Axis 1 Axis 2 Axis 3 Axis 4 (reference (interpolation (interpolation (interpolation axis) setting axis) setting axis) setting axis) setting example example example example Setting details Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.16 Speed-position switching control (INC mode) In "speed-position switching control (INC mode)" (" Da.2 Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in " Da.8 Command speed" are kept output on the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control of the movement amount set in " Da.6 Positioning address/movement amount" is exercised.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart (Fig.9.13) shows the operation timing for speed-position switching control (INC mode). The "in speed control flag" ( Md.31 Status: b0) is turned ON during speed control of speed-position switching control (INC mode). V Da. 8 Command speed Movement amount set in " Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run: speed/position" at " Pr.1 Unit setting" of "2: degree" and " Pr.21 Current feed value during speed control" setting of "1: Update current feed value". (The value set in " Da.6 Positioning address/movement amount" is 270.00000 [degree]) 0.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (INC mode) Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 M code ON signal [X4,X5,X6,X7](WITH mode) t2 Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] Standing by Md.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (INC mode) The following table shows the " Md.20 Current feed value" during speed-position switching control (INC mode) corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during Md.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting value Setting item Pr.42 Cd.8 External command function selection External command valid Setting details 2 Set the "2: speed-position and position-speed switching requests". 1 Set "1: Validate external command".
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9 MAJOR POSITIONING CONTROL MELSEC-Q POINT • The machine recognizes the presence of a movement amount change request when the data is written to " Cd.23 Speed-position switching control movement amount change register" with the sequence program. The new movement amount is validated after execution of the speed-position switching control (INC mode), before the input of the speed-position switching signal.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "speed-position switching control (INC mode) by forward run" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed. ("Continuous path control" cannot be set in "speedposition switching control (INC mode)".) Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.17 Speed-position switching control (ABS mode) In case of "speed-position switching control (ABS mode)" (" Da.2 Control system" = Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set in " Da.8 Command speed" are kept output in the axial direction set to the positioning data. When the "speed-position switching signal" is input, position control to the address set in " Da.6 Positioning address/movement amount" is exercised.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart (Fig.9.16) shows the operation timing for speed-position switching control (ABS mode). The "in speed control flag" ( Md.31 Status: b0) is turned ON during speed control of speed-position switching control (ABS mode). V Da. 8 Command speed Address set in " Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [Operation example] The following operation assumes that the speed-position switching signal is input at the position of the current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run: speed/position" at " Pr.1 Unit setting" of "2: degree" and " Pr.21 Current feed value during speed control" setting of "1: Update current feed value". (The value set in " Da.6 Positioning address/movement amount" is 270.00000 [degree]) 0.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during speed-position switching control (ABS mode) Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 M code ON signal [X4,X5,X6,X7](WITH mode) t2 Cd.7 M code OFF request Start complete signal [X10,X11,X12,X13] Standing by Md.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during speed-position switching control (ABS mode) The following table shows the " Md.20 Current feed value" during speed-position switching control (ABS mode) corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during Md.20 Current feed value speed control" setting The current feed value is updated during speed control and position control.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Speed-position switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as speed-position switching signals. Setting item Pr.42 Cd.8 External command function selection External command valid Setting value Setting details 2 Set the "2: speed-position and position-speed switching requests". 1 Set "1: Validate external command".
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9 MAJOR POSITIONING CONTROL MELSEC-Q Restrictions (1) An axis error (error code: 516) will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set in " Da.1 Operation pattern". (2) "Speed-position switching control" cannot be set in " Da.2 Control system" of the positioning data when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "speed-position switching control (ABS mode) by forward run" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed. ("Continuous path control" cannot be set in "speedposition switching control (ABS mode)".) Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.18 Position-speed switching control In "position-speed switching control" (" Da.2 Control system" = Forward run: position/speed, Reverse run: position/speed), before the position-speed switching signal is input, position control is carried out for the movement amount set in " Da.6 Positioning address/movement amount" in the axis direction in which the positioning data has been set.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Operation chart The following chart shows the operation timing for position-speed switching control. The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control of position-speed switching control. V Da.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Operation timing and processing time during position-speed switching control Positioning start signal [Y10,Y11,Y12,Y13] BUSY signal [XC,XD,XE,XF] t1 M code ON signal [X4,X5,X6,X7](WITH mode) t2 Cd. 7 M code OFF request Start complete signal [X10,X11,X12,X13] t3 Md.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Current feed value during position-speed switching control The following table shows the " Md.20 Current feed value" during position-speed switching control corresponding to the " Pr.21 Current feed value during speed control" settings. " Pr.21 Current feed value during Md.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Position-speed switching signal setting The following table shows the items that must be set to use the external command signals (CHG) as position-speed switching signals. Setting value Setting item Pr.42 Cd.8 External command function selection External command valid Setting details 2 Set the "2: speed-position and position-speed switching requests". 1 Set "1: Validate external command".
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9 MAJOR POSITIONING CONTROL MELSEC-Q POINTS • The machine recognizes the presence of a command speed change request when the data is written to " Cd.25 Position-speed switching control speed change register" with the sequence program. The new command speed is validated after execution of the position-speed switching control before the input of the position-speed switching signal.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Positioning data setting examples The following table shows setting examples when "position-speed switching control (forward run: position/speed)" is set in positioning data No. 1 of axis 1. Setting item Setting example Setting details Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning data will not be executed.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.19 Current value changing When the current value is changed to a new value, control is carried out in which the " Md.20 Current feed value" of the stopped axis is changed to a random address set by the user. (The " Md.21 Machine feed value" is not changed when the current value is changed.) The two methods for changing the current value are shown below.
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9 MAJOR POSITIONING CONTROL MELSEC-Q (4) If the value set in " Da.6 Positioning address/movement amount" is outside the software stroke limit ( Pr.12 , Pr.13 ) setting range, an error "Software stroke limit +, – (error code: 507 or 508)" will occur at the positioning start, and the operation will not start. (5) An error (error code: 507 or 508) will occur if the new current value is outside the software stroke limit range.
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9 MAJOR POSITIONING CONTROL MELSEC-Q [2] Changing to a new current value using the start No. (No. 9003) for a current value changing Operation chart The current value is changed by setting the new current value in the current value changing buffer memory " Cd.9 Current value changing", setting "9003" in the " Cd.3 Positioning start No.", and turning ON the positioning start signal. ON Positioning start signal OFF [Y10,Y11,Y12,Y13] Md.
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9 MAJOR POSITIONING CONTROL MELSEC-Q Setting method for the current value changing function The following shows an example of a sequence program and data setting to change the current value to a new value with the positioning start signal. (The " Md.20 Current feed value is changed to "5000.0 µm" in the example shown.) (1) Set the following data. (Set with the sequence program shown in (3), while referring to the start time chart shown in (2).) Setting item Cd.3 Cd.
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9 MAJOR POSITIONING CONTROL MELSEC-Q (3) Add the following sequence program to the control program, and write it to the PLC CPU.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.20 NOP instruction The NOP instruction is used for the nonexecutable control system. Operation The positioning data No. to which the NOP instruction is set transfers, without any processing, to the operation for the next positioning data No. Positioning data setting examples The following table shows the setting examples when "NOP instruction" is set in positioning data No. 1 of axis 1. Setting item Axis 1 positioning data No.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.21 JUMP instruction The JUMP instruction is used to control the operation so it jumps to a positioning data No. set in the positioning data during "continuous positioning control" or "continuous path control". JUMP instruction include the following two types of JUMP. (1) Unconditional JUMP When no execution conditions are set for the JUMP instruction (When "0" is set as the condition data No.
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9 MAJOR POSITIONING CONTROL MELSEC-Q (2) The operation pattern, if set, is ignored in the JUMP instruction. (3) Positioning control such as loops cannot be executed by conditional JUMP instructions alone until the conditions have been established. As the target of the JUMP instruction, specify a positioning data that is controlled by other than JUMP and NOP instructions. Positioning data setting example The following table shows setting examples when "JUMP instruction" is set in positioning data No.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.22 LOOP The LOOP is used for loop control by the repetition of LOOP to LEND. Operation The LOOP to LEND loop is repeated by set repeat cycles. Positioning data setting examples The following table shows the setting examples when "LOOP" is set in positioning data No. 1 of axis 1. Setting item Setting example Da.1 Operation pattern – Axis 1 Positioning data No. 1 Da.2 Control system LOOP Setting details Setting not required. (Setting value is ignored.
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9 MAJOR POSITIONING CONTROL MELSEC-Q 9.2.23 LEND The LEND is used to return the operation to the top of the repeat (LOOP to LEND) loop. Operation When the repeat cycle designated by the LOOP becomes 0, the loop is terminated, and the next positioning data No. processing is started. (The operation pattern, if set to "Positioning complete", will be ignored.
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Chapter 10 High-level Positioning Control The details and usage of high-level positioning control (control functions using the "block start data") are explained in this chapter. High-level positioning control is used to carry out applied control using the "positioning data". Examples of applied control are using conditional judgment to control "positioning data" set with the major positioning control, or simultaneously starting "positioning data" for several different axes.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.1 Outline of high-level positioning control In "high-level positioning control" the execution order and execution conditions of the "positioning data" are set to carry out more applied positioning. (The execution order and execution conditions are set in the "block start data" and "condition data".) The following applied positioning controls can be carried out with "high-level positioning control".
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.1.1 Data required for high-level positioning control "High-level positioning control" is executed by setting the required items in the "block start data" and "condition data", then starting that "block start data". Judgment about whether execution is possible, etc., is carried out at execution using the "condition data" designated in the "block start data". "Block start data" can be set for each No. from 7000 to 7004 (called "block Nos.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.1.2 "Block start data" and "condition data" configuration The "block start data" and "condition data" corresponding to "block No. 7000" can be stored in the buffer memory. (The following drawing shows an example for axis 1.) 50th point Buffer memory address Setting item 2nd point 1st point Setting item Setting item œˆÊ’uŒˆ‚ß n“®ƒf [ƒ^ Axis 1 block start data b15 Buffer memory Buffer memoryaddress address 26001 b0 b8 b7 26049 26000 Da.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Set in QD75 the " block start data" and "condition data" corresponding to the following "block Nos. 7001 to 7004" using GX Configurator-QP or the sequence program. (The following drawing shows an example for axis 1.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.2 High-level positioning control execution procedure High-level positioning control is carried out using the following procedure. Preparation STEP 1 Refer to Chapter 9 STEP 2 Refer to Section 10.3 STEP 3 Refer to Section 10.4 STEP 4 Refer to Section 10.6 Carry out the "major positioning control" setting. Set the block start data corresponding to each control. ( Da. 11 to Da. 14 ) × required data amount.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3 Setting the block start data 10.3.1 Relation between various controls and block start data The " block start data" must be set to carry out "high-level positioning control". The setting requirements and details of each " block start data" item to be set differ according to the " Da.13 Special start instruction" setting. The following shows the " block start data" setting items corresponding to various control systems.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.2 Block start (normal start) In a "block start (normal start)", the positioning data groups of a block are continuously executed in a set sequence starting from the positioning data set in " Da.12 Start data No." by one start. Section [2] shows a control example where the " block start data" and "positioning data" are set as shown in section [1].
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q [2] Control examples The following shows the control executed when the "block start data" of the 1st point of axis 1 is set as shown in section [1] and started. <1> The positioning data is executed in the following order before stopping. Axis 1 positioning data No. 1 2 3 4 5 6 10 15.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.3 Condition start In a "condition start", the "condition data" conditional judgment designated in " Da.14 Parameter" is carried out for the positioning data set in " Da.12 Start data No.". If the conditions have been established, the " block start data" set in "1: condition start" is executed. If the conditions have not been established, that " block start data" will be ignored, and the "block start data" of the next point will be executed.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.4 Wait start In a "wait start", the "condition data" conditional judgment designated in " Da.14 Parameter" is carried out for the positioning data set in " Da.12 Start data No.". If the conditions have been established, the " block start data" is executed. If the conditions have not been established, the control stops (waits) until the conditions are established.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.5 Simultaneous start In a "simultaneous start", the positioning data set in the " Da.12 Start data No." and positioning data of other axes set in the "condition data" are simultaneously executed (pulses are output with the same timing). (The "condition data" is designated with " Da.14 Parameter".) Section [2] shows a control example where the " block start data" and "positioning data" are set as shown in section [1].
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.6 Repeated start (FOR loop) In a "repeated start (FOR loop)", the data between the " block start data" in which "4: FOR loop" is set in " Da.13 Special start instruction" and the "block start data" in which "6: NEXT start" is set in " Da.13 Special start instruction " is repeatedly executed for the No. of times set in " Da.14 Parameter". An endless loop will result if the No. of repetitions is set to "0". (The No. of repetitions is set in " Da.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.7 Repeated start (FOR condition) In a "repeated start (FOR condition)", the data between the " block start data" in which "5: FOR condition" is set in " Da.13 Special start instruction" and the " block start data" in which "6: NEXT start" is set in " Da.13 Special start instruction" is repeatedly executed until the establishment of the conditions set in the "condition data". (The "condition data" designation is set in " Da.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.3.8 Restrictions when using the NEXT start The "NEXT start" is a instruction indicating the end of the repetitions when executing Section 10.3.6 "Repeated start (FOR loop)" and Section 10.3.7 "Repeated start (FOR condition)". The following shows the restrictions when setting "6: NEXT start" in the " block start data".
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.4 Setting the condition data 10.4.1 Relation between various controls and the condition data "Condition data" is set in the following cases. (1) When setting conditions during execution of Section 9.2.21 "JUMP instruction" (major positioning control) (2) When setting conditions during execution of "high-level positioning control" The "condition data" to be set includes the 5 setting items from Da.15 to Da.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q The setting requirements and details of the following "condition data" Da.16 to Da.19 setting items differ according to the " Da.15 Condition target" setting. The following shows the Da.16 to Da.19 setting items corresponding to the " Da.15 Condition target". Other setting item Da.15 Da.16 Da.17 Da.18 Da.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q REMARK The "PLC CPU memory area" can be designated as the buffer memory address to be designated in Da.17 . (Refer to Section 7.1.1 "Configuration and roles of QD75 memory".
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.4.2 Condition data setting examples The following shows setting examples for "condition data". (1) Setting the device ON/OFF as a condition [Condition] Device "X0" (=QD75 READY) is OFF Da.15 Condition target Da.16 Condition operator Da.17 Address Da.18 Parameter 1 Da.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.5 Multiple axes simultaneous start control The "multiple axes simultaneous start control" starts and controls the multiple axes simultaneously by outputting pulses to the axis to be started at the same timing as the start axis. The maximum of four axes can be started simultaneously. [1] Control details The multiple axes simultaneous start control is carried out by setting the simultaneous start an object axis start data No. (positioning data No.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q [4] Multiple axes simultaneous start control function setting method The following shows the setting of the data used to execute the multiple axes simultaneous start control with positioning start signals (The axis control data on the start axis is set). Buffer memory address Setting value Setting item Cd.3 Positioning start No. Cd.30 Simultaneous starting axis start data No. (Axis 1 start data No.) Cd.31 Cd.32 Cd.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q POINTS (1) The "multiple axes simultaneous start control" carries out an operation equivalent to the "simultaneous start" using the "block start data". (2) The setting of the "multiple axes simultaneous start control" is easier than that of the "simultaneous start" using the "block start data".
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.6 Start program for high-level positioning control 10.6.1 Starting high-level positioning control To execute high-level positioning control, a sequence program must be created to start the control in the same method as for major positioning control. The following shows the procedure for starting the "1st point block start data" (regarded as block No. 7000) set in axis 1.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q 10.6.2 Example of a start program for high-level positioning control The following shows an example of a start program for high-level positioning control in which the 1st point " block start data" of axis 1 is started. (The block No. is regarded as "7000".) Control data that require setting The following control data must be set to execute high-level positioning control. The setting is carried out using a sequence program.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Start time chart The following chart shows a time chart in which the positioning data No. 1, 2, 10, 11, and 12 of axis 1 are continuously executed as an example. (1) Block start data setting example Da.11 Shape Axis 1 block start data Da.12 Start data No. Da.13 Special start instruction Da.14 Parameter 1st point 1: Continue 1 0: Block start – 2nd point 0: End 10 0: Block start – • • (2) Positioning data setting example Da.
