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Mitsubishi QD75MH4 Positioning Module User's Manual PDF
Summary of Content for Mitsubishi QD75MH4 Positioning Module User's Manual PDF
MELSEC-Q QD75MH Positioning Module User's Manual (Details)
-QD75MH1 -QD75MH2 -QD75MH4
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SAFETY PRECAUTIONS (Please 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. Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
DANGER
Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage.
Depending on circumstances, procedures indicated by CAUTION may also be linked to serious results. In any case, it is important to follow the directions for usage.
Please save this manual to make it accessible when required and always forward it to the end user.
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For Safe Operations 1. Prevention of electric shocks
DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the module and servo amplifier are charged and may lead to electric shocks. Completely turn off the externally supplied power used in the system before mounting or removing the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks. When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc. Failing to do so may lead to electric shocks. Be sure to ground the module, servo amplifier and servomotor (Ground resistance : 100 or less). Do not ground commonly with other devices. The wiring work and inspections must be done by a qualified technician. Wire the units after installing the module, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage. Never operate the switches with wet hands, as this may lead to electric shocks. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks. Do not touch the module, servo amplifier, servomotor connector or terminal blocks while the power is ON, as this may lead to electric shocks. Do not touch the built-in power supply, built-in grounding or signal wires of the module and servo amplifier, as this may lead to electric shocks.
2. For fire prevention
CAUTION Install the module, servo amplifier, servomotor and regenerative resistor on incombustible. Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the module or servo amplifier, shut the power OFF at the servo amplifier's power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fire. Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fire. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to fire.
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3. For injury prevention CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of module or servo amplifier, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions. Mistaken handling of the unit may lead to faults, injuries or electric shocks.
(1) System structure
CAUTION Always install a leakage breaker on the module and servo amplifier power source. If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor. Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off. Use the module, servo amplifier, servomotor and regenerative resistor with the correct combinations listed in the instruction manual. Other combinations may lead to fire or faults. Use the CPU module, base unit and positioning module with the correct combinations listed in the instruction manual. Other combinations may lead to faults. If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier and servomotor, make sure that the safety standards are satisfied. Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differ from the safety directive operation in the system. In systems where coasting of the servomotor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes. In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes. The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking.
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CAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the parts (other than module, servo amplifier and servomotor) used in a system must be compatible with the module, servo amplifier and servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation. There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side.
(2) Parameter settings and programming
CAUTION Set the parameter values to those that are compatible with the module, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect.
The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect.
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CAUTION Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual.
The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used.
Use the interlock program specified in the intelligent function module's instruction manual for the program corresponding to the intelligent function module.
(3) Transportation and installation
CAUTION Transport the product with the correct method according to the mass. Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it.
Do not stack products past the limit. When transporting the module or servo amplifier, never hold the connected wires or cables. When transporting the servomotor, never hold the cables, shaft or detector. When transporting the module or servo amplifier, never hold the front case as it may fall off. When transporting, installing or removing the module or servo amplifier, never hold the edges. Install the unit according to the instruction manual in a place where the mass can be withstood. Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the module or servo amplifier and control panel inner surface or the module and servo amplifier, module or servo amplifier and other devices.
Do not install or operate modules, servo amplifiers or servomotors that are damaged or that have missing parts.
Do not block the intake/outtake ports of the servo amplifier and servomotor with cooling fan. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the module, servo amplifier or servomotor. The module, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the module, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks.
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CAUTION
Store and use the unit in the following environmental conditions.
Conditions Environment
Module/Servo amplifier Servomotor
Ambient temperature
According to each instruction manual. 0C to +40C (With no freezing)
(32F to +104F)
Ambient humidity According to each instruction manual. 80% RH or less
(With no dew condensation) Storage temperature
According to each instruction manual. -20C to +65C (-4F to +149F)
Atmosphere Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude 1000m (3280.84ft.) or less above sea level Vibration According to each instruction manual
When coupling with the servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage. Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead to shaft breakage. When not using the module for a long time, disconnect the power line from the module or servo amplifier. Place the module and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative. Also, execute a trial operation. Make sure that the connectors for the servo amplifier and peripheral devices have been securely installed until a click is heard. Not doing so could lead to a poor connection, resulting in erroneous input and output.
(4) Wiring
CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor.
After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the servomotor to operate abnormally. Do not connect a commercial power supply to the servomotor, as this may lead to trouble.
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CAUTION Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning.
DICOM
RA Control output signal
DOCOM
Servo amplifier 24VDC
Control output signal
DICOM
DOCOM
Servo amplifier
RA
24VDC
For the sink output interface For the source output interface Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the power is ON. Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation. Do not bundle the power line or cables. Use applicable solderless terminals and tighten them with the specified torque. If any solderless spade terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure.
(5) Trial operation and adjustment
CAUTION Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine.
Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the module or absolute value motor has been replaced, always perform a home position return. Before starting test operation, set the parameter speed limit value to the slowest value, and make sure that operation can be stopped immediately if a hazardous state occurs.
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(6) Usage methods
CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the module, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized. Do not make any modifications to the unit. Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the module or servo amplifier. When using the CE Mark-compliant equipment design, refer to the "EMC Installation Guidelines" (data number IB(NA)-67339) and refer to the corresponding EMC guideline information for the servo amplifiers and other equipment. Note that when the reference axis speed is designated for interpolation operation, the speed of the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than the speed limit value). Use the units with the following conditions.
Item Conditions
Input power According to each instruction manual. Input frequency According to each instruction manual. Tolerable momentary power failure According to each instruction manual.
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(7) Corrective actions for errors
CAUTION If an error occurs in the self diagnosis of the module or servo amplifier, confirm the check details according to the instruction manual, and restore the operation.
If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally.
Electro- magnetic brakes
Servomotor
24VDC
RA1 EMG
Shut off with servo ON signal OFF, alarm, electromagnetic brake signal.
Shut off with the emergency stop signal(EMG).
If an error occurs, remove the cause, secure the safety and then resume operation after alarm release.
The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.)
(8) Maintenance, inspection and part replacement
CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the module and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts. Before touching the module, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction.
Do not directly touch the module's conductive parts and electronic components. Touching them could cause an operation failure or give damage to the module. Do not place the module or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the module or servo amplifier, always set the new module settings correctly. When the module or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur. 1) After writing the servo data to the positioning module using programming software, switch on
the power again, then perform a home position return operation.
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CAUTION After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct. Do not drop or impact the battery installed to the module. Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the dropped or impacted battery, but dispose of it. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the module or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative. Lock the control panel and prevent access to those who are not certified to handle or install electric equipment. Do not mount/remove the module onto/from the base unit more than 50 times (IEC61131-2- compliant), after the first use of the product. Failure to do so may cause malfunction. Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas.
(9) About processing of waste
When you discard module, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).
CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.
(10) General cautions
CAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual.
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REVISIONS The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision May., 2005 IB(NA)-0300117-A First edition Dec., 2011 IB(NA)-0300117-B [Partial correction]
Safety instructions, Section 4.3.1 Partial change of sentence
Japanese Manual Version IB-0300098
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
2005 MITSUBISHI ELECTRIC CORPORATION
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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...................................................................................................................................................A- 11 INTRODUCTION...........................................................................................................................................A 12 CONTENTS...................................................................................................................................................A- 13 About Manuals ..............................................................................................................................................A- 19 Using This Manual.........................................................................................................................................A- 19 Conformation to the EMC Directive ..............................................................................................................A- 19 Generic Terms and Abbreviations ................................................................................................................A- 20 Component List .............................................................................................................................................A- 20
Section 1 Product Specifications and Handling
1. Product Outline 1- 1 to 1- 28
1.1 Positioning control.................................................................................................................................... 1- 2 1.1.1 Features of QD75MH........................................................................................................................ 1- 2 1.1.2 Purpose and applications of positioning control............................................................................... 1- 5 1.1.3 Mechanism of positioning control ..................................................................................................... 1- 7 1.1.4 Overview of positioning control functions ......................................................................................... 1- 8 1.1.5 Outline design of positioning system............................................................................................... 1- 18 1.1.6 Communicating signals between QD75MH and each module....................................................... 1- 19
1.2 Flow of system operation........................................................................................................................ 1- 22 1.2.1 Flow of all processes........................................................................................................................ 1- 22 1.2.2 Outline of starting ............................................................................................................................. 1- 24 1.2.3 Outline of stopping ........................................................................................................................... 1- 26 1.2.4 Outline for restarting......................................................................................................................... 1- 28
2. System Configuration 2- 1 to 2- 8
2.1 General image of system......................................................................................................................... 2- 2 2.2 Component list ......................................................................................................................................... 2- 4 2.3 Applicable system .................................................................................................................................... 2- 6 2.4 How to check the function version and SERIAL No. .............................................................................. 2- 8
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 QD75MH control functions................................................................................................................ 3- 4 3.2.2 QD75MH main functions................................................................................................................... 3- 6
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3.2.3 QD75MH sub functions and common functions .............................................................................. 3- 8 3.2.4 Combination of QD75MH main functions and sub functions.......................................................... 3- 12
3.3 Specifications of input/output signals with PLC CPU ............................................................................ 3- 14 3.3.1 List of input/output signals with PLC CPU....................................................................................... 3- 14 3.3.2 Details of input signals (QD75MH PLC CPU)............................................................................. 3- 15 3.3.3 Details of output signals (PLC CPU QD75MH) .......................................................................... 3- 17
3.4 Specifications of interfaces with external devices.................................................................................. 3- 18 3.4.1 Electrical specifications of input signals .......................................................................................... 3- 18 3.4.2 Signal layout for external device connection connector.................................................................. 3- 19 3.4.3 List of input signal details ................................................................................................................. 3- 20 3.4.4 Interface internal circuit .................................................................................................................... 3- 21
3.5 External circuit design............................................................................................................................. 3- 22
4. Installation, Wiring and Maintenance of the Product 4- 1 to 4- 18
4.1 Outline of installation, wiring and maintenance....................................................................................... 4- 2 4.1.1 Installation, wiring and maintenance procedures............................................................................. 4- 2 4.1.2 Names of each part........................................................................................................................... 4- 3 4.1.3 Handling precautions ........................................................................................................................ 4- 5
4.2 Installation ................................................................................................................................................ 4- 7 4.2.1 Precautions for installation................................................................................................................ 4- 7
4.3 Wiring....................................................................................................................................................... 4- 10 4.3.1 Precautions for wiring....................................................................................................................... 4- 10
4.4 Confirming the installation and wiring..................................................................................................... 4- 16 4.4.1 Items to confirm when installation and wiring are completed ......................................................... 4- 16
4.5 Maintenance............................................................................................................................................ 4- 17 4.5.1 Precautions for maintenance ........................................................................................................... 4- 17 4.5.2 Disposal instructions ........................................................................................................................ 4- 17
5. Data Used for Positioning Control (List of buffer memory addresses) 5- 1 to 5-172
5.1 Types of data............................................................................................................................................ 5- 2 5.1.1 Parameters and data required for control......................................................................................... 5- 2 5.1.2 Setting items for positioning parameters .......................................................................................... 5- 6 5.1.3 Setting items for OPR parameters.................................................................................................... 5- 8 5.1.4 Setting items for servo parameters................................................................................................... 5- 9 5.1.5 Setting items for positioning data..................................................................................................... 5- 11 5.1.6 Setting items for block start data ..................................................................................................... 5- 14 5.1.7 Setting items for condition data ....................................................................................................... 5- 15 5.1.8 Types and roles of monitor data ...................................................................................................... 5- 18 5.1.9 Types and roles of control data ....................................................................................................... 5- 20
5.2 List of parameters ................................................................................................................................... 5- 24 5.2.1 Basic parameters 1 .......................................................................................................................... 5- 24 5.2.2 Basic parameters 2 .......................................................................................................................... 5- 28 5.2.3 Detailed parameters 1...................................................................................................................... 5- 30 5.2.4 Detailed parameters 2...................................................................................................................... 5- 38 5.2.5 OPR basic parameters..................................................................................................................... 5- 50 5.2.6 OPR detailed parameters ................................................................................................................ 5- 56
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5.2.7 Servo parameters (Basic setting) .................................................................................................... 5- 62 5.2.8 Servo parameters (Gain filter setting)........................................................................................... 5- 68 5.2.9 Servo parameters (Expansion setting) ............................................................................................ 5- 80 5.2.10 Servo parameters (Input/Output setting)....................................................................................... 5- 86
5.3 List of positioning data ............................................................................................................................ 5- 90 5.4 List of block start data ............................................................................................................................ 5-106 5.5 List of condition data .............................................................................................................................. 5-112 5.6 List of monitor data................................................................................................................................. 5-118
5.6.1 System monitor data ....................................................................................................................... 5-118 5.6.2 Axis monitor data............................................................................................................................. 5-128
5.7 List of control data.................................................................................................................................. 5-148 5.7.1 System control data ........................................................................................................................ 5-148 5.7.2 Axis control data.............................................................................................................................. 5-150
6. Sequence Program Used for Positioning Control 6- 1 to 6- 72
6.1 Precautions for creating program ........................................................................................................... 6- 2 6.2 List of devices used................................................................................................................................. 6- 5 6.3 Creating a program ................................................................................................................................. 6- 15
6.3.1 General configuration of program.................................................................................................... 6- 15 6.3.2 Positioning control operation program............................................................................................. 6- 16
6.4 Positioning program examples ............................................................................................................... 6- 20 6.5 Program details ....................................................................................................................................... 6- 52
6.5.1 Initialization program ........................................................................................................................ 6- 52 6.5.2 Start details setting program............................................................................................................ 6- 53 6.5.3 Start program.................................................................................................................................... 6- 55 6.5.4 Continuous operation interrupt program.......................................................................................... 6- 64 6.5.5 Restart program ............................................................................................................................... 6- 66 6.5.6 Stop program.................................................................................................................................... 6- 69
7. Memory Configuration and Data Process 7- 1 to 7- 20
7.1 Configuration and roles of QD75MH memory......................................................................................... 7- 2 7.1.1 Configuration and roles of QD75MH memory.................................................................................. 7- 2 7.1.2 Buffer memory area configuration .................................................................................................... 7- 5
7.2 Data transmission process ...................................................................................................................... 7- 8
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Section 2 Control Details and Setting
8. OPR Control 8- 1 to 8- 16
8.1 Outline of OPR control ............................................................................................................................. 8- 2 8.1.1 Two types of OPR control ................................................................................................................. 8- 2
8.2 Machine OPR........................................................................................................................................... 8- 5 8.2.1 Outline of the machine OPR operation............................................................................................. 8- 5 8.2.2 Machine OPR method....................................................................................................................... 8- 6 8.2.3 OPR method (1): Near-point dog method ........................................................................................ 8- 7 8.2.4 OPR method (2): Count method 1) .................................................................................................. 8- 9 8.2.5 OPR method (3): Count method 2) ................................................................................................. 8- 11 8.2.6 OPR method (4): Data set method.................................................................................................. 8- 13
8.3 Fast OPR................................................................................................................................................. 8- 14 8.3.1 Outline of the fast OPR operation.................................................................................................... 8- 14
8.4 Selection of OPR set condition .............................................................................................................. 8- 16 8.4.1 Outline of the selection of OPR set condition.................................................................................. 8- 16
9. Major Positioning Control 9- 1 to 9-116
9.1 Outline of major positioning controls ....................................................................................................... 9- 2 9.1.1 Data required for major positioning control ...................................................................................... 9- 4 9.1.2 Operation patterns of major positioning controls ............................................................................. 9- 5 9.1.3 Designating the positioning address................................................................................................ 9- 15 9.1.4 Confirming the current value............................................................................................................ 9- 16 9.1.5 Control unit "degree" handling ......................................................................................................... 9- 18 9.1.6 Interpolation control.......................................................................................................................... 9- 21
9.2 Setting the positioning data ................................................................................................................... 9- 25 9.2.1 Relation between each control and positioning data ...................................................................... 9- 25 9.2.2 1-axis linear control .......................................................................................................................... 9- 27 9.2.3 2-axis linear interpolation control ..................................................................................................... 9- 29 9.2.4 3-axis linear interpolation control ..................................................................................................... 9- 33 9.2.5 4-axis linear interpolation control ..................................................................................................... 9 -39 9.2.6 1-axis fixed-feed control ................................................................................................................... 9- 44 9.2.7 2-axis fixed-feed control (interpolation) ........................................................................................... 9- 46 9.2.8 3-axis fixed-feed control (interpolation) ........................................................................................... 9- 48 9.2.9 4-axis fixed-feed control (interpolation) .......................................................................................... 9- 52 9.2.10 2-axis circular interpolation control with sub point designation .................................................... 9- 54 9.2.11 2-axis circular interpolation control with center point designation ................................................ 9- 60 9.2.12 1-axis speed control ....................................................................................................................... 9- 68 9.2.13 2-axis speed control ....................................................................................................................... 9- 71 9.2.14 3-axis speed control ....................................................................................................................... 9- 74 9.2.15 4-axis speed control ....................................................................................................................... 9- 78 9.2.16 Speed-position switching control (INC mode)............................................................................... 9- 83 9.2.17 Speed-position switching control (ABS mode).............................................................................. 9- 91 9.2.18 Position-speed switching control ................................................................................................... 9- 99 9.2.19 Current value changing................................................................................................................ 9- 106
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9.2.20 NOP instruction ............................................................................................................................ 9- 111 9.2.21 JUMP instruction .......................................................................................................................... 9- 112 9.2.22 LOOP............................................................................................................................................ 9- 114 9.2.23 LEND ............................................................................................................................................ 9- 115
10. High-Level Positioning Control 10- 1 to 10- 26
10.1 Outline of high-level positioning control .............................................................................................. 10- 2 10.1.1 Data required for high-level positioning control............................................................................ 10- 3 10.1.2 "Block start data" and "condition data" configuration................................................................... 10- 4
10.2 High-level positioning control execution procedure ............................................................................ 10- 6 10.3 Setting the block start data .................................................................................................................. 10- 7
10.3.1 Relation between various controls and block start data .............................................................. 10- 7 10.3.2 Block start (normal start) .............................................................................................................. 10- 8 10.3.3 Condition start .............................................................................................................................. 10- 10 10.3.4 Wait start....................................................................................................................................... 10- 11 10.3.5 Simultaneous start ...................................................................................................................... 10- 12 10.3.6 Repeated start (FOR loop) ......................................................................................................... 10- 13 10.3.7 Repeated start (FOR condition) .................................................................................................. 10- 14 10.3.8 Restrictions when using the NEXT start...................................................................................... 10- 15
10.4 Setting the condition data ................................................................................................................... 10- 16 10.4.1 Relation between various controls and the condition data ......................................................... 10- 16 10.4.2 Condition data setting examples ................................................................................................. 10- 19
10.5 Multiple axes simultaneous start control ............................................................................................ 10- 20 10.6 Start program for high-level positioning control ................................................................................. 10- 23
10.6.1 Starting high-level positioning control.......................................................................................... 10- 23 10.6.2 Example of a start program for high-level positioning control .................................................... 10- 24
11. Manual Control 11- 1 to 11- 36
11.1 Outline of manual control .................................................................................................................... 11- 2 11.1.1 Three manual control methods..................................................................................................... 11- 2
11.2 JOG operation...................................................................................................................................... 11- 4 11.2.1 Outline of JOG operation .............................................................................................................. 11- 4 11.2.2 JOG operation execution procedure ............................................................................................ 11- 7 11.2.3 Setting the required parameters for JOG operation..................................................................... 11- 8 11.2.4 Creating start programs for JOG operation................................................................................. 11- 10 11.2.5 JOG operation example............................................................................................................... 11- 13
11.3 Inching operation................................................................................................................................. 11- 17 11.3.1 Outline of inching operation ......................................................................................................... 11- 17 11.3.2 Inching operation execution procedure ....................................................................................... 11- 20 11.3.3 Setting the required parameters for inching operation ............................................................... 11- 21 11.3.4 Creating a program to enable/disable the inching operation...................................................... 11- 22 11.3.5 Inching operation example........................................................................................................... 11- 25
11.4 Manual pulse generator operation...................................................................................................... 11- 27 11.4.1 Outline of manual pulse generator operation.............................................................................. 11- 27 11.4.2 Manual pulse generator operation execution procedure ............................................................ 11- 31 11.4.3 Setting the required parameters for manual pulse generator operation .................................... 11- 32 11.4.4 Creating a program to enable/disable the manual pulse generator operation........................... 11- 33
A - 17
12. Control Sub Functions 12- 1 to 12-106
12.1 Outline of sub functions ....................................................................................................................... 12- 2 12.1.1 Outline of sub functions ................................................................................................................ 12- 2
12.2 Sub functions specifically for machine OPR ....................................................................................... 12- 4 12.2.1 OPR retry function......................................................................................................................... 12- 4 12.2.2 OP shift function ........................................................................................................................... 12- 8
12.3 Functions for compensating the control ............................................................................................. 12- 11 12.3.1 Backlash compensation function................................................................................................. 12- 11 12.3.2 Electronic gear function ............................................................................................................... 12- 13 12.3.3 Near pass function ....................................................................................................................... 12- 20
12.4 Functions to limit the control ............................................................................................................... 12- 23 12.4.1 Speed limit function...................................................................................................................... 12- 23 12.4.2 Torque limit function..................................................................................................................... 12- 25 12.4.3 Software stroke limit function....................................................................................................... 12- 29 12.4.4 Hardware stroke limit function ..................................................................................................... 12- 35 12.4.5 Forced stop function..................................................................................................................... 12- 39
12.5 Functions to change the control details.............................................................................................. 12- 42 12.5.1 Speed change function ................................................................................................................ 12- 42 12.5.2 Override function .......................................................................................................................... 12- 49 12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 52 12.5.4 Torque change function ............................................................................................................... 12- 56
12.6 Absolute position system.................................................................................................................... 12- 59 12.7 Other functions.................................................................................................................................... 12- 61
12.7.1 Step function................................................................................................................................. 12- 61 12.7.2 Skip function ................................................................................................................................. 12- 66 12.7.3 M code output function................................................................................................................. 12- 69 12.7.4 Teaching function......................................................................................................................... 12- 73 12.7.5 Target position change function .................................................................................................. 12- 79 12.7.6 Command in-position function ..................................................................................................... 12- 83 12.7.7 Acceleration/deceleration processing function............................................................................ 12- 86 12.7.8 Pre-reading start function............................................................................................................. 12- 89 12.7.9 Deceleration start flag function................................................................................................... 12- 94 12.7.10 Stop command processing for deceleration stop function ..................................................... 12- 98 12.7.11 Speed control 10 x multiplier setting for degree axis function .............................................12- 101 12.7.12 Operation setting for incompletion of OPR function .............................................................12- 103
12.8 Servo ON/OFF ..................................................................................................................................12- 105 12.8.1 Servo ON/OFF ...........................................................................................................................12- 105 12.8.2 Follow up function ......................................................................................................................12- 106
13. Common Functions 13- 1 to 13- 8
13.1 Outline of common functions ............................................................................................................... 13- 2 13.2 Parameter initialization function........................................................................................................... 13- 3 13.3 Execution data backup function .......................................................................................................... 13- 5 13.4 External signal selection function ........................................................................................................ 13- 7 13.5 External I/O signal logic switching function......................................................................................... 13- 8
A - 18
14. Dedicated Instructions 14- 1 to 14- 18
14.1 List of dedicated instructions ............................................................................................................... 14- 2 14.2 Interlock during dedicated instruction is executed.............................................................................. 14- 2 14.3 PSTRT1, PSTRT2, PSTRT3, PSTRT4............................................................................................... 14- 3 14.4 TEACH1, TEACH2, TEACH 3, TEACH 4 ........................................................................................... 14- 7 14.5 PFWRT................................................................................................................................................ 14- 11 14.6 PINIT.................................................................................................................................................... 14- 15
15. Troubleshooting 15- 1 to 15- 60
15.1 Error and warning details..................................................................................................................... 15- 2 15.2 List of errors ......................................................................................................................................... 15- 6
15.2.1 QD75MH detection error............................................................................................................... 15- 6 15.2.2 MR-J3-B detection error............................................................................................................... 15- 36
15.3 List of warnings ................................................................................................................................... 15- 50 15.3.1 QD75MH detection warning......................................................................................................... 15- 50 15.3.2 MR-J3-B detection warning ......................................................................................................... 15- 56
15.4 LED display functions ......................................................................................................................... 15- 60
Appendices Appendix- 1 to Appendix-72
Appendix 1 Functions........................................................................................................................Appendix- 3 Appendix 1.1 Multiple CPU correspond function..........................................................................Appendix- 3 Appendix 1.2 The combination of software package for QD75MH and QCPU ..........................Appendix- 3
Appendix 2 Positioning data (No.1 to 600) List of buffer memory addresses.................................Appendix- 4 Appendix 3 Connection with servo amplifiers .................................................................................Appendix- 28
Appendix 3.1 Connection of SSCNET cables .........................................................................Appendix- 28 Appendix 3.2 Wiring of SSCNET cables..................................................................................Appendix- 30
Appendix 4 Connection with external device connector .................................................................Appendix- 34 Appendix 4.1 Connector...............................................................................................................Appendix- 34 Appendix 4.2 Wiring of manual pulse generator cable ...............................................................Appendix- 36
Appendix 5 Comparisons with conventional positioning modules..................................................Appendix- 37 Appendix 5.1 Comparisons with QD75P model ..........................................................................Appendix- 37 Appendix 5.2 Comparisons with QD75M1/ QD75M2/ QD75M4 models ...................................Appendix- 38
Appendix 6 Positioning control troubleshooting ..............................................................................Appendix- 51 Appendix 7 List of buffer memory addresses..................................................................................Appendix- 57 Appendix 8 External dimension drawing .........................................................................................Appendix- 71
INDEX Index- 1 to Index - 10
INDEX..................................................................................................................................................... Index - 1
A - 19
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 Name Manual Number (Model Code)
GX Configurator-QP Operating Manual Describes how to use GX Configurator-QP for the following and other purposes: creating data
(parameters, positioning data, etc.), sending the data to the module, monitoring the positioning
operations, and testing.
(The manual is supplied with the software.)
SH-080172 (13JU19)
Using This Manual
The symbols used in this manual are shown below.
Pr. ....... Symbol indicating positioning parameter and OPR parameter item. Da. ....... Symbol indicating positioning data, block start data and condition
data item. Md. ....... Symbol indicating monitor data item. Cd. ....... Symbol indicating control data item.
(A serial No. is inserted in the mark.)
Conformation to the EMC Directive
The CE logo is printed on the rating plate on the main body of the PLC that conforms to the EMC directive instruction. To make this product conform to the EMC directive instruction, please refer to section 4.3.1 "Precautions for wiring" of the chapter 4 "Installation, Wiring and Maintenance of the Product" and the EMC Installation Guidelines (IB(NA)67339).
Representation of numerical values used in this manual.
Buffer memory addresses, error codes and warning codes are represented in decimal.
X/Y devices are represented in hexadecimal. Setting data and monitor data are represented in decimal or hexadecimal. Data ended by "H" or "h" are represented in hexadecimal.
(Example) 10.........Decimal 10H ......Hexadecimal
A - 20
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 QD75MH can be mounted. QD75MH Generic term for positioning module QD75MH1, QD75MH2 and QD75MH4.
The module type is described to indicate a specific module. MR-J3-B Servo amplifier: Abbreviation for MR-J3- B. ( = capacity) Peripheral device Generic term for DOS/V personal computer that can run the following "GX Developer" and
"GX Configurator-QP". GX Developer Abbreviation for GX Developer (SW4D5C-GPPW-E or later). GX Configurator-QP Abbreviation for GX Configurator-QP (SW2D5C-QD75P-E (Version 2.21X) or later). Servo amplifier (drive unit) Abbreviation for SSCNET compatible servo amplifier (drive unit). Manual pulse generator Abbreviation for manual pulse generator (MR-HDP01) (prepared by user).
DOS/V personal computer IBM PC/AT and compatible DOS/V compliant personal computer.
Personal computer Generic term for DOS/V personal computer. Workpiece Generic term for moving body such as workpiece and tool, and for various control targets. Axis 1, axis 2, axis 3, axis 4
Indicates each axis connected to QD75MH.
1-axis, 2-axis, 3-axis, 4-axis
Indicates the number of axes. (Example: 2-axis = Indicates two axes such as axis 1 and axis 2, axis 2 and axis 3, and axis 3 and axis 1.)
OPR Generic term for "Home position return". OP Generic term for "Home position".
SSCNET (Note) High speed synchronous communication network between QD75MH and servo amplifier.
(Note): SSCNET: Servo System Controller NETwork Component List
The table below shows the component included in respective positioning modules:
Quantity Module name
QD75MH1 QD75MH2 QD75MH4
QD75MH1 positioning module 1 QD75MH2 positioning module 1 QD75MH4 positioning module 1 Before Using the Product 1
Se
ct io
n 1
Section 1 Product Specifications and Handling
Section 1 is configured for the following purposes (1) to (5).
(1) To understand the outline of positioning control, and the QD75MH specifications and functions (2) To carry out actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a PLC program required for positioning control (5) To understand the memory configuration and data transmission process 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.
Read "Section 2" for details on each control.