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10 HIGH-LEVEL POSITIONING CONTROL MELSEC-Q Creating the program Example Set the block start data beforehand. Positioning start command PLS M104 M104 Y10 X10 TO H0 K1500 K7000 K1 TO H0 K1501 K1 K1 SET Y10 Y10: Positioning start signal X10: Start complete signal M104: Positioning start command pulse 10 - 26
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Chapter 11 Manual Control The details and usage of manual control are explained in this chapter. In manual control, pulse output commands are issued during a JOG operation and an inching operation executed by the turning ON of the JOG START signal, or from a manual pulse generator connected to the QD75. Manual control using a sequence program from the PLC CPU is explained in this chapter.
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11 MANUAL CONTROL MELSEC-Q 11.1 Outline of manual control 11.1.1 Three manual control methods "Manual control" refers to control in which positioning data is not used, and a positioning operation is carried out in response to signal input from an external source. The three types of this "manual control" are explained below. [1] JOG operation "JOG operation" is a control method in which the machine is moved by only a movement amount (pulses are continuously transmitted while the JOG START signal is ON).
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11 MANUAL CONTROL MELSEC-Q [3] Manual pulse generator operation "Manual pulse generator operation" is a control method in which positioning is carried out in response to the No. of pulses input from a manual pulse generator (the No. of input pulses is output). This operation is used for manual fine adjustment, etc., when carrying out accurate positioning to obtain the positioning address. Movement in response to the command pulses Output pulses QD75 M Pulse input Manual pulse generator Fig. 11.
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11 MANUAL CONTROL MELSEC-Q 11.2 JOG operation 11.2.1 Outline of JOG operation Important Use the hardware stroke limit function when carrying out JOG operation near the upper or lower limits. (Refer to Section 12.4.4). * If the hardware stroke limit function is not used, the workpiece may exceed the moving range, causing an accident.
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11 MANUAL CONTROL MELSEC-Q Precautions during operation The following details must be understood before carrying out JOG operation. (1) For safety, first set " Cd.17 JOG speed" to a smaller value and check the movement. Then gradually increase the value. (2) An axis error will occur and the operation will not start (error code: 300) if the "JOG speed" is outside the setting range at the JOG start. (3) An axis error will occur and the operation will not start (error code: 956) if " Pr.
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11 MANUAL CONTROL MELSEC-Q JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time. ON Forward run JOG start signal OFF [Y8, YA, YC, YE] t2 Reverse run JOG start signal OFF [Y9, YB, YD, YF] ON BUSY signal [XC, XD, XE, XF] OFF t1 t4 Md. 26 Axis operation status Standing by In JOG operation Standing by t3 Pulse output to an external source (PULSE) Positioning operation Positioning complete signal OFF [X14, X15, X16, X17] Fig.
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11 MANUAL CONTROL MELSEC-Q 11.2.2 JOG operation execution procedure The JOG operation is carried out by the following procedure. STEP 1 Set the parameters ) Preparation Refer to Chapter 5 and Section 11.2.3. Pr.1 to Pr.39 ) One of the following two methods can be used. Directly set (write) the parameters in the QD75 using GX Configurator-QP. Set (write) the parameters from the PLC CPU to the QD75 using the sequence program (TO command). STEP 2 Refer to Section 11.2.4.
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11 MANUAL CONTROL MELSEC-Q 11.2.3 Setting the required parameters for JOG operation The "Parameters" must be set to carry out JOG operation. The following table shows the setting items of the required parameters for carrying out JOG operation. When only JOG operation will be carried out, no parameters other than those shown below need to be set. (Use the initial values or setting values within a range where no error occurs for trouble-free operation.
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11 MANUAL CONTROL MELSEC-Q Parameters Setting item Setting requirement Factory-set initial value (setting details) Pr.25 Acceleration time 1 (Unit: pulse) 1000 Pr.26 Acceleration time 2 (Unit: pulse) 1000 Pr.27 Acceleration time 3 (Unit: pulse) 1000 Pr.28 Deceleration time 1 (Unit: pulse) 1000 Pr.29 Deceleration time 2 (Unit: pulse) 1000 Pr.30 Deceleration time 3 (Unit: pulse) 1000 Pr.31 JOG speed limit value (Unit: pulse/s) 20000 Pr.
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11 MANUAL CONTROL MELSEC-Q 11.2.4 Creating start programs for JOG operation A sequence program must be created to execute a JOG operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a JOG operation is started for axis 1. (" Cd.17 JOG speed" is set to "100.00mm/min" in the example shown.) Required control data setting The control data shown below must be set to execute a JOG operation.
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11 MANUAL CONTROL MELSEC-Q Start time chart Forward JOG run t Reverse JOG run ON Forward run JOG start signal [Y8] OFF ON Reverse run JOG start signal [Y9] OFF PLC READY signal [Y0] OFF QD75 READY signal [X0] ON ON OFF ON BUSY signal [XC] Error detection signal [X8] OFF OFF Fig. 11.
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11 MANUAL CONTROL MELSEC-Q Creating the program Example á — No. 10 JOG operation setting program No.
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11 MANUAL CONTROL MELSEC-Q 11.2.5 JOG operation example When the "stop signal" is turned ON during JOG operation When the "stop signal" is turned ON during JOG operation, the JOG operation will stop by the "deceleration stop" method. JOG start signals will be ignored while the stop signal is ON. The operation can be started by turning the stop signal OFF, and turning the JOG start signal from OFF to ON again. A JOG start signal OFF ON while the stop signal is ON will be ignored.
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11 MANUAL CONTROL MELSEC-Q When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis When both the "forward run JOG start signal" and "reverse run JOG start signal" are turned ON simultaneously for one axis, the "forward run JOG start signal" is given priority. In this case, the "reverse run JOG start signal" is validated when the QD75 BUSY signal is turned OFF.
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11 MANUAL CONTROL MELSEC-Q When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal" When the "JOG start signal" is turned ON again during deceleration caused by the ON OFF of the "JOG start signal", the JOG operation will be carried out from the time the "JOG start signal" is turned ON. Forward run JOG operation t ON Forward run JOG start signal [Y8, YA, YC, YE] OFF BUSY signal [XC, XD, XE, XF] OFF ON Fig. 11.
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11 MANUAL CONTROL MELSEC-Q When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 100ms) When the "JOG start signal" is turned ON immediately after the stop signal OFF (within 100ms), it will be ignored and the JOG operation will not be carried out. Forward run JOG operation ON OFF Forward run JOG start signal [Y8, YA, YC, YE] ON Axis stop signal [Y4, Y5, Y6, Y7] OFF 100ms A rise of JOG start signal is ignored. Fig. 11.
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11 MANUAL CONTROL MELSEC-Q 11.3 Inching operation 11.3.1 Outline of inching operation Important When the inching operation is carried out near the upper or lower limit, use the hardware stroke limit function (Refer to Section 12.4.4). If the hardware stroke limit function is not used, the workpiece may exceed the movement range, and an accident may result. Inching operation In inching operation, pulses are input to the drive unit at the first control cycle (1.
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11 MANUAL CONTROL MELSEC-Q Precautions during operation The following details must be understood before inching operation is carried out. (1) Acceleration/deceleration processing is not carried out during inching operation. (Pulses corresponding to the designated inching movement amount are output at the first control cycle of the QD75 (1.8 ms).
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11 MANUAL CONTROL MELSEC-Q Inching operation timing and processing times The following drawing shows the details of the inching operation timing and processing time. ON Forward run JOG start signal OFF [Y8,YA,YC,YE] Reverse run JOG start signal OFF [Y9,YB,YD,YF] ON BUSY signal [XC,XD,XE,XF] OFF t1 Md.
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11 MANUAL CONTROL MELSEC-Q 11.3.2 Inching operation execution procedure The inching operation is carried out by the following procedure. STEP 1 Set the parameters. ) Preparation Refer to Chapter 5 and Section 11.3.3. One of the following two methods can be used. Pr.1 to Pr.31 ) Directly set (write) the parameters in the QD75 using GX Configurator-QP. Set (write) the parameters from the PLC CPU to the QD75 using the sequence program (TO command). STEP 2 Set the " Cd.
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11 MANUAL CONTROL MELSEC-Q 11.3.3 Setting the required parameters for inching operation The "Parameters" must be set to carry out inching operation. The following table shows the setting items of the required parameters for carrying out inching operation. When only inching operation will be carried out, no parameters other than those shown below need to be set. (Use the initial values or setting values within a range where no error occurs for trouble-free operation.
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11 MANUAL CONTROL MELSEC-Q 11.3.4 Creating a program to enable/disable the inching operation A sequence program must be created to execute an inching operation. Consider the "required control data setting", "start conditions", and "start time chart" when creating the program. The following shows an example when an inching operation is started for axis 1. (The example shows the inching operation when a "10.0 µm" is set in " Cd.16 Inching movement amount".
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11 MANUAL CONTROL MELSEC-Q Start time chart Forward run inching operation t Reverse run inching operation ON Forward run JOG start signal [Y8] OFF ON Reverse run JOG start signal [Y9] OFF ON PLC READY signal [Y0] OFF ON QD75 READY signal [X0] OFF ON BUSY signal [XC] Error detection signal [X8] OFF OFF ON Positioning complete signal [X14] OFF Fig. 11.
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11 MANUAL CONTROL MELSEC-Q Creating the program Example á — No.11 Inching operation setting program No.
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11 MANUAL CONTROL MELSEC-Q 11.3.5 Inching operation example When "stop signal" is turned ON during inching operation: If "stop signal" is turned ON during inching operation, the inching operation will be stopped. While the stop signal is turned ON, the JOG start signal is ignored. The inching operation can be re-started when the stop signal is turned OFF and then re-turned ON. A JOG start signal OFF ON while the stop signal is ON will be ignored.
PAGE 466
11 MANUAL CONTROL MELSEC-Q When "JOG start signal" is turned ON when peripheral devices are in the test mode: If "JOG star signal" is turned ON when peripheral devices are in the test mode, the "JOG start signal" will be ignored and inching operation will not be carried out. Inching operation not possible because JOG Inching operation not possible start signal does not rise because the operation is in the test mode.
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11 MANUAL CONTROL MELSEC-Q 11.4 Manual pulse generator operation 11.4.1 Outline of manual pulse generator operation Important Create the sequence program so that " Cd.21 Manual pulse generator enable flag" is always set to "0" (disabled) when a manual pulse generator operation is not carried out. Mistakenly touching the manual pulse generator when the manual pulse generator enable flag is set to "1" (enable) can cause accidents or incorrect positioning.
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11 MANUAL CONTROL MELSEC-Q Restricted items A manual pulse generator is required to carry out manual pulse generator operation. Precautions during operation The following details must be understood before carrying out manual pulse generator operation. (1) The speed during manual pulse generator operation is not limited by the " Pr.8 Speed limit value". (2) If the " Cd.
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11 MANUAL CONTROL MELSEC-Q Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator operation timing and processing time. Cd. 21 Manual pulse generator enable flag (axis control data) 0 1 0 t3 Manual pulse generator input pulses BUSY signal t4 t1 [XC,XD,XE,XF] Start complete signal [X10, X11, X12, X13] Md. 26 Axis operation status The start complete signal does not turn ON in manual pulse generator operation.
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11 MANUAL CONTROL MELSEC-Q Position control by manual pulse generator operation In manual pulse generator operation, the position is moved by a "manual pulse generator 1 pulse movement amount" per pulse. The current feed value in the positioning control by manual pulse generator operation can be calculated using the expression shown below. Current feed value = Number of input pulses × Cd.20 Manual pulse generator 1 pulse input magnification × Manual pulse generator 1 pulse movement amount Pr.
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11 MANUAL CONTROL MELSEC-Q 11.4.2 Manual pulse generator operation execution procedure The manual pulse generator operation is carried out by the following procedure. STEP 1 Set the parameters ) Preparation Refer to Chapter 5 and Section 11.4.3. Pr.1 to Pr.24 ) One of the following two methods can be used. Directly set (write) the parameters in the QD75 using GX Configurator-QP. Set (write) the parameters from the PLC CPU to the QD75 using the sequence program (TO command).
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11 MANUAL CONTROL MELSEC-Q 11.4.3 Setting the required parameters for manual pulse generator operation The "Parameters" must be set to carry out manual pulse generator operation. The following table shows the setting items of the required parameters for carrying out manual pulse generator operation. When only manual pulse generator operation will be carried out, no parameters other than those shown below need to be set.
PAGE 473
11 MANUAL CONTROL MELSEC-Q 11.4.4 Creating a program to enable/disable the manual pulse generator operation A sequence program must be created to execute a manual pulse generator operation. Consider the "required control data setting", "start conditions" and "start time chart" when creating the program. The following shows an example when a manual pulse generator operation is started for axis 1.
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11 MANUAL CONTROL MELSEC-Q Start time chart Forward run t Reverse run Pulse input A phase Pulse input B phase ON [Y0] PLC READY signal OFF ON OFF QD75 READY signal [X0] Start complete signal [X10] OFF BUSY signal [XC] OFF Error detection signal [X8] OFF ON Cd. 21 Manual pulse generator enable flag Cd. 20 Manual pulse generator 1 pulse input magnification 0 1 1 Fig. 11.
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11 MANUAL CONTROL MELSEC-Q Creating the program Example á — No.
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11 MANUAL CONTROL MELSEC-Q MEMO 11 - 36
PAGE 477
Chapter 12 Control Sub Functions The details and usage of the "sub functions" added and used in combination with the main functions are explained in this chapter. A variety of sub functions are available, including functions specifically for machine OPR and generally related functions such as control compensation, etc. More appropriate, finer control can be carried out by using these sub functions.
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12 CONTROL SUB FUNCTIONS MELSEC-Q 12.1 Outline of sub functions "Sub functions" are functions that compensate, limit, add functions, etc., to the control when the main functions are executed. These sub functions are executed by parameter settings, commands from GX Configurator-QP, sub function sequence programs, etc. 12.1.1 Outline of sub functions The following table shows the types of sub functions available.
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12 CONTROL SUB FUNCTIONS MELSEC-Q Sub function Absolute position restoration function Details 3 This function restores the absolute position of the designated axis. Step function This function temporarily stops the operation to confirm the positioning operation during debugging, etc. The operation can be stopped at each "automatic deceleration" or "positioning data".
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12 CONTROL SUB FUNCTIONS MELSEC-Q 12.2 Sub functions specifically for machine OPR The sub functions specifically for machine OPR include the "OPR retry function" and "OP shift function". Each function is executed by parameter setting. 12.2.1 OPR retry function When the workpiece goes past the OP without stopping during positioning control, it may not move back in the direction of the OP although a machine OPR is commanded, depending on the workpiece position.
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12 CONTROL SUB FUNCTIONS MELSEC-Q (2) OPR retry operation when the workpiece is outside the range between the upper and lower limits. 1) When the direction from the workpiece to the OP is the same as the " Pr.44 OPR direction", a normal machine OPR is carried out. Machine OPR start OP Pr. 44 OPR direction Upper limit Lower limit Near-point dog Zero signal Movement range 2) When the direction from the workpiece to the OP is the opposite direction from the " Pr.
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12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Setting the dwell time during an OPR retry The OPR retry function can perform such function as the dwell time using " Pr.57 Dwell time at OPR retry" when the reverse run operation is carried out due to detection by the limit signal for upper and lower limits and when the machine OPR is executed after the near point dog is turned OFF to stop the operation. " Pr.
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12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precaution during control (1) The following table shows whether the OPR retry function may be executed by the " Pr.43 OPR method". Pr.
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12 CONTROL SUB FUNCTIONS MELSEC-Q 12.2.2 OP shift function When a machine OPR is carried out, the OP is normally established using the nearpoint dog, stopper, and zero signal. However, by using the OP shift function, the machine can be moved a designated movement amount from the position where the zero signal was detected. A mechanically established OP can then be interpreted at that point. The OP shift function can be used without relation to " Pr.43 OPR method".