Chapter 1 Product outline .............................................................................................. 1- 1 to 1- 28 Chapter 2 System configuration .................................................................................... 2- 1 to 2- 8 Chapter 3 Specifications and Functions........................................................................ 3- 1 to 3- 24 Chapter 4 Installation, Wiring and Maintenance of the Product ................................... 4- 1 to 4- 16 Chapter 5 Data Used for Positioning Control ................................................................ 5- 1 to 5-172 Chapter 6 PLC Program Used for Positioning Control ................................................. 6- 1 to 6- 72 Chapter 7 Memory Configuration and Data Process.................................................... 7- 1 to 7- 20
MEMO
1 - 1
1
Chapter 1 Product Outline
The purpose and outline of positioning control using QD75MH 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 ........................................................................................................1- 2 1.1.1 Features of QD75MH .....................................................................................1- 2 1.1.2 Purpose and applications of positioning control ............................................1- 5 1.1.3 Mechanism of positioning control...................................................................1- 7 1.1.4 Overview of positioning control functions.......................................................1- 8 1.1.5 Outline design of positioning system.............................................................1- 18 1.1.6 Communicating signals between QD75MH and each module ....................1- 19 1.2 Flow of system operation ............................................................................................1- 22 1.2.1 Flow of all processes .....................................................................................1- 22 1.2.2 Outline of starting...........................................................................................1- 24 1.2.3 Outline of stopping.........................................................................................1- 26 1.2.4 Outline for restarting ......................................................................................1- 28
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MELSEC-Q 1 PRODUCT OUTLINE
1.1 Positioning control
1.1.1 Features of QD75MH
The features of the QD75MH are shown below.
(1) Availability of one, two, and four axis modules (a) One, two and four axis positioning modules are available.
They can be selected according to the PLC CPU type and the number of required control axes. (Refer to Section 2.2.)
(b) For connecting any of the QD75MH modules to the base unit, a single slot
and 32 dedicated I/O channels are required. Within the limit imposed by the maximum number of inputs and outputs supported by the PLC CPU, up to 64 modules can be used. (Refer to Section 2.3.)
(2) Wide variety of positioning control functions
(a) A wide variety of positioning control functions essential to any positioning system are supported: positioning to an arbitrary position, fixed-feed control, equal-speed control, and so on. (Refer to Section 5.3 and 9.2.) 1) Up to 600 positioning data items, including such information as
positioning addresses, control systems, and operation patterns, can be prepared for each axis. Using the prepared positioning data, the positioning control is performed independently for each axis. (In addition, such controls as interpolation involving two to four axes and simultaneous startup of multiple axes are possible.)
2) Independent control of each axis can be achieved in linear control mode (executable simultaneously over four axes). Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data.
3) Coordinated control over multiple axes can take the form of either the linear interpolation through the speed or position control of two to four axes or the circular interpolation involving two axes. Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data.
(b) For each positioning data, the user can specify any of the following control systems: position control, speed control, speed-position switching control, position-speed switching control, and so on. (Refer to Section 5.3 and 9.2.)
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MELSEC-Q 1 PRODUCT OUTLINE
(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.)
Four different machine OPR methods are provided: the near point dog method, two count methods, and the data set method.
(e) Two acceleration/deceleration control methods are provided: automatic
trapezoidal acceleration/deceleration and S-pattern acceleration/ deceleration. (Refer to Section 12.7.7.)
(3) Quick startup (Refer to Section 3.1.)
A positioning operation starts up quickly taking as little as 3.5 ms to 4 ms. When operation using simultaneous start function or interpolation operation is executed, the axes start without delay. (Example) Axis 1 and Axis 3 are started by the : No delay in Axis 1 and
simultaneous start function Axis 3 start Axis 2 and Axis 4 are started by the : No delay in Axis 2 and interpolation operation Axis 4 start
(4) SSCNET makes the connection to the servo amplifier possible
(a) The QD75MH can be directly connected to the servo amplifier using the MELSERVO (Mitsubishi's servo amplifier: MR-J3-B).
(b) Because the SSCNET cable is used to connect the QD75MH and the
servo amplifier, or servo amplifiers, saving wiring can be realized. The cable between the QD75MH and servo amplifier or servo amplifiers can be extended up to 50m (164.04ft.).
(c) By the use of SSCNET cable (Optical communication), influence of
electromagnetic noise and others from servo amplifier, etc. are reduced.
(d) The servo parameters can be set on the QD75MH side to write or read them to/from the servo amplifier using the SSCNET .
(e) The actual current value and error description contained in the servo can
be checked by the buffer memory of the QD75MH.
(5) Easy application to the absolute position system (a) The absolute position-corresponding servo amplifier is connected to have
an application to the absolute position system.
(b) Once the OP have been established, the OPR operation can also be made unnecessary when the power is supplied.
(c) With the absolute position system, the data set method OPR is used to
establish the OP.
(d) When the setting unit is "degree", the absolute position system with unlimited length feed can be configured.
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MELSEC-Q 1 PRODUCT OUTLINE
(6) Control can be realized with the mechanical system input
The external inputs, such as external start, stop, and speed/position switching is used to perform the positioning control without using the PLC program.
(7) Easy maintenance
Each QD75MH positioning module incorporates the following improvements in maintainability: (a) Data such as the positioning data and parameters can be stored on a flash
ROM inside the QD75MH, eliminating the need of a battery for retaining data. (Refer to Section 7.1.1.)
(b) Error messages are classified in more detail to facilitate the initial
troubleshooting procedure. (Refer to Section 15.1.)
(c) The module retains 16 error messages and 16 warning messages recently output, offering more complete error and warning histories. (Refer to Section 5.6.1.)
(8) Support of intelligent function module dedicated instructions
Dedicated instructions such as the positioning start instruction, and teaching instruction are provided. The use of such dedicated instruction simplifies PLC programs.(Refer to Chapter 14.)
(9) Setups, monitoring, and testing through GX Configurator-QP
Using GX Configurator-QP, the user can control the QD75MH parameters and positioning data without having to be conscious of the buffer memory addresses. Moreover, GX Configurator-QP has a test function which allows the user to check the wiring before creating a PLC program for positioning control, or test operation the QD75MH using created parameters and positioning data for checking their integrity. The control monitor function of GX Configurator-QP allows the user to debug programs efficiently.
(10) Addition of forced stop function
As forced stop input signal to the connector for external equipment connection is added, batch forced stop is available for all axes of servo amplifier. (Refer to Section 12.4.5.) Selection for whether using "Forced stop input signal" or not can be made with parameter.
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MELSEC-Q 1 PRODUCT OUTLINE
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.
Punch press (X, Y feed positioning)
Y axis servomotor
Gear and ball screw Y axis X axis
Y axis
Servo amplifier
X axis Gear and rack & pinion
X axis servomotor
PLC MELSEC-Q
X axis
Y axis
Servo amplifier
Press punching
320mm 160mm
12s
15m/min (1875r/min)
15m/min (2000r/min)
Press head
QD75MH
To punch insulation material or leather, etc., as the same shape at a high yield, positioning is carried out with the X axis and Y axis servos.
After positioning the table with the X axis servo, the press head is positioned with the Y axis servo, and is then punched with the press.
When the material type or shape changes, the press head die is changed, and the positioning pattern is changed.
Palletizer
Servo amplifier
PLC MELSEC-Q
Conveyor
Servomotor (with brakes)
Reduction gears
Ball screw
(From QD75MH)
Palletizer
QD75MH
G
Conveyor control
Unloader control
Position detector
Using the servo for one axis, the palletizer is positioned at a high accuracy.
The amount to lower the palletizer according to the material thickness is saved.
Compact machining center (ATC magazine positioning)
Servomotor
Servo amplifier
PLC MELSEC-Q
Coupling
ATC tool magazine
Reduction gears
Positioning pin
Tool (12 pcs., 20 pcs.)
Current value retrieval position
Current value retrieval position
Rotation direction for calling 11, 12, 1, 2 or 3
Rotation direction for calling 17 to 20, 1 to 5
Rotation direction for calling 5, 6, 7, 8, 9 or 10
Rotation direction for calling 7 to 16
QD75MH
1
7
410
11 12 2
3
8 6 9 5
1
11
616
3 4 5
22019 18
17
1012 913
814 715
The ATC tool magazine for a compact machining center is positioned.
The relation of the magazine's current value and target value is calculated, and positioning is carried out with forward run or reverse run to achieve the shortest access time.
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MELSEC-Q 1 PRODUCT OUTLINE
Lifter (Storage of Braun tubes onto aging rack)
PLC MELSEC-Q
Servo amplifier
Servomotor
Aging rack Lifter
Counter- weight A conveyor Servo
amplifier
Reduction gears
Servomotor (with brakes)
QD75MH
B conveyor
C conveyor
G2
G1
Loader/unloader Unloader
Loader
During the aging process of Braun tubes, storage onto the rack is carried out by positioning with the AC servo.
The up/down positioning of the lifter is carried out with the 1-axis servo, and the horizontal position of the aging rack is positioned with the 2-axis servo.
Index table (High-accuracy indexing of angle)
Detector ServomotorWorm gears
Index table
Digital switch
PLC MELSEC-Q
Servo amplifier
QD75MH
The index table is positioned at a high accuracy using the 1-axis servo.
Inner surface grinder
PLC MELSEC-Q
QD75MH
Servomotor
Servo amplifier
220VAC 60Hz
Inverter
Grinding stone Workpiece
Motor
Fix the grinding stone, feed the workpiece, and grind. Operation panel
a. Total feed amount (m) b. Finishing feed amount (m) c. Compensation amount (m)
d. Rough grind- ing speed (m/s) e. Fine grinding speed (m/s)
Inverter
GIM
G
a
b
c
d
e
Motor
IM
G
The grinding of the workpiece's inner surface is controlled with the servo and inverter.
The rotation of the workpiece is controlled with the 1-axis inverter, and the rotation of the grinding stone is controlled with the 2-axis inverter. The workpiece is fed and ground with the 3-axis servo.
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MELSEC-Q 1 PRODUCT OUTLINE
1.1.3 Mechanism of positioning control
In the positioning system using the QD75MH, various software and devices are used for the following roles. The QD75MH realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU.
Workpiece
Creates control order and conditions as a sequence program.
Stores the created program.
The QD75MH outputs the start signal and stop signal following the stored program.
QD75MH errors, etc., are detected.
GX Developer PLC CPU Outputs signals such as the start signal, forced stop input signal, stop signal, limit signal and control changeover signal to the QD75MH.
GX Configurator -QP
QD75MH positioning module
External signal
Manual pulse generator
Issues commands by transmitting pulses.
Sets the parameters and positioning data for control.
Outputs the start command for JOG operation, etc., during test operation with the test mode.
Monitors the positioning operation. Servo amplifier
Stores the parameter and data.
Outputs datas to the servo according to the instructions from the PLC CPU, GX Configurator-QP, external signals and manual pulse generator.
Receives positioning commands and control commands from QD75MH, and drives the motor.
Outputs the positioning data of the motor data and etc., and external input signal of the servo amplifier to the QD75MH by the SSCNET .
Motor
Carries out the actual work according to commands from the servo.
(Note): For QD75MH1, 2 and 4, use SW2D5C-QD75P (Version 2.21X) or later of the GX Configurator.
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MELSEC-Q 1 PRODUCT OUTLINE
1.1.4 Overview of positioning control functions
The outline of the "overview of positioning control" and "overview of individual positioning control and continuous positioning control", "overview of block positioning control" and "overview of acceleration/deceleration processing control" is shown below.
Positioning control
An overview of positioning using positioning data described below. (1) Linear control
(a) 1-axis linear control This performs positioning from the start point address (location the axis is presently stopped) defined on the specified axis to the specified position. [Control using the absolute system] 1) This performs positioning from the start point address to the specified
position. 2) The start point address and the specified address determine the
movement direction. [Example] The following figure shows the operations when the start point address is 5000 and the positioning address are 2000 and 8000:
2000 5000 8000
Positioning when the specified address is 2000
Start point address
Positioning when the specified address is 8000
[Control using the increment system] 1) This performs positioning from the specified increment of travel from the
start point address. 2) The sign of the travel increment determines the direction of travel. For positive travel increment.Positioning in the positive direction (direction of address increase) For negative travel increment...Positioning in the negative direction (direction of address decrease)
[Example] The following figure shows the operations when the start point address is 5000 and the travel increments are 3000 and -3000:
2000 5000 8000
Positioning when the specified address is -3000. Positioning when the specified address is 3000.
Start point address
Movement direction for a negative movement amount.
Movement direction for a positive movement amount.
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MELSEC-Q 1 PRODUCT OUTLINE
(b) 2-axis linear interpolation control (Note)
This controls interpolation along a linear locus from the start point address (current stop position) defined by two axes. [Control using the absolute system] 1) This performs linear interpolation using two axes from the start point
address to the endpoint address. 2) The start point address and the specified address determine the
direction of travel. [Example] The operation when the start point address is 800 for axis 1 and 2000 for axis 2 and the positioning address specified to 2000 for axis 1 and 8000 for axis 2, is shown below.
2000
800
800020000
Axis 1
Axis 2
Specified address (8000, 2000)
Positioning operation
Start point address (2000, 800)
[Control using the increment system] 1) This performs positioning from the specified increment of travel from the
start point address. 2) The sign of the travel increment determines the direction of travel. For positive travel increment.Positioning in the positive direction (direction of address increase) For negative travel increment.Positioning in the negative direction (direction of address decrease) [Example] The operation when the start point address is 800 for axis 1 and 2000 for axis 2 and the positioning address specified to 1200 for axis 1 and 6000 for axis 2, is shown below.
2000
800
800020000
Axis 1
Axis 2
End position when the travel increment is 1200 for axis 1 and 6000 for axis 2.
Positioning operation
Start point address (2000, 800)
REMARK
(Note): The interpolation speed during linear interpolation control can be selected from "synthesized axis" and "reference-axis speed" using the detailed parameter 1. (Refer to the Section 5.2.3 information about setting " Pr.20 Interpolation speed designation method" of the detailed parameter 1.)
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MELSEC-Q 1 PRODUCT OUTLINE
(2) Circular interpolation control (Note)
There are two types of circular interpolation controls: circular interpolation with a specified sub point and circular interpolation with the specified center point. (a) Circular interpolation with a specified sub point
Circular interpolation is performed using the specified endpoint address and sub point (passing point) address. Two methods are available: absolute system and increment system.
Forward direction
Reverse direction
Center point (Calculated by the QD75)
Start point address
Sub point End point
Reverse direction
Forward direction
(b) Circular interpolation with the specified center point Circular interpolation is performed using the specified endpoint address and center point address. Two methods are available: absolute system and increment system. Also, the direction of movement can be selected from clockwise or counterclockwise.
End point
Center pointStop position Reverse direction
Forward direction
Reverse direction
Forward direction
REMARK
(Note): The interpolation speed during circular interpolation control may only be set to "synthesized speed" for the interpolation speed of the detailed parameter 1. (Refer to the Section 5.2.3 information about setting " Pr.20 Interpolation speed designation method" of the detailed parameter 1.)