PAGE 485
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Setting range for the OP shift amount Set the OP shift amount within the range from the detected zero signal to the upper/lower limit switches. Setting range of the negative OP shift amount Setting range of the positive OP shift amount Address decrease direction Address increase direction Near-point dog Upper limit Lower limit Pr. 44 OPR direction Zero signal Fig. 12.
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12 CONTROL SUB FUNCTIONS MELSEC-Q (2) OP shift operation at the " Pr.47 Creep speed" (When " Pr.56 Speed designation during OP shift" is 1) Pr. 44 OPR direction Pr. 47 Creep speed When the " Pr. 53 OP shift amount" is positive Zero point OP Machine OPR start When the " Pr. 53 OP shift amount" is negative Near-point dog Zero signal Fig. 12.7 OP shift operation at the creep speed [4] Precautions during control The following data are set after the OP shift amount is complete.
PAGE 487
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3 Functions for compensating the control The sub functions for compensating the control include the "backlash compensation function", "electronic gear function", and "near pass function". Each function is executed by parameter setting or sequence program creation and writing. 12.3.1 Backlash compensation function The "backlash compensation function" compensates the backlash amount in the mechanical system.
PAGE 488
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) The feed pulses of the backlash compensation amount are not added to the " Md.20 Current feed value" or " Md.21 Machine feed value". (2) Always carry out a machine OPR before starting the control when using the backlash compensation function (when " Pr.11 Backlash compensation amount" is set). The backlash in the mechanical system cannot be correctly compensated if a machine OPR is not carried out. (3) Set the No.
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12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3.2 Electronic gear function The "electronic gear function" adjusts the pulses calculated and output according to the parameters set in the QD75 with the actual machine movement amount. The "electronic gear function" has the following three functions.
PAGE 490
12 CONTROL SUB FUNCTIONS MELSEC-Q [1] Error compensation method When position control is carried out by the "movement amount per pulse" set in the QD75 parameters, an error sometimes occurs between the command movement amount (L) and the actual movement amount (L'). That error is compensated in the QD75 by adjusting the values in " Pr.2 No. of pulses per rotation (Ap)", " Pr.3 Movement amount per rotation (Al)", and " Pr.4 Unit magnification (Am)". (When " Pr.
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12 CONTROL SUB FUNCTIONS MELSEC-Q Calculation example (Conditions) : 500 (µm/rev) : 12000 (pulse/rev) :1 Movement amount per pulse No. of pulses per rotation Unit magnification (Positioning results) Command movement amount Actual movement amount : 100mm : 101mm (Compensation amount) AL' AP' = 3 5× 10 12000 × 3 101× 10 101× 10 3 Movement amount per pulse No. of pulses per rotation Unit magnification = 5050 12000 = 101 240 : 101 (µm/rev) : 240 (pulse/rev) :1 [Set in Pr.3 ] [Set in Pr.
PAGE 492
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Relation between the movement amount per pulse and speed The following shows the relation of the "movement amount per pulse (A)" to the command speed and actual speed. The command speed is the speed commanded by each control, and the actual speed is the actual feedrate.
PAGE 493
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Precautions during control It is recommended that the "movement amount per pulse (A)" be set to a value close to "1" for the following reasons. The "movement amount per pulse" of "1" means the minimum value in each " Pr.1 Unit setting". (0.1 [µm] for the unit [mm]) (1) If the setting of the movement amount per pulse is less than 1, the command frequency may increase, causing the actual speed to exceed the speed limit value (" Pr.8 Speed limit value", " Pr.
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12 CONTROL SUB FUNCTIONS MELSEC-Q 12.3.3 Near pass function When continuous pass control is carried out using interpolation control, the near pass function is carried out. The "near pass function" is a function to suppress the mechanical vibration occurring at the time of switching the positioning data when continuous pass control is carried out using interpolation control.
PAGE 495
12 CONTROL SUB FUNCTIONS [2] MELSEC-Q Precautions during control (1) If the movement amount designated by the positioning data is small when the continuous path control is executed, the output speed may not reach the designated speed. (2) If continuous path control is carried out, the output will suddenly reverse when the reference axis movement direction changes from the positioning data No. currently being executed to the next positioning data No.
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12 CONTROL SUB FUNCTIONS MELSEC-Q (3) When continuous path control of a circular interpolation is being carried out in the near pass, an address in which the extra movement amount is subtracted from the positioning address of the positioning data currently being executed is replaced by the starting point address of the next positioning data No. Because the starting point address will be replaced, an error "Large arc error deviation" (error code: 506) may occur. In this case, adjust the " Pr.
PAGE 497
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4 Functions to limit the control Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit", and "hardware stroke limit". Each function is executed by parameter setting or sequence program creation and writing. 12.4.1 Speed limit function The speed limit function limits the command speed to a value within the "speed limit value" setting range when the command speed during control exceeds the "speed limit value".
PAGE 498
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control If any axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis speed control, the axis in excess of the speed limit value is controlled at the speed limit value. The speeds of the other axes interpolated are suppressed depending on their command speed ratios. If the reference axis exceeds " Pr.
PAGE 499
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.2 Torque limit function The "torque limit function" limits the generated torque to a value within the "torque limit value" setting range when the torque generated in the servomotor exceeds the "torque limit value". The "torque limit function" protects the deceleration function, limits the power of the operation pressing against the stopper, etc. It controls the operation so that unnecessary force is not applied to the load and machine.
PAGE 500
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Control details The following drawing shows the operation of the torque limit function. Various operations PLC READY signal [Y0] Pr.17 Torque limit setting value Cd.22 New torque value 50% 100% 0% 0% Torque limited at the parameter torque limit setting value (100%) Md.35 Torque limit stored value 100% Torque limited at the parameter torque limit setting value (50%) 50% Fig. 12.
PAGE 501
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the torque limit function (1) To use the "torque limit function", set the "torque limit value" in the parameters shown in the following table, and write them to the QD75. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0). Setting value Setting item Pr.17 Torque limit setting value Pr.54 OPR torque limit value Factory-set initial value Setting details Set the torque limit value as a percentage.
PAGE 502
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.3 Software stroke limit function In the "software stroke limit function" the address established by a machine OPR is used to set the upper and lower limits of the moveable range of the workpiece. Movement commands issued to addresses outside that setting range will not be executed. In the QD75, the "current feed value" and "machine feed value" are used as the addresses indicating the current position.
PAGE 503
12 CONTROL SUB FUNCTIONS MELSEC-Q The following drawing shows the differences in the operation when " Md.20 Current feed value" and " Md.21 Machine feed value" are used in the moveable range limit check. [Conditions] Assume the current stop position is 2000, and the upper stroke limit is set to 5000. Moveable range Md. 20 Current feed value Md.
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12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Software stroke limit check details Processing when an error occurs Check details An error shall occur if the current value 1 is outside the software 1) stroke limit range 2. (Check " Md.20 Current feed value" or " Md.21 Machine feed value".) An "axis error" will occur (error code: An error shall occur if the command address is outside the software 507, 508) 2) stroke limit range. (Check " Da.6 Positioning address/movement amount".) 1Check whether the " Md.
PAGE 505
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Precautions during software stroke limit check (1) A machine OPR must be executed beforehand for the "software stroke limit function" to function properly. (2) During interpolation control, a stroke limit check is carried out for the every current value of both the reference axis and the interpolation axis. Every axis will not start if an error occurs, even if it only occurs in one axis. (3) During circular interpolation control, the " Pr.
PAGE 506
12 CONTROL SUB FUNCTIONS MELSEC-Q (5) During simultaneous start, a stroke limit check is carried out for the current values of every axis to be started. Every axis will not start if an error occurs, even if it only occurs in one axis. [5] Setting the software stroke limit function To use the "software stroke limit function", set the required values in the parameters shown in the following table, and write them to the QD75.
PAGE 507
12 CONTROL SUB FUNCTIONS MELSEC-Q [7] Setting when the control unit is "degree" Current value address The " Md.20 Current feed value" address is a ring address between 0 and 359.99999° . 359.99999° 0° 359.99999° 0° 0° Fig. 12.17 Current value address when the control unit is "degree". Setting the software stroke limit The upper limit value/lower limit value of the software stroke limit is a value between 0 and 359.99999° . (1) Setting when the software stroke limit is to be validated.
PAGE 508
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.4.4 Hardware stroke limit function ! DANGER When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact. If it is set in positive logic using a-contact, a serious accident may occur. In the "hardware stroke limit function", limit switches are set at the upper/lower limit of the physical moveable range, and the control is stopped (by deceleration stop) by the input of a signal from the limit switch.
PAGE 509
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Wiring the hardware stroke limit When using the hardware stroke limit function, wire the terminals of the QD75 upper/lower limit stroke limit as shown in the following drawing. (When " Pr.22 Input signal logic selection" is set to the initial value) QD75 FLS RLS COM 24VDC Note) Connect the upper and lower limit switches to the directions of increasing and decreasing current feed values respectively.
PAGE 510
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5 Functions to change the control details Functions to change the control details include the "speed change function", "override function", "acceleration/deceleration time change function" and "torque change function". Each function is executed by parameter setting or sequence program creation and writing. Both the "speed change function" or "override function" change the speed, but the differences between the functions are shown below.
PAGE 511
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) Control is carried out as follows at the speed change during continuous path control. a) When no speed designation (current speed) is provided in the next positioning data: The next positioning data is controlled at the " Cd.14 New speed value". b) When a speed designation is provided in the next positioning data: The next positioning data is controlled at its command speed ( Da.8 ).
PAGE 512
12 CONTROL SUB FUNCTIONS MELSEC-Q (4) When the speed is changed by setting " Cd.14 New speed value" to "0", the operation is carried out as follows. • A deceleration stop is carried out, and the speed change 0 flag ( Md.31 Status: b10) turns ON. (During interpolation control, the speed change 0 flag on the reference axis side turns ON.) • The axis stops, but " Md.26 Axis operation status" does not change, and the BUSY signal remains ON. (If a stop signal is input, the BUSY signal will turn OFF, and " Md.
PAGE 513
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the speed change function from the PLC CPU The following shows the data settings and sequence program example for changing the control speed of axis 1 from the PLC CPU. (In this example, the control speed is changed to "20.00mm/min".) (1) Set the following data. (Use the start time chart shown in section (2) below as a reference, and set using the sequence program shown in section (3).) Buffer memory address Setting value Setting item Cd.
PAGE 514
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Add the following sequence program to the control program, and write it to the PLC CPU. Example — á No.14 Speed change program
PAGE 515
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the speed change function using an external command signal The speed can also be changed using an "external command signal". The following shows the data settings and sequence program example for changing the control speed of axis 1 using an "external command signal". (In this example, the control speed is changed to "10000.00mm/min".) (1) Set the following data to change the speed using an external command signal.
PAGE 516
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Add the following sequence program to the control program, and write it to the PLC CPU. Example Write 1000000 to D108 and D109. External command valid signal DTOP H0 K1514 D108 K1 [Speed change processing] TOP H0 K1505 K1 Input the external command signal. 12 - 40 K1
PAGE 517
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.2 Override function The override function changes the command speed by a designated percentage (1 to 300%) for all control to be executed. The speed can be changed by setting the percentage (%) by which the speed is changed in " Cd.13 Positioning operation speed override". However, when a machine OPR is performed, an override cannot be made after a deceleration start to the creep speed following the detection of near-point dog ON.
PAGE 518
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precaution during control (1) When changing the speed during continuous path control, the speed change will be ignored if there is not enough distance remaining to carry out the change. (2) A warning "Deceleration/stop speed change (warning code: 500)" occurs and the speed cannot be changed in the following cases. (The value set in " Cd.13 Positioning operation speed override" is validated after a deceleration stop.
PAGE 519
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Add the following sequence program to the control program, and write it to the PLC CPU. Example á — No.
PAGE 520
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.3 Acceleration/deceleration time change function The "acceleration/deceleration time change function" is used to change the acceleration/deceleration time during a speed change to a random value when carrying out the speed change indicated in Section 12.5.1 "Speed change function". In a normal speed change (when the acceleration/deceleration time is not changed), the acceleration/deceleration time previously set in the parameters ( Pr.9 , Pr.10 , and Pr.25 to Pr.
PAGE 521
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) When "0" is set in " Cd.10 New acceleration time value" and " Cd.11 New deceleration time value", the acceleration/deceleration time will not be changed even if the speed is changed. In this case, the operation will be controlled at the acceleration/deceleration time previously set in the parameters. (2) The "new acceleration/deceleration time" is valid during execution of the positioning data for which the speed was changed.
PAGE 522
12 CONTROL SUB FUNCTIONS MELSEC-Q (4) If the "new acceleration/deceleration time" is set to "0" and the speed is changed after the "new acceleration/deceleration time" is validated, the operation will be controlled with the previous "new acceleration/deceleration time". Example New acceleration/deceleration time ( Cd. 10 , Cd. 11 ) Speed change V Speed change Speed change Controlled with the acceleration/ deceleration time in the parameter. t Cd.
PAGE 523
12 CONTROL SUB FUNCTIONS MELSEC-Q Example No.
PAGE 524
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.5.4 Torque change function The "torque change function" is used to change the torque limit value during torque limiting. The torque limit value during torque limiting is normally the value set in the " Pr.17 Torque limit setting value" that was previously set in the parameters. However, by setting the new torque limit value in the axis control data " Cd.
PAGE 525
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) If a value besides "0" is set in the " Cd.22 New torque value", the torque generated by the servomotor will be limited by that value. To limit the torque with the value set in " Pr.17 Torque limit setting value", set the " Cd.22 New torque value" to "0". (2) The " Cd.22 New torque value" is validated when written to the QD75.
PAGE 526
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.6 Absolute position restoration function ! CAUTION When the absolute position restoration is carried out, the servo ON signal may be turned OFF (servo OFF) for about 20 ms, and the motor may operate. If this is not desired, install an electromagnetic brake separately and lock the motor by that brake during the absolute position restoration.
PAGE 527
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) Preparation Prepare the absolute position detection system taking care of the following. Component Details 1) Servo amplifier • Install the battery to the servo amplifier. • Validate the absolute position detection function of the servo amplifier. Refer to the servo amplifier manual for details. • Use a servomotor with absolute position detector. Refer to the servomotor manual for details.
PAGE 528
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Absolute position signal transmission procedure (1) Figure 12.34 shows the outline of the absolute position signal transmission procedure between the servo amplifier and the PLC system (PLC CPU, QD75, I/O module). Refer to the operation manual of the servo amplifier for details on the communication between the servo amplifier and the PLC system.
PAGE 529
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Connection example The following diagram shows the example of connection between the PLC system and the Mitsubishi Electric servo amplifier (MR-H-A).
PAGE 530
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Controlling instructions (1) When an absolute position detection system is constructed, absolute position restoration must be made at least once after power supply on or resetting. Also, the servo amplifier does not switch on unless the absolute position restoration is completed.
PAGE 531
12 CONTROL SUB FUNCTIONS MELSEC-Q [Calculation of positioning address and concept of absolute position detection system] Use the following expression to calculate the positioning address. (Positioning address) = (movement amount per pulse) (number of output pulses) + (OP address).............................................. Expression 1 1.
PAGE 532
12 CONTROL SUB FUNCTIONS MELSEC-Q Example 2. (1) Using Expression 1, calculate the positioning address which can be specified in the system where the OP address in Example 1 is 214740000.0 (µm). • Lower limit value of positioning address (Positioning address) =0.1 (-268435456) + 214740000.0 =187896454.4 (µm) • Upper limit value of positioning address (Positioning address) =0.1 268435456 + 214740000.0 =241583545.
PAGE 533
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) Since the upper and lower limit values of the positioning address calculated are outside of the range of Condition 2, use the positioning address within the positioning range of Condition 2 (-2147483648 (µm) to 2147483647 (µm)). Unit: µm -241591910.4 OP 0 -214748364.8 Usable range in absolute position detection system Setting disallowed 214748364.7 241591909.5 Setting disallowed 2.
PAGE 534
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7 Other functions Other functions include the "step function", "skip function", "M code output function", "teaching function", "target position change function", "command in-position function", "acceleration/deceleration processing function", "pre-reading start function", "deceleration start flag function" and "stop command processing for deceleration stop function". Each function is executed by parameter setting or sequence program creation and writing. 12.7.
PAGE 535
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Step mode In step operations, the timing for stopping the control can be set. This is called the "step mode". (The "step mode" is set in the control data " Cd.34 Step mode".) The following shows the two types of "step mode" functions. (1) Deceleration unit step The operation stops at positioning data requiring automatic deceleration. (A normal operation will be carried out until the positioning data requiring automatic deceleration is found.
PAGE 536
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Using the step operation The following shows the procedure for checking positioning data using the step operation. (1) Turn ON the step valid flag before starting the positioning data. (Write "1" (carry out step operation) in " Cd.35 Step valid flag".) (2) Set the step mode before starting the positioning data. (Set in " Cd.34 Step mode".) (3) Turn ON the positioning start signal, and check that the positioning control starts normally.
PAGE 537
12 CONTROL SUB FUNCTIONS MELSEC-Q [5] Control details (1) The following drawing shows a step operation during a "deceleration unit step". ON Cd. 35 Step valid flag OFF ON Positioning start signal OFF [Y10, Y11, Y12, Y13] ON OFF BUSY signal [XC, XD, XE, XF] ON Positioning complete signal OFF [X14, X15, X16, X17] V Positioning t Positioning data No. No.10 No.11 11 01 Da. 1 Operation pattern No positioning data No.
PAGE 538
12 CONTROL SUB FUNCTIONS MELSEC-Q [6] Precautions during control (1) When step operation is carried out using interpolation control positioning data, the step function settings are carried out for the reference axis. (2) When the step valid flag is ON, the step operation will start from the beginning if the positioning start signal is turned ON while " Md.26 Axis operation status" is "step standing by". (The step operation will be carried out from the positioning data set in " Cd.3 Positioning start No.".
PAGE 539
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.2 Skip function The "skip function" is used to stop (deceleration stop) the control of the positioning data being executed at the time of the skip signal input, and execute the next positioning data. A skip is executed by a skip command ( Cd.37 Skip command) or external command signal. The "skip function" can be used during control in which positioning data is used. The details shown below explain about the "skip function".
PAGE 540
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the skip function from the PLC CPU The following shows the settings and sequence program example for skipping the control being executed in axis 1 with a command from the PLC CPU. (1) Set the following data. (The setting is carried out using the sequence program shown below in section (2)). Cd.37 Buffer memory address Setting value Setting item Skip command 1 Setting details Set "1: Skip request".
PAGE 541
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the skip function using an external command signal The skip function can also be executed using an "external command signal". The following shows the settings and sequence program example for skipping the control being executed in axis 1 using an "external command signal". (1) Set the following data to execute the skip function using an external command signal. (The setting is carried out using the sequence program shown below in section (2)).
PAGE 542
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.3 M code output function The "M code output function" is used to command sub work (clamping, drill rotation, tool replacement, etc.) related to the positioning data being executed. When the M code ON signal (X4, X5, X6, X7) is turned ON during positioning execution, a No. called the M code is stored in " Md.25 Valid M code". These " Md.25 Valid M code" are read from the PLC CPU, and used to command auxiliary work. M codes can be set for each positioning data.
PAGE 543
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) AFTER mode The M code ON signal (X4, X5, X6, X7) is turned ON at the positioning completion, and the M code is stored in " Md.25 Valid M code". ON Positioning start signal OFF [Y10, Y11, Y12, Y13] BUSY signal ON [XC, XD, XE, XF] OFF ON M code ON signal OFF [X4, X5, X6, X7] Cd. 7 M code OFF request 0 1 0 Md. 25 Valid M code m2 m1 V Positioning t Da. 1 Operation pattern 01 00 m1 and m2 indicate set M codes. Fig. 12.
PAGE 544
12 CONTROL SUB FUNCTIONS MELSEC-Q ON Positioning start signal OFF [Y10, Y11, Y12, Y13] BUSY signal ON [XC, XD, XE, XF] OFF M code ON signal OFF [X4, X5, X6, X7] ON Cd. 7 M code OFF request 0 1 0 Md. 25 Valid M code 1 0 m2 m1 m3 V Positioning t Da. 1 Operation pattern 11 m1 and m3 indicate set M codes. 11 00 Warning occurs at this timing. Fig. 12.
PAGE 545
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Setting the M code output function The following shows the settings to use the "M code output function". (1) Set the M code No. in the positioning data " Da.10 M code". (2) Set the timing to output the M code ON signal (X4, X5, X6, X7). Set the required value in the following parameter, and write it to the QD75. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0). Pr.
PAGE 546
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.4 Teaching function The "teaching function" is used to set addresses aligned using the manual control (JOG operation, inching operation manual pulse generator operation) in the positioning data addresses (" Da.6 Positioning address/movement amount", " Da.7 Arc address"). The details shown below explain about the "teaching function".
PAGE 547
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) Before teaching, a "machine OPR" must be carried out to establish the OP. (When a current value changing, etc., is carried out, " Md.20 Current feed value" may not show absolute addresses having the OP as a reference.) (2) Teaching cannot be carried out for positions to which movement cannot be executed by manual control (positions to which the workpiece cannot physically move).
PAGE 548
12 CONTROL SUB FUNCTIONS MELSEC-Q [4] Teaching procedure The following shows the procedure for a teaching operation. (1) When teaching to the " Da.6 Positioning address/movement amount" (Teaching example on axis 1) Start Perform machine OPR on axis 1 Move the workpiece to the target position using a manual operation. Using a JOG operation, inching operation, or manual pulse generator. Set Writes the current feed value to Da.6 Positioning address/ movement amount in teaching data selection.
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12 CONTROL SUB FUNCTIONS MELSEC-Q (2) When entering teaching data into " Da.7 Arc address" and then into " Da.6 Positioning address/movement amount" (Teaching example for 2axis circular interpolation control with sub point designation on axes 1 and 2) Start Carry out a machine OPR. Move the workpiece to the circular interpolation sub point using a manual operation. *1 Using a JOG operation, inching operation, or manual pulse generator.
PAGE 550
12 CONTROL SUB FUNCTIONS 2) MELSEC-Q 1) Teaching arc end point address on axis 2. Entering teaching data to buffer memory address [1648] and [1649], in the same fashion as for axis 1. End teaching? Turn OFF the PLC READY signal [Y0]. Carry out a writing request to the flash ROM. Set 1 in buffer memory address [1900]. Confirm 0 in buffer memory address [1900]. Confirm completion of writing.
PAGE 551
12 CONTROL SUB FUNCTIONS MELSEC-Q [5] Teaching program example The following shows a sequence program example for setting (writing) the positioning data obtained with the teaching function to the QD75. (1) Setting conditions • When setting the current feed value as the positioning address, write it when the BUSY signal is OFF. (2) Program example • The following example shows a program to carry out the teaching of axis 1 by the dedicated instruction "TEACH 1".
PAGE 552
12 CONTROL SUB FUNCTIONS 2) MELSEC-Q Carry out the teaching operation with the following program. Example No.20 Teaching program Position to the target position with manual operation. POINT (1) Confirm the teaching function and teaching procedure before setting the positioning data.
PAGE 553
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.5 Target position change function The "target position change function" is a function to change a target position to a newly designated target position at any timing during the position control (1-axis linear control). A command speed can also be changed simultaneously. The target position and command speed changed are set directly in the buffer memory, and the target position change is executed by " Cd.29 Target position change request flag".
PAGE 554
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during operation (1) If the positioning movement direction from the stop position to a new target position is reversed, stop the operation once and then position to the new target position. (Refer to Fig. 12.41 (c).) (2) If a command speed exceeding the speed limit value is set to change the command speed, a warning will be given, and the new command speed will be the speed limit value (warning code: 501).
PAGE 555
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Method of setting target position change function from PLC CPU The following table and chart show the example of a data setting and sequence program used to change the target position of the axis 1 by the command from the PLC CPU, respectively. (example in which the target position value and command speed are changed to a new target position of "300.0 m" and a new command speed of "10000.00 mm/min".) (1) The following data is set.
PAGE 556
12 CONTROL SUB FUNCTIONS MELSEC-Q (3) The following sequence program is added to the control program, and written to the PLC CPU. Example No.22 Target position change program
PAGE 557
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.6 Command in-position function The "command in-position function" checks the remaining distance to the stop position during the automatic deceleration of positioning control, and raises a flag. This flag is called the "command in-position flag". The command in-position flag is used as a frontloading signal indicating beforehand the completion of the position control. The details shown below explain about the "command in-position function".
PAGE 558
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) A command in-position width check will not be carried out in the following cases. • During speed control • During speed control in speed-position switching control • During speed control in position-speed switching control V Positioning control start Command in-position width setting value Speed to position switching Speed-position Command in-position switching width setting value control start t ON Command in-position flag [ Md.
PAGE 559
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting the command in-position function To use the "command in-position function", set the required value in the parameter shown in the following table, and write it to the QD75. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0). Setting value Setting item Pr.16 Factory-set initial value Setting details Turn ON the command in-position flag, and set the remaining distance to the stop position of the position control.
PAGE 560
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.7 Acceleration/deceleration processing function The "acceleration/deceleration processing function" adjusts the acceleration/deceleration when each control is executed. Adjusting the acceleration/deceleration processing to match the control enables more precise control to be carried out. There are two acceleration/deceleration adjustment items that can be set: "Acceleration/deceleration time 0 to 3", and "acceleration/deceleration method setting".
PAGE 561
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] "Acceleration/deceleration method setting" control details and setting In the "acceleration/deceleration method setting", the acceleration/deceleration processing method is selected and set. The set acceleration/deceleration processing is applied to all acceleration/deceleration. The two types of "acceleration/deceleration method setting" are shown below.
PAGE 562
12 CONTROL SUB FUNCTIONS MELSEC-Q When a speed change request is given during S-pattern acceleration/deceleration processing, S-pattern acceleration/deceleration processing begins at a speed change request start. When speed change request is not given Speed change (acceleration) Command speed before speed change Speed change request Speed change (deceleration) Fig. 12.
PAGE 563
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.8 Pre-reading start function The "pre-reading start function" does not output pulses while the execution prohibition flag is ON if a positioning start request is given with the execution prohibition flag ON, and starts outputting pulses within 3m after OFF of the execution prohibition flag is detected. The positioning start request is given when the axis is in a standby status, and the execution prohibition flag is turned OFF at the axis operating timing.
PAGE 564
12 CONTROL SUB FUNCTIONS MELSEC-Q The pre-reading start function is effective for the system as shown below. Cutter Cutter shaft Feed shaft Stock Fig. 12.49 System example using pre-reading start function Fig. 12.49 shows a system example which repeats: 1) Feeding a stock with a feed shaft; and 2) Cutting it with a cutter to cut the stock to fixed size. The operations of the feed shaft and cutter shaft are represented as shown in Fig. 12.50.
PAGE 565
12 CONTROL SUB FUNCTIONS MELSEC-Q V Feed shaft t Start time Ts Start time Ts Stop time Tw Cutter shaft t Start time Ts Feed shaft start request Cutter shaft start request 1 2 Fig. 12.50 Operation timings of system example The cutter shaft starts from the moment the feed shaft has completed feeding the stock " 1 ", and the feed shaft starts from the moment the cutter shaft has returned to the standby position " 2 ".
PAGE 566
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Controlling instructions (1) The time required to analyze the positioning data is up to 7ms. (2) After positioning data analysis, the system is put in an execution prohibition flag OFF waiting status. Any change made to the positioning data in the execution prohibition flag OFF waiting status is not reflected on the positioning data. Change the positioning data before turning ON the positioning start signal.
PAGE 567
12 CONTROL SUB FUNCTIONS MELSEC-Q Pre-reading start function (when dedicated instruction PSTRT1 is used)
PAGE 568
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.9 Deceleration start flag function The "deceleration start flag function" turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete". This function can be used as a signal to start the operation to be performed by other equipment at each end of position control or to perform preparatory operation, etc. for the next position control.
PAGE 569
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) Block start At a block start, this function is valid for only the position control whose operation pattern is "Positioning complete" at the point whose shape has been set to "End". (Refer to Fig. 12.52.) The following table indicates the operation of the deceleration start flag in the case of the following block start data and positioning data. Block start data 1st point 2nd point 3rd point Da.13 Da.11 Da.12 Shape Start data No.
PAGE 570
12 CONTROL SUB FUNCTIONS MELSEC-Q [2] Precautions during control (1) The deceleration start flag function is valid for the control system of "1-axis linear control", "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "speed-position switching control" or "position-speed switching control". (In the case of linear interpolation control, the function is valid for only the reference axis.) Refer to Section 3.2.
PAGE 571
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Deceleration start flag function setting method To use the "deceleration start flag function", set "1" to the following control data using a sequence program. The set data is made valid on the rising edge (OFF to ON) of the PLC READY signal [Y0]. Setting value Setting item Cd.41 Deceleration start flag valid Setting details Buffer memory address Set whether the deceleration start flag function is made valid or invalid.
PAGE 572
12 CONTROL SUB FUNCTIONS MELSEC-Q 12.7.10 Stop command processing for deceleration stop function The "stop command processing for deceleration stop function" is provided to set the deceleration curve if a stop cause occurs during deceleration stop processing (including automatic deceleration). This function is valid for both automatic trapezoidal and S-pattern acceleration/deceleration processing methods. (For the stop cause, refer to Section 1.2.3 Outline of stopping.
PAGE 573
12 CONTROL SUB FUNCTIONS MELSEC-Q (2) Deceleration curve continuation The current deceleration curve is continued after a stop cause has occurred. If a stop cause occurs during automatic deceleration of position control, the deceleration stop processing may be complete before the target has reached the positioning address specified in the positioning data that is currently executed. Stop cause occurrence V Deceleration stop processing (automatic deceleration) start t Fig. 12.
PAGE 574
12 CONTROL SUB FUNCTIONS MELSEC-Q [3] Setting method To use the "stop command processing for deceleration stop function", set the following control data in a sequence program. The set data are made valid as soon as they are written to the buffer memory. The PLC ready signal [Y0] is irrelevant. Setting item Stop command processing for Cd.42 deceleration stop selection Setting value Setting details Set the stop command processing for deceleration stop function.
PAGE 575
Chapter 13 Common Functions The details and usage of the "common functions" executed according to the user's requirements are explained in this chapter. Common functions include functions required when using the QD75, such as parameter initialization and execution data backup. Read the setting and execution procedures for each common function indicated in this chapter thoroughly, and execute the appropriate function where required. 13.1 13.2 13.3 13.4 13.5 Outline of common functions.....................
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13 COMMON FUNCTIONS MELSEC-Q 13.1 Outline of common functions "Common functions" are executed according to the user's requirements, regardless of the control system, etc. These common functions are executed by peripheral devices or using sequence programs. The following table shows the functions included in the "common functions". Means Common function Details Parameter initialization This function returns the parameter stored in the QD75 buffer memory and flash ROM to the factory-set initial value.
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13 COMMON FUNCTIONS MELSEC-Q 13.2 Parameter initialization function "The parameter initialization function" is used to return the setting data set in the QD75 buffer memory and flash ROM to their factory-set initial values. The details shown below explain about the "parameter initialization function".
PAGE 578
13 COMMON FUNCTIONS MELSEC-Q [4] Parameter initialization method (1) Parameter initialization is carried out using the dedicated instruction "PINIT". (Refer to Chapter 14 "Dedicated instructions" for details.) (2) Parameter initialization can also be carried out by the writing of the data shown in the table below to the buffer memory using the TO command/intelligent function device. The initialization of the parameter is executed at the time point the data is written to the QD75 buffer memory.