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MELSEC-Q 1 PRODUCT OUTLINE
(3) Fixed-feed control
This performs positioning for the specified increment of travel.
Stop position
[1-axis fixed-feed control]
Positioning direction
V
Start
t
ON
OFFStart command
Operation timing
Travel along axis 2
Reverse direction
Stop position
Movement direction for a positive movement amount
Positioning direction
Travel along axis 1
[2-axis fixed-feed control]
Forward directionReverse direction
Forward direction
Forward direction
Reverse direction
Movement direction for a negative movement amount
(4) Speed control After command is executed, control continues with the command speed until the stop command is input.
V
t
ON
ON
ON
OFF
OFF
OFFPositioning start signal
BUSY signal
Axis stop signal
(By the PLC program creation)
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MELSEC-Q 1 PRODUCT OUTLINE
(5) Speed-position switching control
This starts positioning under speed control, and switches to position control according to the input of the QD75MH speed-position switching signal and perform positioning for the specified increment of travel.
V
Speed control Position control Specified travel increment
Dwell time
t
ON
ON
ON OFF
OFF
OFF
OFF
Speed-position switching signal (external signal)
BUSY signal
Positioning start signal
ON
Speed-position switching enable flag
(By the PLC program creation)
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MELSEC-Q 1 PRODUCT OUTLINE
Individual positioning control and continuous positioning control
The QD75 performs positioning according to the user-set positioning data, which is a set of information comprised of the control method (position control, speed control, speed-position switching control), positioning address, operation pattern, and so on. Up to 600 of positioning data are assigned respectively to positioning data Nos. 1 to 600 per axis and registered to the QD75MH. The operation pattern set in each positioning data by the user determines whether to perform positioning operation with one positioning data item or to perform continuous positioning operation with multiple positioning data items. (1) Independent positioning control (operation pattern = 00: positioning
complete) The operation completed upon completion of positioning for the specified positioning data. The positioning completion of this operation pattern is also used as the operation pattern for the last positioning data of continuous positioning and continuous-locus positioning.
V Positioning complete (00)
Dwell time
t
ON
ON
ON
OFF
OFF
OFF
OFF
Positioning start signal
Positioning start complete signal
BUSY signal
Positioning complete signal
ON
(By the PLC program creation)
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MELSEC-Q 1 PRODUCT OUTLINE
(2) Continuous positioning control (operation pattern = 01: positioning
continues) The operation stops temporarily upon the completion of positioning for the specified positioning data, and then continues with the next positioning data number. This is specified when performing positioning in which the direction changes because of multiple positioning data items having consecutive positioning data numbers.
V
Address(+) direction
Address(-) direction
Dwell time
t
Positioning complete
(00) ON
ON
ON
OFF
OFF
OFF
OFF
Positininig start signal
Positioning start complete signal
BUSY signal
Positioning complete signal
ON
(By the PLC program creation)
Positioning continues (01)
Positioning continues (01)
V
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MELSEC-Q 1 PRODUCT OUTLINE
(3) Continuous path control (operation pattern = 11: positioning
continue) After executing positioning using the specified positioning data, the operation changes its speed to that of the next positioning data number and continues positioning. This is specified when continuously executing multiple positioning data items having consecutive positioning data numbers at a specified speed.
ON
ON
ON
OFF
OFF
OFF
OFF
V
Address(+) direction
Address(-) direction
Dwell time
t
Positininig start signal
Positioning start complete signal
BUSY signal
Positioning complete signal
ON
(By the PLC program creation)
Positioning continue (11)
Positioning continue (11) Positioning complete
(00)
V
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MELSEC-Q 1 PRODUCT OUTLINE
Block positioning control
Block positioning is a control that continuously executes the positioning of specified blocks. One block equivalent to a series of positioning data up to the completion of positioning (operation pattern = 00) by Independent or continuous positioning control. A maximum of 50 blocks per axis can be specified. Using a one-time start command from the QCPU or external, complex positioning control can be performed. The block positioning control can be performed by specifying the positioning start number and positioning start information in the buffer memory.
One block
ON
ON
ON
OFF
OFF
OFF
OFF
V
V
Address(+) direction
Address(-) direction
Dwell time
t
Positininig start signal
Start complete signal
BUSY signal
Positioning complete signal
Positioning continue (11)
One block One block
ON
Positioning complete (00) Positioning continues (01)
Positioning complete (00)
Positioning complete (00)
Positioning continue (11)
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MELSEC-Q 1 PRODUCT OUTLINE
Overview of acceleration/deceleration processing control
Acceleration/deceleration processing for the positioning processing, manual pulse- generator processing, OPR processing and JOG processing is performed using the user-specified method, acceleration time and deceleration time. (1) Acceleration/deceleration method
There are two types of acceleration and deceleration processing: the automatic trapezoidal acceleration/deceleration processing method and S-pattern acceleration/deceleration processing method. A detailed parameter is used to set which method is used. The specified acceleration/deceleration method is applied to all accelerations and decelerations when starting and completing positioning processing, OPR processing and JOG processing, as well as when changing the speed. (a) Automatic trapezoidal acceleration/deceleration processing method
This is a method in which linear acceleration/deceleration is carried out based on the acceleration time, deceleration time, and speed limit value set by the user.
Velocity
Time
(b) S-pattern acceleration/deceleration processing method This method reduces the load on the motor when starting and stopping. This is a method in which acceleration/deceleration is carried out gradually, based on the acceleration time, deceleration time, speed limit value, and " Pr.35 S-pattern proportion" (1 to 100%) set by the user.
Velocity
Time
(2) Acceleration time, deceleration time, sudden-stop deceleration time (a) For types each of the acceleration time and deceleration time for positioning
control can be set using basic parameters 2 and detailed parameters 2. Acceleration time.The time elapses before the speed of 0 reaches the limit value. Deceleration time.The time elapses before the speed at the limit value reaches 0.
(b) The sudden-stop deceleration time (1 to 8388608 ms) is set using the acceleration time/deceleration time setting size selection of detailed parameters 2.
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MELSEC-Q 1 PRODUCT OUTLINE
1.1.5 Outline design of positioning system
The outline of the positioning system operation and design, using the QD75MH, is shown below.
(1) Positioning system using QD75MH
PLC CPU QD75MH
Read, write and etc.
OS
Positioning command
Control command
Monitor data Positioning command Control command Monitor data External input signal of servo amplifier
Positioning control
Speed control
Current control Inverter
Current feedback
Speed feedback Position feedback Interface
Servo motor
M
PLG
EMI (Forced stop input signal) FLS (Upper limit signal) RLS (Lower limit signal) CHG (External command signal/switching signal) STOP (Stop signal) DOG (Near-point dog signal)
External input signal (Refer to Section 3.4.2)
Manual puse generator A-phese/B-phese
SSCNET
S S C N E T
I
FInterface
- +
- +
- +
- +
MR-J3-B
FLS (Upper limit signal) RLS (Lower limit signal) DOG (Near-point dog signal)
External input signal of servo amplifier (Refer to MR-J3-B Instruction manual)
S S C N E T
I
F
:Either the QD75MH or servo amplifier can be designated as the external input signal .(Refer to Section 5.2.3 Detailed parameters 1)
Fig. 1.2 Outline of the operation of positioning system using QD75MH
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MELSEC-Q 1 PRODUCT OUTLINE
1.1.6 Communicating signals between QD75MH and each module
The outline of the signal communication between the QD75MH (positioning module) and PLC CPU, peripheral device and servo amplifier, etc., is shown below. (A peripheral device communicates with the QD75MH via the PLC CPU to which it is connected)
QD75 READY signal
Forward run JOG start signal
Positioning start signal
BUSY signal
Axis stop signal
Start complete signal
Error detection signal
Servo amplifer
SSCNET
QD75MH
Y0
Y10,Y11,Y12,Y13
X0
Y8,YA,YC,YE
PLC CPU
Manual puse generator A-phase Manual pulse generator
External signal
Operation monitor
Parameter write/read
JOG operation, inching operation (Test) Positioning operation(Test)
Home position return operation (Test)
Peripheral device
Peripherral device interface
Y9,YB,YD,YF
X14,X15,X16,X17
XC,XD,XE,XF X10,X11,X12,X13
Y4,Y5,Y6,Y7
X4,X5,X6,X7
X8,X9,XA,XB
Syncronization flagX1
Execution prohibition flag Y14,Y15,Y16,Y17
All axis servo ON signalY1
Stop signal
Reverse run JOG start signal
Positioning complete signal
M code ON signal
Interface with PLC CPU
External interface
Manual puse generator B-phase
Forced stop input signal
External command signal/ switching signal
Operating information of the servo amplifer Positioning command Control command Servo parameter External input signal of the servo amplifier
PLC READY signal
Data write/read
Positioning data write/read
Block start data write/read
Near-point dog signal
Upper/lower limit signal
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MELSEC-Q 1 PRODUCT OUTLINE
QD75MH PLC CPU The QD75MH and PLC CPU communicate the following data via the base unit.
Direction Communication
QD75MH PLC CPU PLC CPU QD75MH
Control signal
Signal indicating QD75MH state QD75 READY signal BUSY signal and etc.
Signal related to commands PLC READY signal Various start signals Stop signals All axis servo ON signal and etc.
Data (read/write)
Parameter Positioning data Block start data Control data Monitor data
Parameter Positioning data Block start data Control data
Refer to Section 3.3 "Specifications of input/output signals with PLC CPU" for details.
QD75MH Peripheral device The QD75MH and peripheral device communicate the following data via the PLC CPU:
Direction Communication
QD75MH Peripheral device Peripheral device QD75MH
Data (read/write) Parameter Positioning data
Parameter Positioning data
Test operation
OPR control start command Positioning control start command JOG/Inching operation start command Teaching start command Manual pulse generator operation enable/disable command
Operation monitor Monitor data
QD75MH Servo amplifier The QD75MH and servo amplifier communicate the following data via the SSCNET .
Direction Communication
QD75MH Servo amplifier Servo amplifier QD75MH
SSCNET Positioning commands Control commands Servo parameter
Operating information of the servo amplifier
Servo parameter External input signal of the servo amplifier
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MELSEC-Q 1 PRODUCT OUTLINE
QD75MH Manual pulse generator The QD75MH and manual pulse generator communicate the following data via the external device connection connector. (The manual pulse generator should be connected to an external device connection connector for axis 1 or for axes 1 and 2.)
Direction Communication
QD75MH Manual pulse generator Manual pulse generator QD75MH
Pulse signal Manual pulse generator A-phase Manual pulse generator B-phase
QD75MH External signal The QD75MH and external signal communicate the following data via the external device connection connector.
Direction Communication
QD75MH External signal External signal QD75MH
Control signal
Forced stop input signal Upper/lower limit signal External command signal/switching
signal Stop signal Near-point dog signal
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MELSEC-Q 1 PRODUCT OUTLINE
1.2 Flow of system operation
1.2.1 Flow of all processes The positioning control processes, using the QD75MH, are shown below.
GX Configurator-QP Servo, etc.QD75MH PLC CPU GX Developer
Design Understand the functions and performance, and determine the positioning operation method (system design)
1)
Preparation
Installation, wiring
Setting of the: Parameters Positioning data Block start data Condition data Servo parameter
Creation of PLC program for operation
Refer to (Note)
2)
3) 4)
5) 6)
7) 8)
Writing of setting data Writing of program
Monitoring with test operation, and debugging of setting data
Connection confirmation
Test operation
Monitoring and debugging of operation program
9)
10)
11)
Operation Monitor Actual operation
Maintenance
Monitor
Disposal
(Note) When not using GX Configurator -QP, carry out setting, monitoring and debugging of the data in 3) with GX Developer.
Maintenance
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MELSEC-Q 1 PRODUCT OUTLINE
The following work is carried out with the processes shown on the previous page.
Details Reference
1) Understand the product functions and usage methods, the configuration devices and specifications required for positioning control, and design the system.
Chapter 1 Chapter 2 Chapter 3 Chapter 8 to Chapter 13
2) Install the QD75MH onto the base unit, wire the QD75MH and external connection devices (drive unit, etc.). Chapter 4
3) Using GX Configurator-QP, set the parameter, servo parameters, positioning data, block start data and condition data required for the positioning control to be executed.
Chapter 5 Chapter 8 to Chapter 13 GX Configurator-QP
Operating Manual
4) Using GX Developer, create the PLC program required for positioning operation. (When not using GX Configurator-QP, also create the PLC program for setting data.)
Chapter 6 GX Developer Operating
Manual
5) Write the parameters and positioning data, etc., created with GX Configurator-QP into the QD75MH.
Chapter 7 GX Configurator-QP
Operating Manual
6) Using GX Developer, write the created PLC program into the PLC CPU. (When not using GX Configurator-QP, also write in the PLC program for setting data.)
Chapter 7 GX Developer Operating
Manual
7)
Carry out test operation and adjustments in the test mode to check the connection with the QD75MH and external connection device, and to confirm that the designated positioning operation is executed correctly. (Debug the set "parameters" and "positioning data", etc.)
GX Configurator-QP Operating Manual
Chapter 13 GX Developer Operating
Manual
8) Carry out test operation and adjustment to confirm that the designated positioning operation is executed correctly. (Debug the created PLC program. When not using GX Configurator-QP, also debug the set data.
GX Developer Operating Manual
9) Actually operate the positioning operation. At this time, monitor the operation state as required. If an error or warning occurs, remedy.
Chapter 5 Chapter 15 GX Configurator-QP
Operating Manual GX Developer Operating
Manual
10) Service the QD75MH as required. Chapter 4
11) Dispose of the QD75MH. Chapter 4
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MELSEC-Q 1 PRODUCT OUTLINE
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.
Positioning data
Block start data
Set the positioning parameters. ( Pr.1 to Pr.42 , Pr.80 to Pr.84 ) Positioning parameters
( Cd.4 )
( Da.1 to Da.10 )
( Pr.43 to Pr.57 )
Set the OPR parameters. OPR parameters
( Da.11 to Da.19 )
( Cd.16 )
Set the servo parameters. ( Pr.100 to Pr.204 ) Servo parameters
Turn the PLC READY signal ON(Y0 ON)PLC READY
All axis servo ON
Turn the All axis servo ON signal(Y1 ON)
Flow of starting
Preparation
Control functions
Major position- ing control
High-level positioning control OPR control Manual control
Block start (Normal start) Condition start Wait start Simultaneous start Repeated start
Machine OPR control
Fast OPR control
JOG operation
Inching operation
Manual pulse generator operation
Installation and connection of module
Setting of hardware
Set the positioning data.
Set the positioning start No. ( Cd.3 )
Set the positioning starting point No.
Set the block start data.
Input the start signal. Method (1) Turn ON the QD75MH start signal from the PLC CPU Method (2) Issue the PSTRT instruction from the PLC CPU. Method (3) Turn the QD75MH external start signal ON
Start signal
Control start
Control end
Operation
Stop
Set the inching movement amount to 0.
( Cd.16 )
Set the inching movement amount to 0.
Set the manual pulse generator 1 pulse input magnification.
( Cd.20 )
Set the manual pulse generator enable flag to "1".
( Cd.21 )
Set the JOG speed
( Cd.17 ) Control data
Turn the QD75MH JOG start signal ON from the PLC CPU
Operate the manual pulse generator
Position control Speed control Speed-position switching control Position-speed switching control Other control
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MELSEC-Q 1 PRODUCT OUTLINE
Setting method
: Indicates the PLC program that must be created.
PLC CPU
QD75MH
Set with GX Configurator-QP Write
Write
Set the parameter and data for executing main function, and the sub functions that need to be set beforehand.
When set with "GX Configurator-QP", this does not need to be created.
WriteCreate PLC program for setting data
Create PLC program for executing main function
Create PLC program for outputting control signals, such as start signal, to QD75MH.
Operation PLC program Write PLC
CPU
Create a PLC program for the sub functions.
Speed change Current value changing Torque limit Restart, etc.
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MELSEC-Q 1 PRODUCT OUTLINE
1.2.3 Outline of stopping
Each control is stopped in the following cases.
(1) When each control is completed normally. (2) When the Servo READY signal is turned OFF. (3) When a PLC CPU error occurs. (4) When the PLC READY signal is turned OFF. (5) When an error occurs in the QD75MH. (6) 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. (Excluding (1) for normal stopping.)
Stop process OPR control Manual control
Stop cause Stop axis
M code ON signal after stop
Axis operation
status after
stopping
( Md.26 )
Machine OPR
control
Fast OPR
control
Major positioning control
High-level positioning control
JOG/ Inching operation
Manual pulse generator operation
"Forced stop input signal from external device" OFF
All axes
No change
Servo OFF
Servo READY OFF Servo amplifier
power supply OFF
Servo amplifier disconnected
Servo alarm During error
Forced stop
Forced stop
input to servo
amplifier
Each axis
No change
Servo OFF
Servo OFF or free run (The operation stops with dynamic brake or electromagnetic brake.)
Fatal stop (Stop group 1)
Hardware stroke limit upper/lower limit error occurrence
Each axis
No change
During error
Deceleration stop/sudden stop
(Select with " Pr.37 Sudden stop group1 sudden stop selection" )
Deceleration stop
Error occurs in PLC CPU
No change
PLC READY signal OFF
Turns OFF
Emergency stop (Stop group 2)
Error in test mode
All axes
No change
During error
Deceleration stop/sudden stop
(Select with " Pr.38 Sudden stop group2 sudden stop selection" )
Deceleration stop
Axis error detection (Error other than stop group 1 or 2)
Relatively safe stop (Stop group 3) "Stop signal"
from peripheral device
Each axis
No change
During error
Deceleration stop/sudden stop (Select with " Pr.39 Sudden stop group3 sudden stop selection" )
Deceleration stop
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MELSEC-Q 1 PRODUCT OUTLINE
Stop process
OPR control Manual control
Stop cause Stop axis
M code ON signal after stop
Axis operation
status after
stopping
( Md.26 )
Machine OPR
control
Fast OPR
control
Major positioning control
High-level positioning control
JOG/ Inching operation
Manual pulse generator operation
"Stop signal" ON from external device Intentional stop
(Stop group 3) "Axis stop signal" ON from PLC CPU
Each axis
No change
When stopped (While waiting)
Deceleration stop/sudden stop (Select with " Pr.39 Sudden stop group3 sudden stop selection" )
Deceleration stop
Reference
Provide the emergency stop circuits external to the servo system to prevent cases where danger may result from abnormal operation of the overall in the event of a power supply fault or servo system failure.
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MELSEC-Q 1 PRODUCT OUTLINE
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. associated with the moment when the movement was interrupted) as the start point.
When " Cd.6 Restart command" is ON
(1) If the " Md.26 Axis operation status" is stopped, positioning to the end point of
the positioning data will be restarted from the stopped position regardless of the absolute system or incremental system.
(2) When " Md.26 Axis operation status" is not stopped, the warning "Restart not possible" (warning code: 104) will be applied, and the restart command will be ignored.
[Example for incremental system]
(a) The restart operation when the axis 1 movement amount is 300, and the axis 2 movement amount is 600 is shown below.
Start point address
Stop position due to stop cause Designated end point position
Axis 1
400
200
100
100 300 700 Axis 2
Stop position due to stop cause Stop position after restart
Axis 1
400
200
100
100 300 700 Axis 2
Restart
Operation during restart
Reference
If the positioning start signal [Y10 to Y13]/external command signal is turned ON while the " Md.26 Axis operation status" is waiting or stopped, positioning will be restarted from the start of the positioning start data regardless of the absolute system or incremental system. ( : When the external command signal is set to "External positioning start") (Same as normal positioning.)
[Example for incremental system]
(a) The positioning start operation when the axis 1 movement amount is 300 and the axis 2 movement amount is 600 is shown below.
Start point address
Stop position due to stop cause Designated end point position
Axis 1
400
200
100
100 300 700 Axis 2
Stop position due to stop cause Stop position after restart
Axis 1
500
200
100
100 300 900 Axis 2
Positioning start
Operation during positioning start
2 - 1
2
Chapter 2 System Configuration
In this chapter, the general image of the system configuration of the positioning control using QD75MH, 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..............................................................................................................2- 4 2.3 Applicable system.........................................................................................................2- 6 2.4 How to check the function version and SERIAL No. ..................................................2- 8
2 - 2
MELSEC-Q 2 SYSTEM CONFIGURATION
2.1 General image of system
The general image of the system, including the QD75MH, PLC CPU and peripheral devices is shown below. (The Nos. in the illustration refer to the "No." in Section 2.2 "Component list".
CPU module 1
Positioning module
I/O module
Extension system
RS-232 cable
1
4
USB cable 5
Extension cable
Main base unit 2
REMARK 1 Refer to Section "2.3 Applicable system" for the CPU modules that can be used. 2 Refer to the CPU module User's Manual for the base units that can be used. 3 For the items with , use the software package of "2" or later (Version 2.21X or later).
2 - 3
MELSEC-Q 2 SYSTEM CONFIGURATION
Servo amplifer Motor
Manual pulse generator
Machine system inputs (switches)
SSCNET cable
Forced stop input signal Upper/lower stroke limit switch External-command signal/switching signal Stop signal Near-point dog signalPeripheral device
Personal computer
6
7
(For details, refer to GX Configurator -QP Operating Manual.)
SW D5C -QD75P-E
3 2 GX Configurator -QP
3
8
9 Cable
Extenal connector of servo amplifer Upper/lower stroke limit switch Near-point dog signal
2 - 4
MELSEC-Q 2 SYSTEM CONFIGURATION
2.2 Component list
The positioning system using the QD75MH is configured of the following devices. No. Part name Type Remarks
1 Positioning module QD75MH1 QD75MH2 QD75MH4
QD75MH Number of control axes
MH: SSCNET model
2 GX Configurator- QP
SW D5C-QD75P- 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.
4 RS-232 cable QC30R2
(Prepared by user) An RS-232 cable is needed for connecting the CPU module with a personal computer (DOS/V). For details, refer to GX Configurator-QP Operating Manual.
5 USB cable
(Prepared by user) A USB cable is needed for connecting the CPU module with a personal computer (DOS/V). For details, refer to GX Configurator-QP Operating Manual.
6 Servo amplifier (Prepared by user)
7 Manual pulse generator
(Prepared by user) Recommended: MR-HDP01 (Mitsubishi Electric)
8
SSCNET cable 1
(For connecting between the QD75MH and the servo amplifier)
(Prepared by user) Cables are needed to connect the QD75MH with the servo amplifier.
9
Cable 1 (For connecting between the QD75MH and the external device)
(Prepared by user) Cables are needed to connect the QD75MH with the external device. (Prepare them referring to the manuals for the connected devices and information given in 3.4.2 of this manual.)
1: The SSCNET cable connecting the QD75MH and servo amplifier, external device connection connector has been prepared. Refer to the below table.
2 - 5
MELSEC-Q 2 SYSTEM CONFIGURATION
Part name Type Remarks
MR-J3BUS M
Connection between QD75MH and MR-J3- B. Connection between MR-J3- B and MR-J3- B. Standard code for inside panel. 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3.28ft.), 3m(9.84ft.)
MR-J3BUS M-A
Connection between QD75MH and MR-J3- B. Connection between MR-J3- B and MR-J3- B. Standard code for outside panel. 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)
SSCNET cable
MR-J3BUS M-B
Connection between QD75MH and MR-J3- B. Connection between MR-J3- B and MR-J3- B. Long distance cable. 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)
Applicable connector A6CON1, A6CON2, A6CON3, A6CON4 (sold separately)
Applicable wire size 0.3 mm2 (when A6CON1and A6CON4 are used), AWG#24 to 28 (when A6CON2 is used), AWG#28 (twisted)/AWG#30 (single wire) (when A6CON3 is used)
: = Cable length (015: 0.15m (0.49ft.), 03: 0.3m (0.98ft.), 05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 3: 3m (9.84ft.), 5: 5m (16.40ft.), 10: 10m (32.80ft.), 20: 20m (65.62ft.), 30: 30m (98.43ft.), 40: 40m (131.23ft.), 50: 50m (164.04ft.) )
(Note): The cable length of the SSCNET cable depends on the cable type. MR-J3BUS M: The cable length is 3m(0.98ft.) max. / MR-J3BUS M-A: The cable length is 20m(65.62ft.) max. / MR-J3BUS M-B: The cable length is 50m(164.04ft.) max.
Specifications of recommended manual pulse generator
Item Specification Model name MR-HDP01 Pulse resolution 25PLS/rev (100 PLS/rev after magnification by 4)
Output method Voltage-output (power supply voltage -1V or more),
Output current Max. 20mA Power supply voltage 4.5 to 13.2VDC Current consumption 60mA Life time 1000000 revolutions (at 200r/min)
Radial load: Max. 19.6N Permitted axial loads
Thrust load: Max. 9.8N Operation temperature -10 to 60C (14 to 140F ) Weight 0.4 (0.88) [kg(lb)] Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min Pulse signal status 2 signals: A phase, B: phase, 90 phase difference Friction torque 0.1N/m (at 20C (68F))
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MELSEC-Q 2 SYSTEM CONFIGURATION
2.3 Applicable system
The QD75MH 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 QD75MH and the number of installable modules.
Applicable modules Number of installable modules Remarks
Q00JCPU Max. 8 modules
Q00CPU Q01CPU Max. 24 modules
( 1)
Q02CPU Q02HCPU Q06HCPU Q12HCPU Q25HCPU
Max. 64 modules Installable in the Q mode
only ( 1)
CPU module
Q12PHCPU Q25PHCPU Max. 64 modules ( 1)
Network module
QJ72LP25-25 QJ72BR15
QJ72LP25G QJ72LP25GE
Max. 64 modules MELSECNET/H remote I/O station ( 2)
1: Refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) of the CPU module used.
2: Refer to the Q Corresponding MELSECNET/H Network System Reference Manual (Remote I/O Network).
(2) Usable base unit
The QD75MH can be installed in any of the I/O slots ( 3) of a base unit. When installing the QD75MH, always consider the power supply capacity since a shortage of the power supply capacity may occur depending on the combination with the other installed module and the number of installed module.
3: Within the I/O point range of the CPU module and network module (for remote I/O station).
(3) Compatibility with Multiple PLC system
When using the QD75MH in a Multiple PLC system, first refer to the QCPU User's Manual (Multiple CPU system).
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MELSEC-Q 2 SYSTEM CONFIGURATION
(4) Supported software packages
The following table lists the compatibility between the systems using the QD75MH and the software packages. GX Developer is required for use of the QD75MH.
Software version
GX Developer GX Configurator-QP Single PLC
system Version 7 or later Q00J/Q00/Q01CPU
Multiple PLC system Version 8 or later
Single PLC system Version 4 or later Q02/Q02H/Q06H/
Q12H/Q25HCPU Multiple PLC system Version 6 or later
Single PLC system Q12PH/Q25PHCPU
Multiple PLC system
Version 7.10L or later
For use on MELSECNET/H remote I/O station Version 6 or later
Version 2.21X or later
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MELSEC-Q 2 SYSTEM CONFIGURATION
2.4 How to check the function version and SERIAL No.
The function version and the SERIAL No. of the QD75MH 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 alphabet of "SERIAL".
027510
SERIAL No. (The first six digits) Function version
[2] Method using the software Check the alphabet at the end of "Product information" displayed on System monitor "Module's Detailed Information" of GX Developer 1 or on "OS information" of GX Configurator-QP 2.
Function version
M M
SERIAL No.
QD75MH4 QD75MH4
QD75MH4
1: This check can be made using the version of SW4D5C-GPPW-E or more. For details, refer
to GX Developer Operating Manual. 2: For details, refer to GX Configurator-QP Operating Manual.
3 - 1
3
Chapter 3 Specifications and Functions
The various specifications of the QD75MH 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..........................................................................................3- 2 3.2 List of functions ............................................................................................................3- 4 3.2.1 QD75MH control functions .............................................................................3- 4 3.2.2 QD75MH main functions ................................................................................3- 6 3.2.3 QD75MH sub functions and common functions ............................................3- 8 3.2.4 Combination of QD75MH main functions and sub functions .......................3- 12 3.3 Specifications of input/output signals with PLC CPU.................................................3- 14 3.3.1 List of input/output signals with PLC CPU ....................................................3- 14 3.3.2 Details of input signals (QD75MH PLC CPU) ..........................................3- 15 3.3.3 Details of output signals (PLC CPU QD75MH)........................................3- 17 3.4 Specifications of interfaces with external devices ......................................................3- 18 3.4.1 Electrical specifications of input signals ........................................................3- 18 3.4.2 Signal layout for external device connection connector ...............................3- 19 3.4.3 List of input signal details...............................................................................3- 20 3.4.4 Interface internal circuit..................................................................................3- 21 3.5 External circuit design .................................................................................................3- 22
3 - 2
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.1 Performance specifications
Model Item QD75MH1 QD75MH2 QD75MH4
No. of control axes 1 axis 2 axes 4 axes
Interpolation function None 2-axis linear interpolation 2-axis circular interpolation
2-, 3-, or 4-axis linear interpolation
2-axis circular interpolation
Control system PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speed- position switching control, position-speed switching control
Control unit mm, inch, degree, PLS
Positioning data 600 data (positioning data Nos. 1 to 600)/axis (Can be set with peripheral device or PLC program.)