PAGE 579
13 COMMON FUNCTIONS MELSEC-Q 13.3 Execution data backup function When the QD75 buffer memory data is rewritten from the PLC CPU, "the data backed up in the QD75 flash ROM" may differ from "the data (buffer memory data) for which control is being executed". In cases like these, the data being executed will be lost when the PLC power is turned OFF. (Refer to Chapter 7.) In cases like these, the "execution data backup function" backs up the data being executed by writing it to the flash ROM.
PAGE 580
13 COMMON FUNCTIONS MELSEC-Q [4] Execution data backup method (1) Execution data backup (writing to the flash ROM) is carried out using the dedicated instruction "PFWRT". (Refer to Chapter 14 "Dedicated instructions" for details.) (2) Refer to Section 7.2 "Data transmission process" for the data transmission processing at the backup of the execution data.
PAGE 581
13 COMMON FUNCTIONS MELSEC-Q 13.4 External I/O signal logic switching function This function switches the signal logic according to the external equipment connected to the QD75. For the system in which drive unit READY with b-contact, upper limit switch, and lower limit switch are not used, the parameter logic setting can be controlled without wiring if it is changed to a "positive logic". When the drive unit READY, upper limit switch, and lower limit switch are used, ensure to use them with b-contact.
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13 COMMON FUNCTIONS MELSEC-Q 13.5 External I/O signal monitor function The "External I/O signal monitor function" monitors the module's information and external I/O signal monitor information in the module's detailed information which can be displayed on the system monitor of GX Developer . The information that can be monitored are the module's information (same as the QD75 front "RUN", "ERR" LED indicators) and the following external I/O signals. (Set the logic of the external I/O signals in " Pr.
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Chapter 14 Dedicated instructions The QD75 dedicated instructions are explained in this chapter. These instructions are used to facilitate the programming for the use of the functions of the intelligent function module. Using the dedicated instructions, the programming can be carried out without being aware of the QD75 buffer memory address and interlock signal. 14.1 14.2 14.3 14.4 14.5 14.6 14.7 List of dedicated instructions ..............................................................................
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14 DEDICATED INSTRUCTIONS MELSEC-Q 14.1 List of dedicated instructions The dedicated instructions explained in this Chapter are listed in Table 14.1. Table 14.1 List of dedicated instructions Dedicated instruction Application Outline of functions Reference ABRST1 Absolute position restoration ABRST2 ABRST3 This function restores the absolute position of the designated Section 14.3 axis of the QD75.
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14 DEDICATED INSTRUCTIONS MELSEC-Q 14.3 ABRST1, ABRST2, ABRST3, ABRST4 These dedicated instructions restore the absolute position of the designated axis. Setting data Internal device Bit (S) (D) Word Usable device MELSECNET/10 Special direct J \ module U \G Bit Word File register – Constant Others K, H, $ – – – [Instruction symbol] Index register Zn – – – – [Execution condition] ABRST1 ABRST2 ABRST3 ABRST4 Z.ABRST1 "Un" (S) (D) Z.ABRST2 "Un" (S) (D) Z.
PAGE 586
14 DEDICATED INSTRUCTIONS MELSEC-Q [Control data] Device Item (S)+0 System area (S)+1 (S)+2 (S)+3 (S)+4 Setting data – The state at the time of completion is stored. •0 Complete status : Normal completion • Other than 0 : Abnormal completion (error code)( 2) The following signal states taken in from the servo amplifier to the input module are written.
PAGE 587
14 DEDICATED INSTRUCTIONS MELSEC-Q (2) An I/O module is used for communication (data read/write) with the servo amplifier capable of processing the absolute positions. When using the ABRST , prepare the input/output with the following number of points, for each axis, for communication with the servo amplifier. • Input : 3 points • Output : 3 points Refer to Section 12.6 for wiring of I/O signals. (3) The ABRST instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1).
PAGE 588
14 DEDICATED INSTRUCTIONS MELSEC-Q (4) Using the ABRST instruction, the absolute position restoration is carried out in the following procedure. Start Output the ((S)+3) data. . . . . . Output . . . . the Set the data in ((S)+2). . . . . . Set . . the . . Execute the ABRST servo ON, ABS transfer mode, and ABS request flag to the output module using the sequence program. ABS data bit 0/bit 1 and transmission data READY flag using the sequence program. instruction.
PAGE 589
14 DEDICATED INSTRUCTIONS MELSEC-Q (6) If the ABRST instruction is executed in either of the following cases, an error "Dedicated instruction error" (error code: 804) will occur and absolute position restoration cannot be carried out. • Any value other than 0 is set to "Status" (device: (S)+4) of the control data. • The instruction for a non-existent axis is specified. (Example: The ABRST2 instruction is specified when the QD75P1 is used.
PAGE 590
14 DEDICATED INSTRUCTIONS MELSEC-Q 14.4 PSTRT1, PSTRT2, PSTRT3, PSTRT4 These dedicated instructions are used to start the positioning of the designated axis. Setting data Internal device Bit (S) (D) Word Usable device MELSECNET/10 Special direct J \ module U \G Bit Word File register – Constant Others K, H, $ – – – [Instruction symbol] Index register Zn – – – – [Execution condition] PSTRT1 PSTRT2 PSTRT3 PSTRT4 ZP.PSTRT1 "Un" (S) (D) ZP.PSTRT2 "Un" (S) (D) ZP.
PAGE 591
14 DEDICATED INSTRUCTIONS MELSEC-Q [Control data] Device Item (S)+0 System area Setting data Setting range – – The state at the time of completion is stored. – (S)+1 Complete status •0 : Normal completion • Other than 0: Abnormal completion (error code)( 2) The following data Nos. to be started by the PSTRT instruction are designated. : 1 to 600 • Positioning data No. 1 to 600 : 7000 to 7004 • Block start (S)+2 Start No.
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14 DEDICATED INSTRUCTIONS END processing MELSEC-Q END processing END processing END processing Sequence program ON PSTRT instruction PSTRT instruction execution completion OFF ON Complete device OFF ON Complete state display device When completed abnormally When completed normally OFF 1 scan [Errors] (1) When an PSTRT instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
PAGE 593
14 DEDICATED INSTRUCTIONS MELSEC-Q (6) If the PSTRT instruction is executed in either of the following cases, an error "Dedicated instruction error" (error code: 804) will occur and positioning cannot be started. • Any value other than 1 to 600, 7000 to 7004, and 9001 to 9004 is set to "Starting number" (device: (S)+2) of the control data. • The instruction for a non-existent axis is specified. (Example: The PSTRT2 instruction is specified when the QD75P1 is used.
PAGE 594
14 DEDICATED INSTRUCTIONS MELSEC-Q 14.5 TEACH1, TEACH2, TEACH3, TEACH4 These dedicated instructions are used to teach the designated axis. Setting data Internal device Bit (S) (D) Word Usable device MELSECNET/10 Special direct J \ module U \G Bit Word File register – Constant Others K, H, $ – – – [Instruction symbol] Index register Zn – – – – [Execution condition] TEACH1 TEACH2 TEACH3 TEACH4 ZP.TEACH1 "Un" (S) (D) ZP.TEACH2 "Un" (S) (D) ZP.TEACH3 "Un" (S) (D) ZP.
PAGE 595
14 DEDICATED INSTRUCTIONS MELSEC-Q [Control data] Device Item (S)+0 System area (S)+1 (S)+2 (S)+3 Setting data – The state at the time of completion is stored. Complete status 0 : Normal completion Other than 0 : Abnormal completion (error code)( 2) The address (positioning address/arc address) to which Teaching data the current feed value is written is set. selection 0: Current feed value is written to positioning address. 1: Current feed value is written to arc address. The positioning data No.
PAGE 596
14 DEDICATED INSTRUCTIONS END processing MELSEC-Q END processing END processing END processing Sequence program ON TEACH instruction TEACH instruction execution completion OFF ON Complete device OFF When completed abnormally When completed normally ON Complete state display device OFF 1 scan [Errors] (1) When a TEACH instruction is completed abnormally, the error complete signal ((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
PAGE 597
14 DEDICATED INSTRUCTIONS MELSEC-Q [Program example] Program to execute the teaching of the positioning data No. 3 of the axis 1 when X39 is turned ON. No. 20 Teaching program Positioned manually to target position.
PAGE 598
14 DEDICATED INSTRUCTIONS MELSEC-Q 14.6 PFWRT These dedicated instructions are used to write the QD75 parameters, positioning data and block start data to the flash ROM. Setting data Internal device Bit (S) (D) Word Usable device MELSECNET/10 Special direct J \ module U \G Bit Word File register – Constant Others K, H, $ – – – [Instruction symbol] Index register Zn – – – – [Execution condition] PFWRT ZP.
PAGE 599
14 DEDICATED INSTRUCTIONS MELSEC-Q [Functions] (1) The PFWRT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1). (a) Complete device ((D)+0) This device is turned ON by the END processing of the scan for which PFWRT instruction is completed, and turned OFF by the next END processing. (b) Complete state display device ((D)+1) This device is turned ON and OFF according to the state in which PFWRT instruction is completed. • When completed normally : Kept unchanged at OFF.
PAGE 600
14 DEDICATED INSTRUCTIONS MELSEC-Q [Precautions] (1) Do not turn ON the power and reset the PLC CPU while parameters, positioning data and block start data are written to the flash ROM using the PFWRT instruction. A parameter error will occur or normal positioning start will become impossible because the parameters, positioning data and block start data are not written normally to the flash ROM. If this occurs, restart the operation by the method shown below.
PAGE 601
14 DEDICATED INSTRUCTIONS MELSEC-Q [Program example] Program used to write the parameters and positioning data stored in the buffer memory to the flash ROM when X3D is turned ON. No.
PAGE 602
14 DEDICATED INSTRUCTIONS MELSEC-Q 14.7 PINIT This dedicated instruction is used to initialize the setting data of the QD75. Setting data Internal device Bit (S) (D) Word Usable device MELSECNET/10 Special direct J \ module U \G Bit Word File register – Constant Others K, H, $ – – – [Instruction symbol] Index register Zn – – – – [Execution condition] PINIT Z.
PAGE 603
14 DEDICATED INSTRUCTIONS MELSEC-Q [Functions] (1) This dedicated instruction is used to return the setting data set in the QD75 buffer memory and flash ROM to their factory-set data (initial values). Initialized setting data Parameters ( Pr.1 to Pr.57 , Pr.150 ) Positioning data (No. 1 to No. 600) Block start data (No. 7000 to 7004) (2) The PINIT instruction completion can be confirmed using the complete devices ((D)+0) and ((D)+1).
PAGE 604
14 DEDICATED INSTRUCTIONS MELSEC-Q [Program example] The following program initializes the parameters in buffer memory and flash ROM when X3C turns ON. No.
PAGE 605
Chapter 15 Troubleshooting The "errors" and "warnings" detected by the QD75 are explained in this chapter. Errors can be confirmed with the QD75 LED display and peripheral devices. When an error or warning is detected, confirm the detection details and carry out the required measures. 15.1 15.2 15.3 15.4 Error and warning details.........................................................................................15- 2 List of errors ....................................................................
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15 TROUBLESHOOTING MELSEC-Q 15.1 Error and warning details [1] Errors Types of errors Errors detected by the QD75 include parameter setting range errors and errors at the operation start or during operation. (1) Parameter setting range errors The parameters are checked when the power is turned ON and at the rising edge (OFF ON) of the PLC READY signal [Y0]. An error will occur if there is a mistake in the parameter setting details at that time.
PAGE 607
15 TROUBLESHOOTING MELSEC-Q Error storage When an error occurs, the error detection input turns ON, and the error code corresponding to the error details is stored in the following buffer memory address ( Md.23 Axis error No.) for axis error No. storage. Note that there is a delay of up to 1.8 ms after the error detection signal turns ON until the error code is stored. Axis No.
PAGE 608
15 TROUBLESHOOTING MELSEC-Q Warning storage (1) When an axis warning occurs, the warning code corresponding to the warning details is stored in the following buffer memory ( Md.24 Axis warning No.) for axis warning No. storage. Axis No. Buffer memory address 1 807 2 907 3 1007 4 1107 (2) When an axis warning occurs in a positioning operation, etc., "1" is set in bit 9 (b9) of the following buffer memory ( Md.31 Status) for axis status storage. Axis No.
PAGE 609
15 TROUBLESHOOTING MELSEC-Q MEMO 15 - 5
PAGE 610
15 TROUBLESHOOTING MELSEC-Q 15.2 List of errors The following table shows the error details and remedies to be taken when an error occurs. Classification of errors — Fatal errors Error code 000 (Normal status) 001 Faults 002 Internal circuit fault Error Operation status at error occurrence — — Hardware is faulty. The system stops.
PAGE 611
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) Remedy — — — — — — — — — — — • Check that there is no influence from noise. • Check hardware for possibility of fault. — — — — — • Review the sequence program which turns ON/OFF PLC READY signal (Y0). • Cancel the error with an axis error reset. (Refer to Section 15.
PAGE 612
15 TROUBLESHOOTING Classification of errors Error code 203 204 205 OPR Error name MELSEC-Q Error The near-point dog signal is turned Dog detection timing OFF during the deceleration from an fault OPR speed to a creep speed by the near-point dog machine OPR. The system stops with the setting (deceleration stop/sudden stop) of the The zero signal is turned OFF during detailed parameter 2 Sudden stop OP detection timing the deceleration from an OPR speed selection (stop group 3).
PAGE 613
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 74 75 224 225 374 375 MELSEC-Q Set range (Setting with sequence program) Remedy • Lower the OPR speed. • Increase the dog signal input time. (Refer to Section 8.2.3) 524 525 • Lower the OPR speed. 1 to 1000000 [pulse/s] 1 to 2000000000 [mm/min or others] • Input external zero signals during the movement at a creep speed. (Refer to Section 8.2.
PAGE 614
15 TROUBLESHOOTING Classification of errors Error code Error name MELSEC-Q Error Operation status at error occurrence • The partner axis for simultaneous start is BUSY. 501 Error before simultaneous start Positioning operation • The partner axis for simultaneous During operation: The system stops start is BUSY. immediately.
PAGE 615
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Refer to Section 5.5 "List of condition data" MELSEC-Q Set range (Setting with sequence program) Axis designation: 10H, 20H, 30H, 40H, 50H, 60H, 70H, 80H, 90H, A0H, B0H, C0H, D0H, E0H Remedy Normalize the condition operators. (Refer to Section 5.5 Da.16 ) 1540 1640 1740 1840 Axis 1 start data No. 1541 1641 1741 1841 Axis 2 start data No.
PAGE 616
15 TROUBLESHOOTING Classification of errors Error code 504 Error name Error Operation status at error occurrence Outside linear movement amount range • When the parameter "interpolation speed designation method" performs a linear interpolation in setting a "composite speed", the axis movement amount for each positioning data exceeds At start: The system will not operate. 1073741824(230). During operation: The system stops • The positioning address is immediately. –360.00000 or less or 360.
PAGE 617
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Refer to Section 5.
PAGE 618
15 TROUBLESHOOTING Classification of errors Error code Error name MELSEC-Q Error At start: The system will not operate. In the analysis of new current value: • Positioning is carried out at a Current value is not position beyond the software stroke changed. limit upper limit. During operation: • The positioning address and new • The system stops current value exceed the software immediately when the stroke limit upper limit.
PAGE 619
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) Remedy New current value 1506 1606 1706 1806 1507 1607 1707 1807 Software stroke limit upper limit 18 19 168 169 318 319 • [mm] [inch] [pulse] –2147483648 to 2147483647 468 • [degree] 469 0 to 35999999 Software stroke limit lower limit 20 21 170 171 320 321 At start: Bring the current feed value into the s
PAGE 620
15 TROUBLESHOOTING Classification of errors Positioning operation Error code Error name MELSEC-Q Error 518 Outside operation pattern range • The operation pattern set value is 2. • A target position change is requested on those control systems other than ABS1 and INC1. • A target position change is carried out in continuous path control. • A changed address is outside the software stroke limit. • A target position change is carried out during deceleration stop.