Backup Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup)
Positioning system
PTP control: Incremental system/absolute system Speed-position switching control: Incremental system/absolute system 1 Position-speed switching control: Incremental system Path control: Incremental system/absolute system In absolute system
214748364.8 to 214748364.7 (m) 21474.83648 to 21474.83647 (inch) 0 to 359.99999 (degree) 2147483648 to 2147483647 (PLS)
In incremental system 214748364.8 to 214748364.7 (m) 21474.83648 to 21474.83647 (inch) 21474.83648 to 21474.83647 (degree) 2147483648 to 2147483647 (PLS)
In speed-position switching control (INC mode) / position-speed switching control 0 to 214748364.7 (m) 0 to 21474.83647 (inch) 0 to 21474.83647 (degree) 0 to 2147483647 (PLS)
In speed-position switching control (ABS mode) 1
Positioning range
0 to 359.99999 (degree)
Speed command
0.01 to 20000000.00 (mm/min) 0.001 to 2000000.000 (inch/min) 0.001 to 2000000.000 (degree/min) 3 1 to 50000000 (PLS/s)
Acceleration/ deceleration process Automatic trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration
Acceleration/ deceleration time
1 to 8388608 (ms) Four patterns can be set for each of acceleration time and deceleration time
Positioning
Sudden stop deceleration time 1 to 8388608 (ms)
1: In speed-position switching control (ABS mode), the control unit available is "degree" only. (For details, refer to "Section 9.2.17 Speed- position switching control (ABS mode)".)
2: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to "Section 12.7.8 Pre-reading start function".)
3: When "Speed control 10 x multiplier setting for degree axis function" is valid, this will be the setting range 0.01 to 20000000.00 (degree/min). (For details, refer to "Section 12.7.11 Speed control 10 x multiplier setting for degree axis function".)
3 - 3
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
Model
Item QD75MH1 QD75MH2 QD75MH4
1-axis linear control 3.5 1-axis speed control 3.5 2-axis linear interpolation control (Composite speed) 4.0 2-axis linear interpolation control (Reference axis speed) 4.0 2-axis circular interpolation control 4.0 2-axis speed control 3.5 3-axis linear interpolation control (Composite speed) 4.0 3-axis linear interpolation control (Reference axis speed) 4.0 3-axis speed control 3.5 4-axis linear interpolation control 4.0
Starting time (ms) 2
4-axis speed control 4.0
Factors in starting time extension The following times will be added to the starting time in the described conditions: S-pattern acceleration/
deceleration is selected: 0.5 Other axis is in
operation: 1.5 During continuous
positioning control: 0.2 During continuous path
control: 1.0 External wiring connection system 40-pin connector
Applicable wire size 0.3 mm2 (when A6CON1 and A6CON4 are used), AWG#24 to 28 (when A6CON2 is used), AWG#28 (twisted)/AWG#30 (single wire) (when A6CON3 is used)
Applicable connector for external device A6CON1, A6CON2, A6CON3, A6CON4 (sold separately)
MR-J3BUS M 4
Connection between QD75MH and MR-J3- B. Connection between MR-J3- B and MR-J3- B. Standard code for inside panel. 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3.28ft.), 3m(9.84ft.)
MR-J3BUS M-A 4
Connection between QD75MH and MR-J3-B. Connection between MR-J3- B and MR-J3- B. Standard code for outside panel. 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.)
SSCNET cable
MR-J3BUS M-B 4
Connection between QD75MH and MR-J3- B. Connection between MR-J3- B and MR-J3- B. Long distance cable. 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.)
SSCNET cable over all length
The cable length of the SSCNET cable depends on the cable type. MR-J3BUS M: The cable length is 3m(0.98ft.) max. / MR-J3BUS M-A: The cable length is 20m(65.62ft.) max. / MR-J3BUS M-B: The cable length is 50m(164.04ft.) max.
Internal current consumption (5VDC) QD75MH1 : 0.60A QD75MH2 : 0.60A QD75MH4 : 0.60A
Flash ROM write count Max. 100000 times No. of occupied I/O points (points) 32 (I/O assignment: 32 points for intelligent function module) Outline dimensions (mm(inch)) 98 (3.86) (H) 27.4 (1.08) (W) 90 (3.54) (D) Weight (kg) 0.15 0.15 0.16 2: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to "Section 12.7.8 Pre-reading start
function".) 4: = Cable length
(015: 0.15m (0.49ft.), 03: 0.3m (0.98ft.), 05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 3: 3m (9.84ft.), 5: 5m (16.40ft.), 10: 10m (32.80ft.), 20: 20m (65.62ft.), 30: 30m (98.43ft.), 40: 40m (131.23ft.), 50: 50m (164.04ft.) )
3 - 4
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.2 List of functions
3.2.1 QD75MH control functions
The QD75MH has several functions. In this manual, the QD75MH 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. This is used to return a workpiece, located at a position other than the OP when the power is turned ON or after positioning stop, to the OP. The "OPR control" is preregistered in the QD75MH as the "Positioning start data No. 9001 (Machine OPR)", and "Positioning start data No. 9002 (Fast OPR). (Refer to Chapter 8 "OPR Control".)
(2) Major positioning control This control is carried out using the "Positioning data" stored in the QD75MH. Positioning control, such as position control and speed control, is executed by setting the required items in this "positioning data" and starting that positioning data. An "operation pattern" can be set in this "positioning data", and with this whether to carry out control with continuous positioning data (ex.: positioning data No. 1, No. 2, No. 3, ...) can be set. (Refer to Chapter 9 "Major Positioning Control".)
(3) High-level positioning control This control executes the "positioning data" stored in the QD75MH using the "block start data". The following types of applied positioning control can be carried out. Random blocks, handling several continuing positioning data items as
"blocks", can be executed in the designated order. "Condition judgment" can be added to position control and speed control. The operation of the designated positioning data No. that is set for multiple
axes can be started simultaneously. (Pulses are output simultaneously to multiple servos.)
The designated positioning data can be executed repeatedly, etc., (Refer to Chapter 10 "High-level Positioning Control".)
(4) Manual control By inputting a signal into the QD75MH from an external device, the QD75MH will output a random pulse train and carry out control. Use this manual control to move the workpiece to a random position (JOG operation), and to finely adjust the positioning (inching operation, manual pulse generator operation), etc. (Refer to Chapter 11 "Manual Control".)
Sub functions When executing the main functions, control compensation, limits and functions can be added. (Refer to Chapter 12 "Control Sub Functions".)
Common functions Common control using the QD75MH for "parameter initialization" or "backup of execution data" can be carried out. (Refer to Chapter 13 "Common Functions".)
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
Position control
Main functions Sub functions
OPR control Control registered in QD75MH
[Positioning start No.]
[9002]
[9001] Machine OPR
Fast OPR
(Functions characteristic to machine OPR) OPR retry function
OP shift function
Electronic gear function Near pass function
Major positioning control Control using "Positioning data"
Independent positioning control (Positioning complete)
Continuous positioning control
Continuous path control
High-level positioning control Control using "positioning data" + "Block start data"
Major positioning control [Block start data]
Block start (Normal start) Condition start Wait start Simultaneous start Repeated start (FOR loop) Repeated start (FOR condition) Multiple axes simultaneous start control
Parameter initialization function Execution data backup function
Manual control Control with signals input from external device
Common functions
[Positioning start signal]
JOG start signal ON Pulse input from manual pulse generator
JOG operation, Inching operation
Manual pulse generator operation
Other control
Speed-position switching control Position-speed switching control
[Positioning start No.]
[9004]
Speed control
External I/O signal logic switching function
External signal selection function
3 - 6
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.2.2 QD75MH main functions
The outline of the main functions for positioning control with the QD75MH is described below. (Refer to "Section 2" for details on each function.)
Main functions 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
O PR
c on
tro l
Fast OPR control Positions a target to the OP address ( Md.21 Machine feed value) stored in the QD75MH using machine OPR. (Positioning start No. 9002)
8.3
Linear control (1-axis linear control) (2-axis linear interpolation control) (3-axis linear interpolation control) (4-axis linear interpolation control)
Positions a target using a linear path to the address set in the positioning data or to the position designated with the movement amount.
9.2.2 9.2.3 9.2.4 9.2.5
Fixed-feed control (1-axis fixed-feed control) (2-axis fixed-feed control) (3-axis fixed-feed control) (4-axis fixed-feed control)
Positions a target by the movement amount designated with the amount set in the positioning data.
(With fixed-feed control, the" Md.20 Current feed value" is set to "0" when the control is started. With 2-, 3-, or 4-axis fixed-feed control, the fixed-feed is fed along a linear path obtained by interpolation.)
9.2.6 9.2.7 9.2.8 9.2.9
Position control
2-axis circular interpolation control Positions a target using an arc path to the address set in the positioning data, or to the position designated with the movement amount, sub point or center point.
9.2.10 9.2.11
Speed control
Linear control (1-axis linear control) (2-axis linear interpolation control) (3-axis linear interpolation control) (4-axis linear interpolation control)
Continuously outputs the command corresponding to the command speed set in the positioning data.
9.2.12 9.2.13 9.2.14 9.2.15
Speed-position switching control
First, carries out speed control, and then carries out position control (positioning with designated address or movement amount) by turning the "speed-position switching signal" ON.
9.2.16 9.2.17
Position-speed switching control
First, carries out position control, and then carries out speed control (continuous output of the command corresponding to the designated command speed) by turning the "position-speed switching signal" ON.
9.2.18
Current value changing
Changes the Current feed value ( Md.20 ) to the address set in the positioning data. The following two methods can be used. (The machine feed value cannot be changed.)
Current value changing using positioning data Current value changing using current value changing
start No. (No. 9003)
9.2.19
NOP instruction No execution control system. When NOP instruction is set, this instruction is not executed and the operation of the next data is started.
9.2.20
JUMP instruction Unconditionally or conditionally jumps to designated positioning data No. 9.2.21
LOOP Carries out loop control with repeated LOOP to LEND. 9.2.22
M aj
or p
os iti
on in
g co
nt ro
l
Other control
LEND Returns to the beginning of the loop control with repeated LOOP to LEND. 9.2.23
3 - 7
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
Main functions 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. When not established, that "block start data" is ignored, and the next point's "block start data" is executed.
10.3.3
Wait 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. When not established, stops the control until the condition is established. (Waits.)
10.3.4
Simultaneous start Simultaneously executes the positioning data having the No. for the axis designated with the "condition data". (Outputs pulses at the same timing.)
10.3.5
Repeated start (FOR loop) Repeats the program from the block start data set with the "FOR loop" to the block start data set in "NEXT" for the designated No. of times.
10.3.6
Repeated start (FOR condition) Repeats the program from the block start data set with the "FOR condition" to the block start data set in "NEXT" until the conditions set in the "condition data" are established.
10.3.7
H ig
h- le
ve l p
os iti
on in
g co
nt ro
l
Multiple axes simultaneous start control
Starts the operation of multiple axes simultaneously according to the pulse output level. (Positioning start No. 9004, same as the "simultaneous start" above)
10.5
JOG operation Outputs a pulse to servo amplifier while the JOG start signal is ON. 11.2
Inching operation Outputs pulses corresponding to minute movement amount by manual operation to servo amplifier. (Performs fine adjustment with the JOG start signal.)
11.3
M an
ua l c
on tro
l
Manual pulse generator operation Outputs pulses commanded with the manual pulse generator to servo amplifier. (Carry out fine adjustment, etc., at the pulse level.)
11.4
With the "major positioning control" ("high-level positioning control"), whether or not to continuously execute the positioning data can be set with the "operation pattern". Outlines of the "operation patterns" are given below.
Da.1 Operation pattern Details Reference section
Independent positioning control (positioning complete)
When "independent positioning control" is set for the operation pattern of the started positioning data, only the designated positioning data will be executed, and then the positioning will end.
Continuous positioning control
When "continuous positioning control" is set for the operation pattern of the started positioning data, after the designated positioning data is executed, the program will stop once, and then the next following positioning data will be executed.
Continuous path control
When "continuous path control" is set for the operation pattern of the started positioning data, the designated positioning data will be executed, and then without decelerating, the next following positioning data will be executed.
9.1.2
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.2.3 QD75MH sub functions and common functions
Sub functions The functions that assist positioning control using the QD75MH are described below. (Refer to Section 2 for details on each function.
Sub function Details Reference section
OPR retry function
This function retries the machine OPR with the upper/lower limit switches during OPR. This allows machine OPR to be carried out even if the axis is not returned to before the near- point dog with JOG operation, etc.
12.2.1 Functions characteristic to machine OPR
OP shift function After returning to the machine OP, this function compensates the position by the designated distance from the machine OP position and sets that position as the OP address.
12.2.2
Backlash compensation function
This function compensates the mechanical backlash. Feed pulses equivalent to the set backlash amount are output each time the movement direction changes.
12.3.1
Electronic gear function
By setting the movement amount per pulse, this function can freely change the machine movement amount per commanded pulse. When the movement amount per pulse is set, a flexible positioning system that matches the machine system can be structured.
12.3.2 Functions that compensate control
Near pass function 1 This function suppresses the machine vibration when the speed changes during continuous path control in the interpolation control.
12.3.3
Speed limit function If the command speed exceeds " Pr.8 Speed limit value" during control, this function limits the commanded speed to within the " Pr.8 Speed limit value" setting range.
12.4.1
Torque limit function
If the torque generated by the servomotor exceeds " Pr.17
Torque limit setting value" during control, this function limits the generated torque to within the " Pr.17 Torque limit setting value" setting range.
12.4.2
Software stroke limit function
If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued, this function will not execute positioning for that command.
12.4.3
Hardware stroke limit function
This function carries out deceleration stop with the limit switch connected to the QD75MH external device connector. 12.4.4
Functions that limit control
Forced stop function This function is stopped the all axis of the servo amplifier when the forced stop input signal of the QD75MH external connector is turned ON.
12.4.5
Speed change function
This function changes the speed during positioning. Set the new speed in the speed change buffer memory ( Cd.14 New speed value), and change the speed with the
Speed change request ( Cd.15 ).
12.5.1
Override function This function changes the speed within a percentage of 1 to 300% during positioning. This is executed using " Cd.13 Positioning operation speed override".
12.5.2
Acceleration/deceleration time change function
This function changes the acceleration/deceleration time during speed change. 12.5.3
Functions that change control details
Torque change function This function changes the "torque limit value" during control. 12.5.4 Absolute position system This function restores the absolute position. 12.6
1: The near pass function is featured as standard and is valid only for position control. It cannot be set to be invalid with parameters.
3 - 9
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
Sub function 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.
12.7.2
M code output function This function issues a command for a sub work (clamp or drill stop, tool change, etc.) corresponding to the M code No. (0 to 65535) that can be set for each positioning data.