PAGE 621
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) Remedy Correct the operation pattern. (Refer to Section 5.3 Da.1 ) Same as error codes 515 to 516 Correct the control system. (Refer to Section 5.3 Da.2 ) 0 150 300 450 Correct the positioning data or change the parameter "Unit setting" of the axis to be interpolated. (Refer to Section 9.1.6) 0, 1, 2, 3 • Correct the control system. (Refer to Section 5.
PAGE 622
15 TROUBLESHOOTING Classification of errors Error code Error Operation status at error occurrence Control system setting error • The control system setting value is outside the specified limit. • The number of control axes differs from the previous data when continuous positioning control or continuous path control is to be exercised for continuously. • Machine OPR, fast OPR, or speedposition or position-speed switching control was performed in the wiring-less mode.
PAGE 623
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) Remedy • Correct the control system or parameter. (Refer to Section 9.1.6, 9.2.20) • Do not make setting at buffer memory address 1906 (use prohibited area). Same as error codes 515 to 516 Correct the sub address (arc address). (Refer to Section 9.2.10) • unit [mm] [pulse] [inch] –2147483648 to 2147483647 (Unit [degree]) cannot be set.
PAGE 624
15 TROUBLESHOOTING Classification of errors Error code 533 Positioning operation Error name MELSEC-Q Error Operation status at error occurrence • The condition setting values are not set or outside the setting range. • The condition operator setting values are not set or outside the setting range. • The condition operator is a bit Condition data error operator, and the parameter 1 is 32 or more. • An unusable condition operator is set for the set condition.
PAGE 625
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) — Remedy Normalize the block start data. Refer to Section 5.4 "Block start data" 00H to 06H Refer to Section 5.3 "List of positioning data" 1504 1604 1704 1804 Correct the instruction code of the special start data. (Refer to Section 5.4 Da.13 ) Correct the control system. (Refer to Section 5.3 Da.
PAGE 626
15 TROUBLESHOOTING Classification of errors Positioning operation Error code Error name MELSEC-Q Error Operation status at error occurrence 546 At start: The system will not operate. During operation: The system decelerates to a The setting value of ABS direction in stop. the unit of degree is as follows. Illegal setting of ABS (Note that, in the continuous direction in unit of • Set outside the setting range.
PAGE 627
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 ABS setting direction in the unit of degree 1550 1650 1750 1850 MELSEC-Q Set range (Setting with sequence program) 0: Shortcut 1: Clockwise 2: Counterclockwise Remedy • Set the ABS setting direction in the unit of degree within the setting range. • Set "0" when the software stroke limits are valid. (Refer to Section 9.1.
PAGE 628
15 TROUBLESHOOTING Classification of errors Error code Error name MELSEC-Q Error The set range of the basic parameter 1 "Unit setting" is outside the setting range. 900 Outside unit setting range 901 Outside pulse The set range of the basic parameter number per rotation 1 "No. of pulses per rotation" is range outside the setting range. 902 Outside movement The set range of the basic parameter amount per rotation 1 "Movement amount per rotation" is range outside the setting range.
PAGE 629
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) 0 150 300 450 0, 1, 2, 3 1 151 301 451 1 to 65535 2 152 302 452 1 to 65535 Remedy With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON. 3 153 303 453 1, 10, 100, 1000 4 154 304 454 0, 1, 2, 3 5 155 305 455 0, 1 6 7 156 157 306 307 456 457 Set the bias speed to not more than the speed limit value.
PAGE 630
15 TROUBLESHOOTING Classification of errors Parameter Error code Error name MELSEC-Q Error Operation status at error occurrence 922 • In the unit of degree, the set range of the detailed parameter 1 "Software stroke limit lower limit value" is outside Software stroke limit the setting range. lower limit • In a unit other than degree, the software stroke limit upper limit value is smaller than the software stroke limit lower limit value.
PAGE 631
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) • [mm] [inch] [pulse] –2147483648 to 2147483647 • [degree] 0 to 35999999 20 21 170 171 320 321 470 471 22 172 322 472 0, 1 23 173 323 473 0, 1 24 25 174 175 324 325 474 475 1 to 2147483647 26 176 326 476 1 to 500 27 177 327 477 0, 1 28 178 328 478 0, 1 29 179 329 479 0, 1 30 180 330 480 0, 1, 2 33 Remedy • Bring the setting into th
PAGE 632
15 TROUBLESHOOTING Classification of errors Error code Error name MELSEC-Q Error 954 Deceleration time 2 setting error The set range of the detailed parameter 2 "Deceleration time 2" is outside the setting range. 955 Deceleration time 3 setting error The set range of the detailed parameter 2 "Deceleration time 3" is outside the setting range. 956 JOG speed limit value error • The set range of the detailed parameter 2 "JOG speed limit value" is outside the setting range.
PAGE 633
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) 44 45 194 195 344 345 494 495 1 to 8388608 46 47 196 197 346 347 496 497 1 to 8388608 Remedy With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON.
PAGE 634
15 TROUBLESHOOTING Classification of errors Error code Error name MELSEC-Q Error 981 OPR direction error The set range of the OPR basic parameter "OPR direction" is outside the setting range. 982 OP address setting error The set range of the OPR basic parameter "OP address" is outside the setting range. OPR speed error • The set range of the OPR basic parameter "OPR speed" is outside the setting range.
PAGE 635
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 71 221 371 521 MELSEC-Q Set range (Setting with sequence program) Remedy 0, 1 With the setting brought into the setting range, turn the PLC READY signal [Y0] from OFF to ON. 72 73 222 223 372 373 • [mm] [inch] [pulse] 522 –2147483648 to 2147483647 523 • [degree] 0 to 35999999 74 75 224 225 374 375 524 525 • Bring the setting into the setting range.
PAGE 636
15 TROUBLESHOOTING MELSEC-Q 15.3 List of warnings The following table shows the warning details and remedies to be taken when a warning occurs. Classification Warning of warnings code — Common Warning name Warning Operation status at warning occurrence — — 000 (Normal status) 100 Start during operation The start request is issued while the Continue the operation. axis is BUSY. 102 Deviation counter clear request The deviation counter clear request is issued while the axis is BUSY.
PAGE 637
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) Remedy — — — — — — — — — — — Normalize the start request ON timing. — — — — — Do not carry out the deviation counter clear while the axis is running. (Refer to Chapter 8) 1503 1603 1703 1803 1: Restart 1548 1648 1748 1848 1549 1649 1749 1849 0, 1
PAGE 638
15 TROUBLESHOOTING Classification Warning of warnings code Manual pulse generator Warning name MELSEC-Q Warning Operation status at warning occurrence 401 • When input magnification is set at Outside manual The manual pulse generator 1 pulse 101 or higher: Re-set to 100. pulse generator input magnification is set at 0 or 101 input magnification • When input magnification is set at 0: or higher. range Re-set to 1.
PAGE 639
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 MELSEC-Q Set range (Setting with sequence program) 1522 1622 1722 1822 1523 1623 1723 1823 1 to 100 1516 1616 1716 1816 1: Speed change is requested Remedy Set the manual pulse generator 1 pulse input magnification to within the setting range.
PAGE 640
15 TROUBLESHOOTING Classification Warning of warnings code 514 Warning name Outside command speed range MELSEC-Q Warning The command speed exceeds the speed limit. Operation status at warning occurrence • The command speed is controlled at the "speed limit value". • The "speed limiting flag" turns ON. 516 Illegal teaching data The positioning data No. is set No. outside the setting range. Teaching is not carried out when the set value is 0 or 601 or more.
PAGE 641
15 TROUBLESHOOTING Related buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 For command speed, refer to Section 5.3 "List of positioning data" Speed limit value 10 11 160 161 310 311 MELSEC-Q Set range (Setting with sequence program) 1 to 1000000 [pulse/s] 1 to 2000000000 [mm/min or another] QD75P : 1 to 200000 [pulse/s] 1 to 2000000000 [mm/min or another] 460 QD75D : 461 1 to 1000000 [pulse/s] 1 to 2000000000 [mm/min or another] Set the command speed to within the setting range.
PAGE 642
15 TROUBLESHOOTING MELSEC-Q 15.4 LED display functions The states of QD75 and each axis control can be confirmed by the LEDs located on the front panel of the QD75 main unit. QD75P4 RUN AX1 AX2 AX3 AX4 ERR Each axis can be monitored by the states of the LEDs. The operation and indications of the LEDs are as shown below.
PAGE 643
Appendices Appendix 1 Version up of the functions .................................................................................Appendix- 2 Appendix 1.1 Comparison of functions according to function versions........................Appendix- 2 Appendix 2 Format sheets ....................................................................................................Appendix- 4 Appendix 2.1 Positioning Module operation chart ........................................................Appendix- 4 Appendix 2.
PAGE 644
APPENDICES Appendix 1 Appendix 1.1 MELSEC-Q Version up of the functions Comparison of functions according to function versions The following tables list the QD75P1/QD75P2/QD75P4/QD75D1/QD75D2/QD75D4 functions compared according to function versions and the buffer memory for their additional functions. (1) Function comparison Function versions of QD75P /QD75D Item A Reference B Speed-position switching control (ABS mode) Section 9.2.17 Pre-reading start function Section 12.7.
PAGE 645
APPENDICES MELSEC-Q MEMO Appendix - 3
PAGE 646
APPENDICES MELSEC-Q Appendix 2 Format sheets Axis address mm, inch, degree, pulse Appendix 2.
PAGE 647
APPENDICES Axis address mm, inch, degree, pulse MELSEC-Q Axis address mm, inch, degree, pulse Appendix - 5
PAGE 648
APPENDICES MELSEC-Q Appendix 2.2 Parameter setting value entry table Setting range Detailed parameters 1 Basic parameters 2 Basic parameters 1 Item : mm inch degree pulse 0 1 2 3 Pr.1 Unit setting Pr.2 No. of pulses per rotation (Ap) 1 to 65535 pulse Pr.3 Movement amount per rotation (Al) 1 to 65535 1 to 65535 1 to 65535 1 to 65535 × 10-1µm × 10-5inch × 10-5degree pulse Pr.4 Unit magnification (Am) 1: 1-fold, 10: 10-fold, 100: 100-fold, 1000: 1000-fold Pr.
PAGE 649
APPENDICES Initial value MELSEC-Q Axis 1 Axis 2 Axis 3 3 20000 20000 1 1 0 0 20000 1000 1000 0 2147483647 –2147483648 0 0 100 300 0 0 0 0 Appendix - 7 Axis 4 Remarks
PAGE 650
APPENDICES MELSEC-Q Setting range Item mm inch b0 Lower limit b3 Stop signal Detailed parameters 1 Pr.22 Pr.23 Input signal logic selection Output signal logic selection b1 Upper limit b4 External command b2 Drive unit READY b0 Command b2 Unused pulse signal b1 Unused b5 Zero signal b3 Unused degree b6 Near-point signal b7, b9 Unused to b15 b8 Manual pulse generator input b4 Deviation counter clear b5 to Unused b15 Pr.
PAGE 651
APPENDICES Initial value MELSEC-Q Axis 1 Axis 2 Axis 3 0 0 0 0 1000 1000 1000 1000 1000 1000 20000 0 0 0 100 1000 0 0 0 300 100 0 Appendix - 9 Axis 4 Remarks
PAGE 652
APPENDICES MELSEC-Q Setting range OPR detailed parameters OPR basic parameters Item mm inch degree pulse Pr.43 OPR method 0: Near-point dog method 1: Stopper method 1) (By dwell time elapse) 2: Stopper method 2) (By OP signal when stopper is hit) 3: Stopper method 3) (Without near-point dog method) 4: Count method 1) (Use zero signal) 5: Count method 2) (Do not use zero signal) Pr.
PAGE 653
APPENDICES Initial value MELSEC-Q Axis 1 Axis 2 Axis 3 0 0 0 1 1 0 0 0 0 0 0 300 11 0 0 Appendix - 11 Axis 4 Remarks
PAGE 654
APPENDICES MELSEC-Q Appendix 2.3 Positioning data setting value entry table [data No. to ] Axis Da.1 Data Da.2 Operation Control pattern system Da.3 Da.4 Da.5 Da.6 Da.7 Accelera- Decelera- Axis to be Positioning Arc tion time tion time interpola- address/ address No. No. ted movement amount 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 Appendix - 12 Da.8 Da.9 Command Dwell speed time Da.
PAGE 655
APPENDICES MELSEC-Q Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses (1) For axis 1 PosiData tioning M No. identi- code fier Dwell time Command speed Low- Highorder order Positioning Arc data address Low- High- Low- Highorder order order order PosiData tioning M No.
PAGE 656
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 657
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 658
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 659
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 660
APPENDICES MELSEC-Q (1) For axis 1 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 661
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 662
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 663
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 664
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 665
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 666
APPENDICES MELSEC-Q (2) For axis 2 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 667
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 668
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 669
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 670
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 671
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 672
APPENDICES MELSEC-Q (3) For axis 3 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 673
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 674
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 675
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 676
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 677
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 678
APPENDICES MELSEC-Q (4) For axis 4 PosiData tioning M No. identi- code fier Command Positioning Arc data speed address Dwell time Low- High- Low- High- Low- Highorder order order order order order PosiData tioning M No.
PAGE 679
APPENDICES MELSEC-Q Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation Appendix 4.1 Connection example of QD75D Configure a sequence to turn OFF the MC at alarms and emergency stops.
PAGE 680
APPENDICES MELSEC-Q Appendix 4.2 Connection example of QD75D and MR-J2/J2S- A (Differential driver) Configure a sequence to turn OFF the MC at alarms and emergency stops.
PAGE 681
APPENDICES MELSEC-Q Appendix 4.3 Connection example of QD75D and MR-C Regenerative resistor is an external option. Configure a sequence to turn OFF the MC at alarms and emergency stops. NF C MC L1 Power supply Single-phase 200VAC (A type) or single-phase 100VAC (A1 type) P TE1 L2 SM EMG 24VDC Cutoff by servo ON signal OFF alarm signal.
PAGE 682
APPENDICES MELSEC-Q Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd. Appendix 5.
PAGE 683
APPENDICES MELSEC-Q Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co., Ltd. Appendix 6.
PAGE 684
APPENDICES MELSEC-Q Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd. Appendix 7.
PAGE 685
APPENDICES MELSEC-Q Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation Appendix 8.
PAGE 686
APPENDICES MELSEC-Q Appendix 9 Comparisons with conventional positioning modules Appendix 9.1 Comparisons with A1SD71S2 model The following shows comparisons with the conventional positioning module A1SD71S2, centered on the QD75 specifications. Model Item No. of control axes No.
PAGE 687
APPENDICES MELSEC-Q Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models The following shows the comparisons between the QD75 and the conventional positioning modules A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3. (1) Comparisons of performance specifications Model Item No. of control axes QD75P1 QD75D1 1 No.
PAGE 688
APPENDICES MELSEC-Q Model Item Speed command range 2 Machine OPR function (OPR method) QD75P1 QD75D1 QD75P2 QD75D2 QD75P4 QD75D4 0.01 to 20000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min) 1 to 1000000 (pulse/s) (6 types) 4 A1SD75P1 -S3 A1SD75P2 -S3 A1SD75P3 -S3 0.01 to 6000000.00 (mm/min) /0.01 to 375000.00 (mm/min) 0.001 to 600000.000 (inch/min) /0.001 to 37500.000 (inch/min) 0.001 to 600000.000 (degree/min) /0.001 to 37500.
PAGE 689
APPENDICES MELSEC-Q Model Item STRT signal I/O signal for external devices QD75P1 QD75D1 QD75P2 QD75D2 QD75P4 QD75D4 A1SD75P1 -S3 (integrated into "CHG") External command signal (External start or speed-position switching selectable with parameters) CHG signal In-position (INP) A1SD75P2 -S3 A1SD75P3 -S3 (External start signal) Speed-position switching signal (for monitor) Signal logic switching Command pulse output signal only Connection via PLC CPU, Connection with peripheral Q Corresponding
PAGE 690
APPENDICES MELSEC-Q Functions deleted from those of A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3 Deleted functions Remarks Stepping motor mode – OPR operation error (Error code: 208) – Fast machine OPR – Special start (stop) – In the QD75, the start block area on the buffer memory is expanded to five blocks (0 to 4). Each start block can be directly designated with positioning start No. (7000 to 7004).
PAGE 691
APPENDICES MELSEC-Q Changed functions Stop process and restart after stop Positioning operation stop Descriptions 1. "Peripheral side (emergency) stop" is deleted from the stop causes of Stop group 2 sudden stop selection. "Test mode fault" in the stop causes of Stop group 3 sudden stop selection is changed to be in the stop causes of Stop group 2 sudden stop selection. 2. "Stop (QD75 peripheral)" is added to the stop causes of Stop group 3 sudden stop selection. 3.
PAGE 692
APPENDICES MELSEC-Q Changed functions Descriptions Positioning start No. No. 9004 (Multiple axes simultaneous start control) is added. Nos. 7004 to 7010 (block start designation) and 8000 to 8049 (indirect designation) are deleted. Block start data With the QD75, the number of blocks is changed to 5 (7000 to 7004). (With the A1SD75, this data is called "positioning start information".) Special start data "Simultaneous start" The simultaneous start is possible up to 4 axes.
PAGE 693
APPENDICES MELSEC-Q Warning code comparisons Warning type Added Fatal warning Deleted – 51, 52 110 101, 105 to 108, 115 OPR, Absolute position restoration – – JOG operation/Inching operation – – – 402 516, 517, 518 – Common Manual pulse generator operation Positioning operation I/F – – Parameter – 900 Warning whose name is changed: Warning code 512 A1SD75: Illegal external start function QD75: Illegal external command function : Refer to "Section 15.
PAGE 694
APPENDICES MELSEC-Q (4) Buffer memory address comparisons The following table shows the buffer memory addresses of the QD75 (Axes 1 to 3) corresponding to the items of the A1SD75. The shaded area shows the differences between the A1SD75 and QD75. Buffer memory address A1SD75 Items of A1SD75 QD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 Pr.1 Unit setting 0 150 300 0 150 300 Pr.2 No. of pulses per rotation (Ap) 1 151 301 1 151 301 Pr.
PAGE 695
APPENDICES MELSEC-Q Buffer memory address A1SD75 Items of A1SD75 QD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 Pr.28 Acceleration time 3 40 41 190 191 340 341 40 41 190 191 340 341 Pr.29 Deceleration time 1 42 43 192 193 342 343 42 43 192 193 342 343 Pr.30 Deceleration time 2 44 45 194 195 344 345 44 45 194 195 344 345 Pr.31 Deceleration time 3 46 47 196 197 346 347 46 47 196 197 346 347 Pr.
PAGE 696
APPENDICES MELSEC-Q Buffer memory address Items of A1SD75 Md.1 In test mode flag Md.2 Module name A1SD75 QD75 Common for axis 1, 2, 3 Common for axis 1, 2, 3, 4 450 1200 451 – 452 453 454 455 – Md.4 OS version 456 457 – Md.5 Clock data (hour: minute) 460 – Md.6 Clock data (second: 100 ms) 461 – Md.3 OS type (Pointer number) (0) to (15) Md.
PAGE 697
APPENDICES MELSEC-Q Buffer memory address A1SD75 Items of A1SD75 QD75 Common for axis 1, 2, 3 (Pointer number) Common for axis 1, 2, 3, 4 (0) to (15) Md.24 Axis in which the warning occurred 689 to 749 1358 to 1418 Md.25 Axis warning No. 690 to 750 1359 to 1419 691 to 751 1360 to 1420 692 to 752 1361 to 1421 753 1422 Md.26 Axis warning occurrence Hour: minute (QD75: Md. 16 Axis warning occurrence (Hour)) Warning history Md.27 Axis warning occurrence Second: 100 ms (QD75: Md.
PAGE 698
APPENDICES MELSEC-Q Buffer memory address A1SD75 Items of A1SD75 QD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 Md.29 Current feed value 800 900 1000 800 900 1000 801 901 1001 801 901 1001 Md.30 Machine feed value 802 902 1002 802 902 1002 803 903 1003 803 903 1003 Md.31 Feedrate 804 904 1004 804 904 1004 805 905 1005 805 905 1005 Md.32 Valid M code 806 906 1006 808 908 1008 Md.33 Axis error No. 807 907 1007 806 906 1006 Md.34 Axis warning No.
PAGE 699
APPENDICES MELSEC-Q Buffer memory address A1SD75 Items of A1SD75 Axis 1 Axis 2 QD75 Axis 3 Axis 1 Axis 2 Cd.1 Clock data setting (hour) 1100 – Cd.2 Clock data setting (minute, second) 1101 – Cd.3 Clock data writing 1102 – Cd.4 Target axis 1103 – Cd.5 Positioning data No. 1104 – Cd.6 Write pattern 1105 – Cd.7 Read/write request 1106 – 1108 to 1137 – Cd.9 Flash ROM write request 1138 1900 Cd.10 Parameter initialization request 1139 1901 Cd.
PAGE 700
APPENDICES MELSEC-Q Buffer memory address A1SD75 Items of A1SD75 QD75 Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3 1186 1236 1286 1187 1237 1287 1510 1511 1610 1611 1710 1711 1188 1238 1288 1512 1612 1712 1300 2300 3300 2000 8000 14000 1301 2301 3301 2001 8001 14001 1302 2302 3302 2002 8002 14002 1304 1305 2304 2305 3306 3307 2004 2005 8004 8005 14004 14005 1306 1307 2306 2307 3306 3307 2006 2007 8006 8007 14006 14007 1308 1309 2308 2309 3308 3309 2008
PAGE 701
APPENDICES MELSEC-Q Buffer memory address A1SD75 Items of A1SD75 Axis 1 Axis 2 QD75 Axis 3 Axis 1 Axis 2 Axis 3 Da.11 Start data No. 1st point Da.12 Special start 4300 4350 4550 4600 4800 4850 26000 26050 27000 27050 28000 28050 2nd point 4301 4351 4551 4601 4801 4851 26001 26051 27001 27051 28001 28051 3rd point 4302 4352 4552 4602 4802 4852 26002 26052 27002 27052 28002 28052 26099 27049 27099 28049 instruction to 50th point Positioning start information 2 Da.
PAGE 702
APPENDICES MELSEC-Q (5) Data indication No. comparisons The following table shows the comparisons of numbers for each symbols (Pr., Md., Cd., and Da.) indicating parameters or positioning data items. The shaded sections indicate the added or changed items with the QD75. Parameters Item A1SD75 QD75 Unit setting Pr.1 No. of pulses per rotation (Ap) Pr.2 Movement amount per rotation (Al) Pr.3 Unit magnification (Am) Pr.4 Pulse output mode Pr.5 Rotation direction setting Pr.
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APPENDICES MELSEC-Q Item A1SD75 QD75 Acceleration time 3 Pr.28 Pr.27 Deceleration time 1 Pr.29 Pr.28 Deceleration time 2 Pr.30 Pr.29 Deceleration time 3 Pr.31 Pr.30 JOG speed limit value Pr.32 Pr.31 JOG operation acceleration time selection Pr.33 Pr.32 JOG operation deceleration time selection Pr.34 Pr.33 Acceleration/deceleration process selection Pr.35 Pr.34 S-pattern proportion Pr.36 Pr.35 Sudden stop deceleration time Pr.37 Pr.36 Stop group 1 sudden stop selection Pr.
PAGE 704
APPENDICES MELSEC-Q Monitor data Item A1SD75 QD75 Md.1 In test mode flag Module name Md.2 – OS type Md.3 – OS version Md.4 – Clock data (hour: minute) Md.5 – Clock data (second: 100 ms) Md.6 – Start axis (QD75: Md. 3 Start information) Md.7 Md.3 Operation type (QD75: Md. 4 Start No.) Md.8 Md.4 Md.9 Md.5 Start Second: 100 ms (QD75: Md. 6 Start Minute: second) Md.10 Md.6 Error judgment Md.11 Md.7 Start history pointer Md.12 Md.8 Start axis Md.13 – Operation type Md.
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APPENDICES MELSEC-Q Item A1SD75 QD75 – Md.19 Current feed value Md.29 Md.20 Machine feed value Md.30 Md.21 Feedrate Md.31 Md.22 Valid M code Md.32 Md.25 Axis error No. Md.33 Md.23 Axis warning No. Md.34 Md.24 Axis operation status Md.35 Md.26 Current speed Md.36 Md.27 Axis feedrate Md.37 Md.28 Speed-position switching control positioning amount Md.38 Md.29 External input/output signal Md.39 Md.30 Status Md.40 Md.31 Target value Md.41 Md.32 Target speed Md.
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APPENDICES MELSEC-Q Control data Item A1SD75 QD75 Clock data setting (hour) Cd.1 – Clock data setting (minute, second) Cd.2 – Clock data writing Cd.3 – Target axis Cd.4 – Positioning data No. Cd.5 – Write pattern Cd.6 – Read/write request Cd.7 – Read/write positioning data I/F Cd.8 – Flash ROM write request Cd.9 Cd.1 Parameter initialization request Cd.10 Cd.2 Positioning start No. Cd.11 Cd.3 Axis error reset Cd.12 Cd.5 Restart command Cd.13 Cd.
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APPENDICES MELSEC-Q Item A1SD75 QD75 Step valid flag Cd.26 Cd.35 Step mode Cd.27 Cd.34 Step start information Cd.28 Cd.36 Skip command Cd.29 Cd.37 New torque value Cd.30 Cd.22 Positioning starting point No. Cd.31 Cd.4 Interrupt request during continuous operation Cd.32 Cd.18 Simultaneous starting axis start data No. (Axis 1 start data No.) – Cd.30 Simultaneous starting axis start data No. (Axis 2 start data No.) – Cd.31 Simultaneous starting axis start data No.
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APPENDICES MELSEC-Q Positioning data, block start data, condition data Item A1SD75 QD75 Operation pattern Da.1 Control system Da.2 Acceleration time No. Da.3 Deceleration time No. Da.4 – Da.5 Positioning address/movement amount Da.5 Da.6 Arc address Da.6 Da.7 Command speed Da.7 Da.8 Dwell time/JUMP destination positioning data No. Da.8 Da.9 M code/condition data Da.9 Da.10 Shape Da.10 Da.11 Start data No. Da.11 Da.12 Special start instruction Da.12 Da.13 Parameter Da.
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APPENDICES MELSEC-Q (6) Input/output signal comparisons Input signal comparisons A1SD75 Name Drive unit READY QD75 Logic (initial status) Logic switch with parameters Logic (initial status) Logic switch with parameters Negative logic Not possible Negative logic Possible In-position signal Negative logic Not possible – – Zero signal Negative logic Not possible Negative logic Possible Negative logic (multiple of 4) Not possible Negative logic (multiple of 4) Possible Manual pulse gen
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APPENDICES MELSEC-Q Appendix 10 MELSEC Explanation of positioning terms 1-2 PHASE EXCITATION SYSTEM This is one system for exciting each stepping motor coil in a determined order. In this system, one phase and two phases are alternately excited.
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APPENDICES MELSEC-Q 0 ABSOLUTE ENCODER This is a detector that enables the angle data within 1 motor rotation to be output to an external destination. Absolute encoders are generally able to output 360° in 8 to 12 bits. Incremental encoders have a disadvantage in that the axis position is lost when a power failure occurs. However, with absolute encoders, the axis position is not lost even when a power failure occurs. Various codes such as a binary code and BCD code can be output.
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APPENDICES MELSEC-Q AUTO TUNING (Automatic Tuning) BACKUP FUNCTION Properties such as responsiveness and stability of machines driven with a servomotor are affected by changes in the inertia moment and rigidity due to changes in the machine load, etc. This function automatically adjusts the speed loop gain and position loop gain to match the machine state, so the machine's performance can be maintained at its optimum state.
PAGE 713
APPENDICES MELSEC-Q BCD (Binary Coded Decimal) BIN (Binary) 1) This is the abbreviation for "binary coded decimal", more accurately called a BCD code. Computers, PLCs, etc., use binary numbers made up of 1 (ON) and 0 (OFF). Because this is difficult for humans to understand, decimal digits are expressed by a pattern of binary digits. Many of the digital switches and digital displays used by humans use a BCD code. The significance of the bits is shown in the drawing below.
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APPENDICES MELSEC-Q BIPOLAR DRIVE CONSTANT-CURRENT SYSTEM CHANGE signal This is one system for driving a stepping motor. In this method, the orientation of the excitation current flowing to the stator coil is reversed, and the excitation current direction is in both the positive and negative direction. This enables the motor coil to be used effectively, and a large output torque can be obtained at low speeds.
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APPENDICES MELSEC-Q CP CONTROL (Continuous Path Control) CW (Clockwise) Continuous path is a control method in which a path is followed without interrupting such as in uniform speed control. CREEP SPEED A speed at which the machine moves very slowly. It is difficult for the machine to stop accurately when running at high speed, so the movement must first be changed to the creep speed before stopping. Refer to the term "NEAR-POINT DOG". Rotation in the clockwise direction.
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APPENDICES MELSEC-Q DECELERATION TIME The parameter deceleration time is the same value as the acceleration time. Deceleration time refers to the time from the speed limit value to a stopped state, so it becomes proportionally shorter as the setting speed decreases. Command device Servo amplifier Driver Receiver Speed limit value Setting speed DIGITAL BUS CONNECTION Speed 0 Commands are generally output from the positioning module to the servo amplifier as a pulse train.
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APPENDICES MELSEC-Q DROOP PULSE ELECTRONIC GEAR 2 Because of inertia (GD ) in the machine, it will lag behind and not be able to track if the positioning module speed commands are issued in their normal state. Thus, for a servomotor, a method is used in which the speed command pulses are delayed by accumulation in a deviation counter. These accumulated pulses are called the droop pulse. The deviation counter emits all pulses and returns to 0 when the machine stops.
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APPENDICES MELSEC-Q ERROR CORRECTION FAST OPR If a dimension error occurs in the machine, and that error is actually smaller or larger than 1m (3.28feet) in spite of a 1m (3.28feet) command being issued from the QD75, that error amount will be compensated. For example, when the error is actually smaller than 1m (3.28feet), the remaining distance to 1m (3.28feet) is fed, and the correct 1m (3.28feet) of positioning is carried out.
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APPENDICES MELSEC-Q FIXED-FEED G CODE This is the feeding of a set dimension for cutting sheet and bar workpieces into the designated dimensions. Incremental system positioning is often used. The current value is not incremented, even when the feed operation is repeated. These are standardized (coded) 2-digit numerical values (00 to 99) designating various control functions of the NC module. Also called G functions.
PAGE 720
APPENDICES MELSEC-Q INCREMENTAL ENCODER INCREMENTAL SYSTEM A device that simply outputs ON/OFF pulses by the rotation of the axis. 1-phase types output only A pulses, and do not indicate the axis rotation direction. 2-phase types output both A and B pulse trains, and can judge the rotation direction. The direction is judged to be forward if the B pulse train turns ON when A is ON, and judged to be reverse if A turns ON when B is ON. There is also another type of incremental encoder with a zero signal.
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APPENDICES MELSEC-Q INPUT TERMINAL JOG This is a pin connector wired by the user for inputting data to the QD75 from an external source. It is connected to the motor drive unit or machine side. This terminal is used to output the following. • DRIVE UNIT READY signal • START signal • STOP signal , etc. The input No. Xn is not directly related to the program, so it is not used. Jog. This refers to moving the tool little by little. Inching. Parameter setting is required to carry out JOG operation.
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APPENDICES MELSEC-Q LINEAR INTERPOLATION M CODE (Machine Code) These are sub functions that interlock with the positioning operation to replace drills, tighten and loosen clamps, raise and lower welding electrodes, display various data, etc. Either of two modes can be entered when the machine code turns ON: AFTER or WITH. The machine does not move to the next positioning when the machine code is ON. M codes are turned OFF by the PLC program. Code Nos.
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APPENDICES MELSEC-Q MOVEMENT AMOUNT PER PULSE NEAR-POINT DOG When using mm, inch, or degree units, the movement amount is calculated and output from the machine side showing how much the motor shaft moves per pulse. Positioning accuracy in smaller units is not possible. On the motor side, the movement amount per axis rotation is normally designed as a reference, so it is calculated as follows. Movement amount per pulse = P rate No.