12.7.3
Teaching function This function stores the address positioned with manual control into the positioning address having the designated positioning data No. ( Cd.39 ).
12.7.4
Target position change function
This function changes the target position during positioning. Position and speed can be changed simultaneously. 12.7.5
Command in-position function
At each automatic deceleration, this function calculates the remaining distance for the QD75MH to reach the positioning stop position. When the value is less than the set value, the "command in-position flag" is set to "1". When using another auxiliary work before ending the control, use this function as a trigger for the sub work.
12.7.6
Acceleration/deceleration process function This function adjusts the control acceleration/deceleration. 12.7.7
Continuous operation interrupt function
This function interrupts continuous operation. When this request is accepted, the operation stops when the execution of the current positioning data is completed.
6.5.4
Pre-reading start function This function shortens the virtual start time. 12.7.8
Deceleration start flag function
Function that 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", to make the stop timing known.
12.7.9
Stop command processing for deceleration stop function
Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to speed 0. 12.7.10
Follow up function This function monitors the motor rotation amount with the servo turned OFF, and reflects it on the current feed value. 12.8.2
Speed control 10 x multiplier setting for degree axis function
This function is executed the positioning control by the 10 x speed of the command speed and the speed limit value when the setting unit is "degree".
12.7.11
Other functions
Operation setting for incompletion of OPR function
This function is provided to select whether positioning control is operated or not, when OPR request flag is ON. 12.7.12
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
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 QD75MH buffer memory and flash ROM to the default values. The following two methods can be used. 1) Method using PLC program 2) Method using GX Configurator-QP
13.2
Execution data backup function
This functions stores the "setting data", currently being executed, into the flash ROM. 1) Method using PLC program 2) Method using GX Configurator-QP
13.3
External signal selection function
This functions is selected either of external device connector of QD75MH or external input signal of servo amplifier whether connect the upper/lower limit signal and the Near-point dog signal.
13.4
External I/O signal logic switching function
This function switches I/O signal logic according to externally connected devices. This function enables the use of the system that does not use b (N.C.)-contact signals, such as Upper/lower limit signal, by setting parameters to positive logic.
13.5
3 - 11
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
MEMO
3 - 12
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.2.4 Combination of QD75MH main functions and sub functions
With positioning control using the QD75MH, 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.
Functions characteristic to
machine OPR
Sub functions
Main functions Combination with operation pattern. 1
O PR
re try
fu nc
tio n
O P
sh ift
fu nc
tio n
Machine OPR control OPR control
Fast OPR control
1-axis linear control
2-, 3-, or 4-axis linear
interpolation control
1-axis fixed-feed control (Continuous path control cannot be set)
2-, 3-, or 4-axis fixed-feed
control (interpolation)
(Continuous path control cannot be set)
Position control
2-axis circular interpolation
control
Speed control (1- to 4-axis) (Only independent positioning control
can be set)
Speed-position switching control (Continuous path control cannot be set)
Position-speed switching control (Only independent positioning control
can be set)
Current value changing (Continuous path control cannot be set)
NOP instruction
JUMP instruction
Major positioning
control
Other control
LOOP to LEND
JOG operation, inching operation Manual control
Manual pulse generator operation : Always combine, : Combination possible, : Combination limited, : Combination not possible
1 The operation pattern is one of the "positioning data" setting items.
2 The near pass function is featured as standard and is valid only for setting continuous path control for position control.
3 Invalid during creep speed.
4 Invalid during continuous path control.
5 Inching operation does not perform acceleration/deceleration processing.
6 Valid for the reference axis only.
7 Valid for only the case where a deceleration start is made during position control.
8 Disabled for a start of positioning start No. 9003. 9 Valid for " Md.22 Feedrate " and " Md.28 Axis feedrate".
10 Valid for a start of positioning start No.9003, but invalid for a start of positioning data (No. 1 to 600).
3 - 13
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
Functions that
compensate control Functions that limit control
Functions that change
control details Other functions
Ba
ck la
sh c
om pe
ns at
io n
fu nc
tio n
El ec
tro ni
c ge
ar fu
nc tio
n
N ea
r p as
s fu
nc tio
n
Sp ee
d lim
it fu
nc tio
n
To rq
ue lim
it fu
nc tio
n
So ftw
ar e
st ro
ke lim
it fu
nc tio
n
H ar
dw ar
e st
ro ke
lim it
fu nc
tio n
Fo rc
ed s
to p
fu nc
tio n
Sp ee
d ch
an ge
fu nc
tio n
O ve
rri de
fu nc
tio n
Ac ce
le ra
tio n/
d ec
el er
at io
n tim
e
ch an
ge fu
nc tio
n
To rq
ue c
ha ng
e fu
nc tio
n
St ep
fu nc
tio n
Sk ip
fu nc
tio n
M c
od e
ou tp
ut fu
nc tio
n
Te ac
hi ng
fu nc
tio n
Ta rg
et p
os itio
n ch
an ge
fu nc
tio n
C om
m an
d in
-p os
itio n
fu nc
tio n
Ac ce
le ra
tio n/
de ce
le ra
tio n
pr oc
es s
fu nc
tio n
Pr e-
re ad
in g
st ar
t f un
ct io
n
D ec
el er
at io
n st
ar t f
la g
fu nc
tio n
St op
c om
m an
d pr
oc es
si ng
fo r
de ce
le ra
tio n
st op
fu nc
tio n
Sp ee
d co
nt ro
l 1 0
x m
ul tip
lie r
se tti
ng fo
r d eg
re e
ax is
fu nc
tio n
O pe
ra tio
n se
tti ng
fo r i
nc om
pl et
io n
of O
PR fu
nc tio
n
3
3
4 6
6
7
8
10
5
2
9
REMARK
The "common functions" are functions executed as necessary. (These are not combined with the control.)
"High-level positioning control" is a control used in combination with the "major positioning control". For combinations with the sub functions, refer to the combinations of the "major positioning control" and sub functions.
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.3 Specifications of input/output signals with PLC CPU
3.3.1 List of input/output signals with PLC CPU
The QD75MH uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD75MH is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD75MH to the PLC CPU, and device Y refers to the signals output from the PLC CPU to the QD75MH.
Signal direction: QD75MH PLC CPU Signal direction: PLC CPU QD75MH Device No. Signal name Device No. Signal name
X0 QD75 READY Y0 PLC READY X1 Synchronization flag Y1 All axis servo ON X2 Y2 X3
Use prohibited Y3
Use prohibited
X4 Axis 1 Y4 Axis 1 X5 Axis 2 Y5 Axis 2 X6 Axis 3 Y6 Axis 3 X7 Axis 4
M code ON
Y7 Axis 4
Axis stop
X8 Axis 1 Y8 Axis 1 Forward run JOG start X9 Axis 2 Y9 Axis 1 Reverse run JOG start XA Axis 3 YA Axis 2 Forward run JOG start XB Axis 4
Error detection
YB Axis 2 Reverse run JOG start XC Axis 1 YC Axis 3 Forward run JOG start XD Axis 2 YD Axis 3 Reverse run JOG start XE Axis 3 YE Axis 4 Forward run JOG start XF Axis 4
BUSY
YF Axis 4 Reverse run JOG start X10 Axis 1 Y10 Axis 1 X11 Axis 2 Y11 Axis 2 X12 Axis 3 Y12 Axis 3 X13 Axis 4
Start complete
Y13 Axis 4
Positioning start
X14 Axis 1 Y14 Axis 1 X15 Axis 2 Y15 Axis 2 X16 Axis 3 Y16 Axis 3 X17 Axis 4
Positioning complete
Y17 Axis 4
Execution prohibition flag
X18 Y18 X19 Y19 X1A Y1A X1B Y1B X1C Y1C X1D Y1D X1E Y1E X1F
Use prohibited
Y1F
Use prohibited
Important [Y2 to Y3], [Y18 to Y1F], [X2, X3], and [X18 to X1F] are used by the system, and cannot be used by the user. If these devices are used, the operation of the QD75MH will not be guaranteed.
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.3.2 Details of input signals (QD75MH PLC CPU)
The ON/OFF timing and conditions of the input signals are shown below. Device
No. Signal name Details
X0 QD75 READY ON: READY OFF: Not READY/
Watch dog timer error
When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is checked. If no error is found, this signal turns ON.
When the PLC READY signal [Y0] turns OFF, this signal turns OFF. When watch dog timer error occurs, this signal turns OFF. This signal is used for interlock in a PLC program, etc.
PLC READY signal [Y0] OFF ON
QD75 READY signal [X0] OFF
ON
X1 Synchronization
flag OFF: Module
access disabled
ON: Module access enabled
After the PLC is turned ON or the CPU module is reset, this signal turns ON if the access from the CPU module to the QD75MH is possible.
When "Asynchronous" is selected in the module synchronization setting of the CPU module, this signal can be used as interlock for the access from a PLC program to the QD75MH.
X4 X5 X6 X7
Axis 1 Axis 2 Axis 3 Axis 4
M code ON OFF: M code is not set
ON: M code is set
In the WITH mode, this signal turns ON when the positioning data operation is started. In the AFTER mode, this signal turns ON when the positioning data operation is completed.
This signal turns OFF with the " Cd.7 M code OFF request".
When M code is not designated (when" Da.10 M code" is "0"), this signal will remain OFF.
With using continuous path control for the positioning operation, the positioning will continue even when this signal does not turn OFF. However, a warning will occur. (Warning code: 503)
When the PLC READY signal [Y0] turns OFF, the M code ON signal will also turn OFF.
If operation is started while the M code is ON, an error will occur. X8 X9 XA XB
Axis 1 Axis 2 Axis 3 Axis 4
Error detection
OFF: No error ON: Error
occurrence
This signal turns ON when an error listed in Section 15.1 occurs, and turns OFF when the error is reset on " Cd.5 Axis error rest".
XC XD XE XF
Axis 1 Axis 2 Axis 3 Axis 4
BUSY 1 OFF: Not BUSY ON: BUSY
This signal turns ON at the start of positioning, OPR or JOG operation. It turns OFF when the " Da.9 Dwell time" has passed after positioning stops. (This signal remains ON during positioning.) This signal turns OFF when the positioning is stopped with step operation.
During manual pulse generator operation, this signal turns ON while the " Cd.21
Manual pulse generator enable flag" is ON. This signal turns OFF at error completion or positioning stop.
X10 X11 X12 X13
Axis 1 Axis 2 Axis 3 Axis 4
Start complete
OFF: Start incomplete
ON: Start complete
This signal turns ON when the positioning start signal turns ON and the QD75MH starts the positioning process. (The start complete signal also turns ON during OPR control.)
OFF ON
OFF ON
Positioning start signal [Y10]
Start complete signal [X10]
X14 X15 X16 X17
Axis 1 Axis 2 Axis 3 Axis 4
Positioning complete
2
OFF: Positioning incomplete
ON: Positioning complete
This signal turns ON for the time set in " Pr.40 Positioning complete signal output time" from the instant when the positioning control for each positioning data No. is completed. (It does not turn ON when " Pr.40 Positioning complete signal output time" is "0".)
If positioning (including OPR), JOG/Inching operation, or manual pulse generator operation is started while this signal is ON, the signal will turn OFF.
This signal will not turn ON when speed control or positioning is canceled midway.
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
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 to be detected in the PLC program.
2: "Positioning complete" of the QD75MH refers to the point when the pulse output from QD75MH is completed. Thus, even if the QD75MH's positioning complete signal turns ON, the system may continue operation.
3 - 17
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.3.3 Detail of output signals (PLC CPU QD75MH)
The ON/OFF timing and conditions of the output signals are shown below. Device No. Signal name Details
Y0 PLC READY OFF: PLC READY OFF
ON: PLC READY ON
(a) This signal notifies the QD75MH that the PLC CPU is normal. It is turned ON/OFF with the PLC program. The PLC READY signal is turned ON during positioning
control, OPR control, JOG operation, inching operation, and manual pulse generator operation, unless the system is in the peripheral device test mode.
(b) When the data (parameter etc.) are changed, the PLC READY signal is turned OFF depending on the parameter (Refer to Chapter 7.).
(c) The following processes are carried out when the PLC READY signal turns from OFF to ON. The parameter setting range is checked. The QD75 READY signal [X0] turns ON.
(d) The following processes are carried out when the PLC READY signal turns from ON to OFF. In these cases, the OFF time should be set to 100ms or more. The QD75 READY signal [X0] turns OFF. The operating axis stops. The M code ON signal [X4 to X7] for each axis turns OFF, and
"0" is stored in " Md.25 Valid M code". (e) When parameters or positioning data (No. 1 to 600) are written
from the peripheral device or PLC CPU to the flash ROM, the PLC READY signal will turn OFF.
Y1 All axis servo ON OFF: Servo OFF
ON: Servo ON
The servo for all the servo amplifiers connected to the QD75MH is turned ON or OFF.
Y4 Y5 Y6 Y7
Axis 1 Axis 2 Axis 3 Axis 4
Axis stop OFF: Axis stop not requested
ON: Axis stop requested
When the axis stop signal turns ON, the OPR control, positioning control, JOG operation, inching operation and manual pulse generator operation will stop.
By turning the axis stop signal ON during positioning operation, the positioning operation will be "stopped".
Whether to decelerate or suddenly stop can be selected with " Pr.39 Stop group 3 sudden stop selection".
During interpolation control of the positioning operation, if the axis stop signal of any axis turns ON, all axes in the interpolation control will decelerate and stop.
Y8 Y9 YA YB YC YD YE YF
Axis 1 Axis 1 Axis 2 Axis 2 Axis 3 Axis 3 Axis 4 Axis 4
Forward run JOG start Reverse run JOG start Forward run JOG start Reverse run JOG start Forward run JOG start Reverse run JOG start Forward run JOG start Reverse run JOG start
OFF: JOG not started
ON: JOG started
When the JOG start signal is ON, JOG operation will be carried out at the " Cd.17 JOG speed". When the JOG start signal turns OFF, the operation will decelerate and stop.
When inching movement amount is set, the designated movement amount is output for one control cycle and then the operation stops.
Y10 Y11 Y12 Y13
Axis 1 Axis 2 Axis 3 Axis 4
Positioning start OFF: Positioning start not requested
ON: Positioning start requested
OPR operation or positioning operation is started. The positioning start signal is valid at the rising edge, and the
operation is started. When the positioning start signal turns ON during BUSY, the
operation starting warning will occur (warning code: 100).