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APPENDICES MELSEC-Q OP OPR METHOD This is the reference position for positioning. Positioning cannot start without a reference point. The OP is normally set to the upper or lower stroke limit. The OPR methods are shown below. The method used depends on the machine structure, stopping accuracy, etc. OPR can be carried out when the OPR parameters are written. 1) Near-point dog method 2) Stopper method 3) Count method This point is the reference.
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APPENDICES MELSEC-Q OPR REQUEST P RATE (Pulse Rate) This signal turns ON when there is an error with the QD75. It will turn ON in the following situations. 1) When the power is turned ON. 2) When the PLC READY signal turns from OFF to ON. 3) When the machine OPR starts. 4) When the drive unit READY signal turns from ON to OFF. The user judges whether to carry out a machine OPR in the above situations.
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APPENDICES MELSEC-Q POSITION LOOP MODE POSITION CONTROL This is one servo control mode used in positioning. It is a mode for carrying out position control. The other servo control modes are the speed loop mode for carrying out speed control, and the torque loop mode for carrying out torque control (current control). This is mainly the control of position and dimension, such as in fixed-feed, positioning, numerical control, etc. This is always controlled with feed pulses. There is also speed control.
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APPENDICES MELSEC-Q PULSE POSITIONING CONTINUED The turning ON and OFF of the current (voltage) for short periods. A pulse train is a series of pulses. The QD75 is the module that generates the pulses. Refer to the section of term "operation pattern". POSITIONING DATA This is data for the user to carry out positioning. The No. of points to which positioning is carried out (the No. of addresses) is designated by the user. In the QD75, these are 600 points.
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APPENDICES MELSEC-Q READY RLS SIGNAL (reverse limit signal) This means that preparation is complete. This is the input signal that notifies the user that the limit switch (b contact configuration, normally ON) installed at the lower limit of the positioning control enabled range is activated. The positioning operation stops when the RLS signal turns OFF (non-continuity). REAL-TIME AUTO TUNING (Real-time Automatic Tuning) Refer to "AUTO TUNING".
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APPENDICES MELSEC-Q SERVO LOCK SFC (Sequential Function Chart) In positioning using a servomotor, stepping motor, etc., working power is required to hold the machine at the stop position. (The position will be lost if the machine is moved by external power.) This kind of state is called servo lock or servo lock torque. A sequential function chart is a programming method optimally structured for running a machine's automatic control in sequence with the PLC.
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APPENDICES MELSEC-Q SPEED CONTROL SPEED-POSITION SWITCHING CONTROL Speed control is mainly carried out with the servomotor. It is an application for grindstone rotation, welding speed, feedrate, etc. Speed control differs from position control in that the current position (address) is not controlled. Drive units may differ, even when the same motor is used.
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APPENDICES MELSEC-Q STEP OUT STOP SIGNAL Stepping motors rotate in proportion to the No. of pulses (frequency), but the motor's rotation will deviate if the load is too large for the motor. This is called step out. If step out occurs, the motor must be replaced by one with a larger torque. Step out causes the positioning error to increase. In positioning control, this is the input signal that directly stops the operation from an external source.
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APPENDICES MELSEC-Q STROKE LIMIT TORQUE CONTROL This is the range in which a positioning operation is possible, or the range in which the machine can be moved without damage occurring. (Movement outside this range is possible in the manual operation.) For operations using a worm gear, the stroke limit is determined by the length of the screw. For operations using a fixed-feed, it is determined by the max. dimension to be cut.
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APPENDICES MELSEC-Q TURNTABLE XY TABLE A rotating table, which is turned using power. The table is used divided from one 360° rotation into the required locations for work. The positioning control unit is "degree". This is a device that moves a table in the X (latitudinal) and Y (longitudinal) directions so that positioning can be carried out easily. There are also commercially available products.
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APPENDICES MELSEC-Q Appendix 11 Positioning control troubleshooting Trouble type Questions/Trouble Remedy No. Display reads "FFFFH" when a parameter is read with GX Configurator-QP. The PLC CPU power was turned OFF or the PLC CPU was reset, etc., during flash ROM writing, which deleted the data in the flash ROM. Initialize the parameters, and reset the required parameters. (Refer to Section 13.2 "Parameter initialization function" for details.
PAGE 735
APPENDICES Trouble type MELSEC-Q Questions/Trouble Remedy No. Set "1: Sudden stop" in the " Pr.37 Stop group 1 How can the deceleration stop time during stopping be shortened sudden stop selection", and reduce the setting value of using the hardware stroke limit? " Pr.36 Sudden stop deceleration time".
PAGE 736
APPENDICES MELSEC-Q Trouble type Error compensation Questions/Trouble Remedy The machine only moves to "10081230", although positioning with a command value of "10081234" carried out. How can the error be compensated? The following values are currently set. • Pr.2 No. of pulses per rotation • No. Reset Pr.3 and Pr.2 in the following order. 1) Calculate "8192/8000 × 10081230/10081234". 2) Obtain the reduced value. 18 3) Set the numerator in " Pr.
PAGE 737
APPENDICES Trouble type Start MELSEC-Q Questions/Trouble Remedy The positioning start signal [Y10] is kept ON until the BUSY signal is OFF, but is there any problem with turning it OFF before the BUSY signal turns OFF? 25 Check the " Md.26 axis operation status" and The operation will not start even when the start signal is turned ON. " Md.23 axis error No". 26 The signal should be turned ON at 4ms or more.
PAGE 738
APPENDICES Trouble type MELSEC-Q Questions/Trouble Remedy The " Pr.31 JOG speed limit value" may be larger than When a JOG operation is Pr.8 Speed limit value". attempted, an error results and the the " machine does not move. Review the parameters and carry out the JOG operation again.
PAGE 739
APPENDICES Trouble type MELSEC-Q Questions/Trouble Remedy 0≤ Backlash compensation value Movement amount per pulse No. 255 Error 920 (backlash compensation Setting is not possible if the above equation is not amount error) occurs even when satisfied. the backlash compensation value Adjust by setting " Pr.4 Unit magnification" to 10-fold (or is set to "1". 100-fold, or 1000-fold), and setting " Pr.2 Movement 48 amount per rotation" to 1/10 (or 1/100, or 1/1000).
PAGE 740
APPENDICES MELSEC-Q Appendix 12 List of buffer memory addresses The following shows the relation between the buffer memory addresses and the various items. (Do not use ary address other than listed below. If used, the system may not operate correctly.) Item Axis 1 Axis 2 Axis 3 Axis 4 0 150 300 450 Pr.1 Unit setting 1 151 301 451 Pr.2 No. of pulses per rotation (Ap) 2 152 302 452 Pr.3 Movement amount per rotation (Al) 3 153 303 453 Pr.
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APPENDICES MELSEC-Q Buffer memory address Item Axis 1 40 41 42 43 44 45 46 47 48 49 Axis 2 190 191 192 193 194 195 196 197 198 199 Axis 3 340 341 342 343 344 345 346 347 348 349 Axis 4 490 491 492 493 494 495 496 497 498 499 50 200 350 500 Pr.32 JOG operation acceleration time selection 51 201 351 501 Pr.33 JOG operation deceleration time selection 52 202 352 502 Pr.34 Acceleration/deceleration process selection 53 203 353 503 Pr.
PAGE 742
APPENDICES MELSEC-Q Buffer memory address 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 Not used (3) (4) (5) (6) (7) (8) (9) 1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1272 1277 1282 1287 Md.3 Start information 1213 1218 1223 1228 1233 1238 1243 1248 1256 1258 1263 1268 1273 1278 1283 1288 Md.4 Start No. 1214 1219 1224 1229 1234 1239 1244 1249 1254 1259 1264 1269 1274 1279 1284 1289 Md.
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APPENDICES MELSEC-Q Buffer memory address Item Axis 1 800 801 802 803 804 805 Axis 2 900 901 902 903 904 905 Axis 3 1000 1001 1002 1003 1004 1005 Axis 4 1100 1101 1102 1103 1104 1105 806 906 1006 1106 Md.23 Axis error No. 807 907 1007 1107 Md.24 Axis warning No. 808 908 1008 1108 Md.25 Valid M code 809 909 1009 1109 Md.26 Axis operation status 810 811 812 813 910 911 912 913 1010 1011 1012 1013 1110 1111 1112 1113 814 815 914 915 1014 1015 1114 1115 Md.
PAGE 744
APPENDICES MELSEC-Q Buffer memory address Item Axis 1 Axis 2 Axis 3 Axis 4 1500 1600 1700 1800 Cd.3 Positioning start No. 1501 1601 1701 1801 Cd.4 Positioning starting point No. 1502 1602 1702 1802 Cd.5 Axis error reset 1503 1603 1703 1803 Cd.6 Restart command 1504 1604 1704 1804 Cd.7 M code OFF request 1505 1605 1705 1805 Cd.
PAGE 745
APPENDICES MELSEC-Q Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 1541 1641 1741 1841 Item Memory area Cd.31 Simultaneous starting axis start data No. (axis 2 start data No.) 1542 1642 1742 1842 Cd.32 Simultaneous starting axis start data No. (axis 3 start data No.) 1743 1843 1544 1644 1744 1844 Cd.34 Step mode 1545 1645 1745 1845 Cd.35 Step valid flag 1546 1646 1746 1846 Cd.36 Step start information 1547 1647 1747 1847 Cd.
PAGE 746
APPENDICES MELSEC-Q Buffer memory address Axis 1 Axis 2 Axis 3 Item Axis 4 Memory area Da.1 Operation pattern Da.2 Control system 2000 8000 14000 20000 Da.3 Acceleration time No. Da.4 Deceleration time No. Da.5 Axis to be interpolated 20001 Da.10 M code/condition data No. /No.
PAGE 747
APPENDICES MELSEC-Q Buffer memory address Item Axis 1 Axis 2 Axis 3 Memory area Axis 4 29000 29050 Da.13 Specilal start instruction Da.14 Parameter 26001 26051 27001 27051 28001 28051 29001 29051 2nd point 26002 26052 27002 27052 28002 28052 29002 29052 3rd point 26049 to 26099 27049 to 27099 28049 to 28099 29049 to Starting block 0 to 50th point 29099 Da.15 Condition target 26100 27100 28100 29100 26102 26103 27102 27103 28102 28103 29102 29103 Da.
PAGE 748
APPENDICES MELSEC-Q Axis 2 Axis 3 Item Axis 4 30000 to Condition judgement target data of the condition data 30099 Appendix - 106 Memory area Positioning data Axis 1 PLC CPU memory area Buffer memory address
PAGE 749
APPENDICES MELSEC-Q Appendix 13 External dimension drawing [1] QD75P1/QD75P2/QD75P4 QD75P1 RUN QD75P2 AX1 RUN ERR QD75P4 AX1 AX2 AX1 AX2 AX3 AX4 ERR ERR AX3 AX4 AX1 AX2 AX1 RUN AX1 AX2 98 27.
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APPENDICES MELSEC-Q [2] QD75D1/QD75D2/QD75D4 QD75D1 RUN QD75D2 AX1 RUN ERR QD75D4 RUN AX1 AX2 ERR ERR AX3 AX4 AX1 AX2 AX1 AX1 AX2 AX3 AX4 AX1 AX2 12 98 27.
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INDEX [Number] 1-2 phase excitation system (Explanation of positioning terms) .............................Appendix-68 1-axis fixed-feed control ................................ 9-43 1-axis linear control (ABS linear 1) ............... 9-27 1-axis linear control (INC linear 1) ................ 9-28 1-axis speed control ...................................... 9-67 2-axis circular interpolation control with sub point designation (ABS circular sub) ..............................................................
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AFTER mode............................................... 12-63 AFTER mode (Explanation of positioning terms) ..........................................................Appendix-69 Allowable circular interpolation error width Basic parameters 1........................................5-20 Basic parameters 2........................................5-26 BCD (Explanation of positioning terms) .......................................................... Appendix-71 ( Pr.41 )........................................
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Communicating signals between QD75 and each module ........................................................... 1-12 Composite speed .......................................... 5-32 Composite speed (Explanation of positioning terms)................................................Appendix-72 Condition data ............................................. 10-16 Condition operator....................................... 10-17 CW (Explanation of positioning terms) ....................................................
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DOS/V personal computer............................A-13 Drive unit (Explanation of positioning terms) ..........................................................Appendix-74 Drive unit (Servo amplifier) ...........................A-21 Drive unit READY.......................................... 3-21 Drive unit READY (Explanation of positioning terms)................................................Appendix-74 Droop pulse (Explanation of positioning terms) .........................................................
PAGE 755
Incremental system (Explanation of positioning terms) ............................................... Appendix-78 Independent positioning control ......................9-6 Inertia (Explanation of positioning terms) .......................................................... Appendix-78 Initialization program......................................6-24 For starting "speed-position switching control" .......................................................................
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[K] M code output function ................................12-62 Machine feed value........................................9-16 kPPS (Explanation of positioning terms) ..........................................................Appendix-79 Machine feed value ( Md.21 ) .......................5-96 Machine feed value (Explanation of positioning terms) ............................................... Appendix-80 Machine OPR...................................................8-4 Main functions ...................
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Multiple PLC .................................................... 2-5 Multiplying rate setting (Explanation of positioning terms)................................................Appendix-81 [N] Names of each part......................................... 4-3 NC language (Explanation of positioning terms) ..........................................................Appendix-81 Near pass function ...................................... 12-18 Near pass ....................................................
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PULSE/SIGN mode .......................................5-23 Position control (Explanation of positioning terms) .......................................................... Appendix-84 Position detection module (Explanation of positioning terms)............................. Appendix-84 Position loop gain (Explanation of positioning terms) .............................................. Appendix-84 Position loop mode (Explanation of positioning terms) ...............................................
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• Error reset program .................................6-23 • External command function valid setting program ...................................................6-17 • Flash ROM write program .......................6-23 • Inching operation setting program...........6-19 • JOG operation setting program...............6-19 • JOG operation/inching operation execution program ...................................................6-19 • M code OFF program ..............................
PAGE 760
[R] READY (Explanation of positioning terms) ..........................................................Appendix-86 Real-time AUTO tuning (Explanation of positioning terms)................................................Appendix-86 Reference axis............................................... 9-22 Reference axis speed ................................... 5-33 Reference axis speed (Explanation of positioning terms)................................................
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S-pattern acceleration/deceleration processing method......................................................... 12-81 S-pattern proportion ( Pr.35 )...................... 5-38 Special start instruction ( Da.13 ) ................ 5-77 Special start data instruction code setting value ( Md.36 )...................................................... 5-106 Speed-position switching signal ....................3-21 Speed-position switching control mode (Explanation of positioning terms)...
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Stop command processing for deceleration stop function ........................................................ 12-97 Stop command processing for deceleration stop selection ( Cd.42 )....................................... 5-110 Stop group 1 sudden stop selection ( Pr.37 ) ....................................................................... 5-38 Stop group 2 sudden stop selection ( Pr.38 ) .......................................................................
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Tracking function (Explanation of positioning terms)................................................Appendix-90 Turntable (Explanation of positioning terms) ..........................................................Appendix-91 Types and roles of control data .................... 5-16 Types and roles of monitor data ................... 5-12 Types of data................................................... 5-2 Types of errors .............................................. 15-2 Types of stop processes .........
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MEMO Index - 14
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WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
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Microsoft Windows, Windows NT are registered trademarks of Microsoft Corporation in the United States and other countries. Other company and product names herein may be either trademarks or registered trademarks of their respective owners.
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Type QD75P/QD75D Positioning Module U User's Manual Type QD75P/QD75D Positioning Module User's Manual Type QD75P/QD75D Positioning Module User's Manual MODEL QD75-U-S-E MODEL CODE 13JR09 SH(NA)-080058-H(0506)MEE HEAD OFFICE : 1-8-12, OFFICE TOWER Z 14F HARUMI CHUO-KU 104-6212,JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permissio