Y14 Y15 Y16 Y17
Axis 1 Axis 2 Axis 3 Axis 4
Execution prohibition flag
OFF: Not during execution prohibition
ON: During execution prohibition
If the execution prohibition flag is ON when the positioning start signal turns ON, positioning control does not start until the execution prohibition flag turns OFF. Used with the "Pre-reading start function". (Refer to Section 12.7.8)
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.4 Specifications of interfaces with external devices
3.4.1 Electrical specifications of input signals
Input specifications
Signal name Rated input voltage/current
Working voltage range
ON voltage/current
OFF voltage/current
Input resistance
Response time
Forced stop input signal (EMI) Upper limit signal (FLS) Lower limit signal (RLS) Stop signal (STOP)
24VDC/5mA 19.2 to 26.4VDC
17.5VDC or more/ 3.5mA or more
7VDC or less/ 1.0mA or less Approx. 6.8k 4ms or less
5VDC/5mA 4.5 to 6.1VDC 2.5VDC or more/ 1mA or more
1VDC or less/ 0.1mA or less Approx. 1.2k 1ms or less
1 Pulse width
4ms or more
2ms or more
2ms or more
(Duty ratio: 50%)
2 Phase difference
Manual pulse generator A phase (PULSE GENERATOR A) Manual pulse generator B phase (PULSE GENERATOR B)
A phase
B phase 1ms or more
When the A phase leads the B phase, the positioning address (current value) increases.
Near-point dog signal (DOG) External command signal (CHG)
24VDC/5mA 19.2 to 26.4VDC
17.5VDC or more/ 3.5mA or more
7VDC or less/ 1.0mA or less Approx. 6.8k 1ms or less
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.4.2 Signal layout for external device connection connector
The specifications of the connector section, which is the input/output interface for the QD75MH and external device, are shown below. The signal layout for the QD75MH external device connection connector is shown.
QD75MH1 QD75MH2
AX1 AX2AX1
RUN
ERR
AX2 AX1RUN
ERR
AX1
QD75MH1 QD75MH2
QD75MH4
AX1 AX2
AX3 AX4
RUN
ERR AX4 AX3 AX2 AX1
QD75MH4
Axis 4(AX4) Axis 3(AX3) Axis 2(AX2) Axis 1(AX1) Pin layout
Pin No. Signal name Pin No. Signal name Pin No. Signal name Pin No. Signal name 2B20 No connect 2A20 No connect 1B20 PULSER B 1A20 PULSER B+ 2B19 No connect 2A19 No connect 1B19 PULSER A 1A19 PULSER A+ 2B18 No connect 2A18 No connect 1B18 No connect 1A18 No connect 2B17 No connect 2A17 No connect 1B17 No connect 1A17 No connect 2B16 No connect 2A16 No connect 1B16 No connect 1A16 No connect 2B15 No connect 2A15 No connect 1B15 P5 1A15 P5 2B14 No connect 2A14 No connect 1B14 SG 1A14 SG 2B13 No connect 2A13 No connect 1B13 No connect 1A13 No connect 2B12 No connect 2A12 No connect 1B12 No connect 1A12 No connect 2B11 No connect 2A11 No connect 1B11 No connect 1A11 No connect 2B10 No connect 2A10 No connect 1B10 No connect 1A10 No connect 2B9 No connect 2A9 No connect 1B9 No connect 1A9 No connect 2B8 No connect 2A8 No connect 1B8 EMI.COM 1A8 EMI 2B7 COM 2A7 COM 1B7 COM 1A7 COM 2B6 COM 2A6 COM 1B6 COM 1A6 COM 2B5 CHG 2A5 CHG 1B5 CHG 1A5 CHG 2B4 STOP 2A4 STOP 1B4 STOP 1A4 STOP 2B3 DOG 2A3 DOG 1B3 DOG 1A3 DOG 2B2 RLS 2A2 RLS 1B2 RLS 1A2 RLS
A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 A12 A13 A14 A15 A16 A17 A18 A19 A20
B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12 B13 B14 B15 B16 B17 B18 B19 B20
Front view of the module 2B1 FLS 2A1 FLS 1B1 FLS 1A1 FLS
1: Pin No. "1 " indicates the pin No. for the right connector. Pin No. "2 " indicates the pin No. for the left connector. 2: When a 1-axis module is used, pin Nos. 1B1 to 1B7 are "No connect". 3: For 1-axis module and 2-axis module do not have AX3 and AX4 connector of the left side.
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.4.3 List of input signal details
The details of each QD75MH external device connection connector are shown below: Pin No.
Signal name AX1 AX2 AX3 AX4
Signal details (Negative logic is selected by external input signal logic selection)
Manual pulse generator A phase Manual pulse generator B phase
1A19 1A20
Input the pulse signal from the manual pulse generator A phase and B phase.
If the A phase leads the B phase, the positioning address will increase at the rising and falling edges of each phase.
If the B phase leads the A phase, the positioning address will decrease at the rising and falling edges of each phase.
[When increased] [When decreased]
Manual pulse generator A common Manual pulse generator B common
1B19 1B20
+1+1+1+1+1+1+1+1 -1 -1 -1 -1 -1 -1 -1 -1
A phase
B phase
Positioning address
A phase
B phase
Positioning address
Upper limit signal 1A1 1B1 2A1 2B1
This signal is input from the limit switch installed at the upper limit position of the stroke.
Positioning will stop when this signal turns OFF. When OPR retry function is valid, this will be the upper limit for finding the
near-point dog signal.
Lower limit signal 1A2 1B2 2A2 2B2
This signal is input from the limit switch installed at the lower limit position of the stroke.
Positioning will stop when this signal turns OFF. When OPR retry function is valid, this will be the lower limit for finding the
near-point dog signal.
Near-point dog signal 1A3 1B3 2A3 2B3 This signal is used for detecting the near-point dog during OPR. The near-point dog OFF ON is detected at the rising edge. The near-point dog ON OFF is detected at the falling edge.
Stop signal 1A4 1B4 2A4 2B4
Input this signal to stop positioning. When this signal turns ON, the QD75MH will stop the positioning being
executed. After that, even if this signal is turned from ON to OFF, the system will not start.
External command signal/ switching signal
1A5 1B5 2A5 2B5
Input a control switching signal during speed-position or position-speed switching control.
Use this signal as the input signal of positioning start, speed change request, and skip request from an external device. Set the function to use this signal in " Pr.42 External command function
selection".
Common 1A6 1A7
1B6 1B7
2A6 2A7
2B6 2B7
Common for upper/lower limit, near-point dog, stop, and external command signal/switching signals.
Forced stop input signal 1A8 Forced stop input signal common
1B8
This signal is input when batch forced stop is available for all axes of servo amplifier.
When this signal turns OFF, the QD75MH will be the forced stop. Manual pulse generator power supply (+ 5VDC)
1A15 1B15
Power supply for manual pulse generator. (+ 5VDC)
Manual pulse generator power supply (GND)
1A14 1B14
Power supply for manual pulse generator. (GND)
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MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.4.4 Interface internal circuit
The outline diagrams of the internal circuits for the QD75MH1 external device connection interface are shown below. (1) Input
External wiring Pin No. Internal circuit Signal name Need for wiring 1
1A1 Upper-limit LS signal 4 FLS
1A2 Lower-limit LS signal 4
RLS
1A3 Near-point dog signal 4
DOG
1A4 Stop signal STOP
1A5 External command signal/switching signal
CHG
1A6 1B7
Common COM
1A8 EMI 1B8
Forced stop input signal EMI. COM
(+) 1A19
PULSER A+
(-) 1B19
Manual pulse generator A phase
PULSER A-
(+) 1A20
PULSER B+
() 1B20
Manual pulse generator B phase
PULSER B
(5V) 1A15
(5V) 1B15
Manual pulse generator power supply (+ 5VDC)
3, 5 P5
(0V) 1A14
(0V) 1B14
Manual pulse generator power supply (GND)
5 SG
When Upper-limit switch is not used
When Lower-limit switch is not used
24VDC
5V
0V
A
B
Manual pulse generator
(MR-HDP01)
2
1A10
5VDC
1: The symbols in Need for wiring column indicate the following meanings:
: Wiring is necessary for positioning. : Wiring is necessary depending on the situation. 2: Either polarity can be connected to the common (COM). 3: If using separately-placed power supply as manual pulse generator power supply, do not connect power supply 5V(P5) on QD75MH
side. Use separately-placed power supply as 5V stabilized power supply. Using power supply of different voltage between P5 and SG could lead to faults.
4: When using external input signal of servo amplifier, set "1" with " Pr.80 External signal selection". In addition, refer to Section 12.4.4 for wiring of upper/lower limit signal and Section 8.1.1 for wiring of near-point dog signal.
5: Do not use P5 and SG for other than manual pulse generator power supply.
3 - 22
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
3.5 External circuit design
Configure up the power supply circuit and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop. When designing the main circuit of the power supply, make sure to use a no fuse breaker (NFB). The outline diagrams of the internal circuits for the QD75MH external device connection interface are shown next page.
3 - 23
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
(1) Example when using the forced stop of the QD75MH
CP3
QY41PQD75MHQnCPUQ61P-A2 CP1
CP2
A
CN1A
CN1B
DICOM
ALM
EM1 DOCOM
0
SM
U V W
Servomotor
Ground Electromagnetic breake 2
Ra2
Ra2
MR-J3-B
Servo amplifer U V W
L1 L2 L3
L11
L21
SSCNET
EMI. COM EMI COM
3-phase 200VAC to 230VAC
NFB MC
Ra1
Alarm 1
Forced stop Operation ready OFF ON
MC
MC
SK
Alarm
24VDC Powerr supply
24VDC
24GDC
Ra1
Forced stop
SSCNET
24VDC3
7
8
B
CN1A
CN1B
DICOM
ALM
EM1 DOCOM
1
SM
U V
W
Servomotor
Ground Electromagnetic breake 2
Ra3
Ra3
MR-J3-B Servo amplifer
U V
W
L1 L2 L3
L11
L21
24VDC3
7
C
CN1A
CN1B
DICOM
ALM
EM1 DOCOM
2
SM
U V W
Servomotor
Ground Electromagnetic breake 2
Ra4
Ra4
MR-J3-B
Servo amplifer U V W
L1 L2 L3
L11
L21
24VDC3
7
1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC
CPU. 2: The power supply for the electromagnetic brake is possible to use a full wave rectified power supply. 3: The forced stop is possible to use a forced stop terminal of the servo amplifier. 4: When turning off the control power supply of servo amplifier, communication with servo amplifier is not possible from then on.
Example) If turning off the control power supply of servo amplifier L11/L21 in the above figure B , communication with the servo amplifier of C cannot be performed either. For turning off power supply of certain servo amplifier, turn off the main circuit power L1/L2/L3, but do not turn off the control power supply L11/L21.
5: When changing servo amplifier, turn off both the main circuit power L1/L2/L3 and the control power supply L11/L21. As communication between servo amplifier and QD75MH is not possible at this time, stop the machine operation in advance and then change servo amplifier.
6: If the emergency stop signal of QD75MH turns OFF when setting of Pr.82 Forced stop valid/invalid setting to "0 : Valid", servomotor is stopped with dynamic brake. (The LED display of servo amplifier indicates "E7" (Controller forced stop warning).)
7: If setting servo amplifier to Axis 1, set the rotary axis setting switch of servo amplifier to "0". Set "Axis2 => 1 for rotary switch", "Axis3 => 2 for rotary switch" and "Axis4 => 3 for rotary switch" respectively.
8: The status of forced stop input signal can be confirmed with Md.50 Forced stop input.
3 - 24
MELSEC-Q 3 SPECIFICATIONS AND FUNCTIONS
(2) Example when using the forced stop of the QD75MH and MR-J3-B
CP3
QY41PQD75MHQnCPUQ61P-A2 CP1
CP2
A
CN1A
CN1B
DICOM
ALM
EM1 DOCOM
0
SM
U V W
Servomotor
Ground Electromagnetic breake 2
Ra3
Ra3
MR-J3-B Servo amplifer
U V W
L1 L2 L3
L11
L21
SSCNET
EMI. COM EMI COM
3-phase 200VAC to 230VAC
NFB MC
Ra1
Alarm 1
Forced stop Operation ready OFF ON
MC
MC
SK
Alarm
24VDC Powerr supply
24VDC
24GDC
Forced stop
SSCNET
24VDC
6
B
CN1A
CN1B
DICOM
ALM
EM1 DOCOM
1
SM
U V
W
Servomotor
Ground Electromagnetic breake 2
Ra4
MR-J3-B
Servo amplifer U V
W
L1 L2 L3
L11
L21
6
C
CN1A
CN1B
DICOM
ALM
EM1 DOCOM
2
SM
U V W
Servomotor
Ground Electromagnetic breake 2
Ra5
MR-J3-B
Servo amplifer U V W
L1 L2 L3
L11
L21
6
Ra2
24VDC
Ra2
24VDC
Ra2
Ra4
Ra5
Ra2
Ra1
1: Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC
CPU. 2: The power supply for the electromagnetic brake is possible to use a full wave rectified power supply. 3: When turning off the control power supply of servo amplifier, communication with servo amplifier is not possible from then on.
Example) If turning off the control power supply of servo amplifier L11/L21 in the above figure B , communication with the servo amplifier of C cannot be performed either. For turning off power supply of certain servo amplifier, turn off the main circuit power L1/L2/L3, but do not turn off the control power supply L11/L21.
4: When changing servo amplifier, turn off both the main circuit power L1/L2/L3 and the control power supply L11/L21. As communication between servo amplifier and QD75MH is not possible at this time, stop the machine operation in advance and then change servo amplifier.
5: The dynamic brake is operated, and servomotor occurs to the free run when EM1 (forced stop) of servo amplifier turn OFF. At the time, the display shows the servo forced stop warning (E6). During ordinary operation, do not used forced stop signal to alternate stop and run. The service life of the servo amplifier may be shortened.
6: If setting servo amplifier to Axis 1, set the rotary axis setting switch of servo amplifier to "0". Set "Axis2 => 1 for rotary switch", "Axis3 => 2 for rotary switch" and "Axis4 => 3 for rotary switch" respectively.
4 - 1
4
Chapter 4 Installation, Wiring and Maintenance of the Product
The installation, wiring and maintenance of the QD75MH are explained in this chapter.
Important information such as precautions to prevent malfunctioning of the QD75MH, 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...........................................................4- 2 4.1.1 Installation, wiring and maintenance procedures ..........................................4- 2 4.1.2 Names of each part ........................................................................................4- 3 4.1.3 Handling precautions ......................................................................................4- 5 4.2 Installation.....................................................................................................................4- 7 4.2.1 Precautions for installation .............................................................................4- 7 4.3 Wiring ........................................................................................................................4- 10 4.3.1 Precautions for wiring ....................................................................................4- 10 4.4 Confirming the installation and wiring .........................................................................4- 16 4.4.1 Items to confirm when installation and wiring are completed.......................4- 16 4.5 Maintenance ................................................................................................................4- 17 4.5.1 Precautions for maintenance.........................................................................4- 17 4.5.2 Disposal instructions......................................................................................4- 17
4 - 2
MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
4.1 Outline of installation, wiring and maintenance
4.1.1 Installation, wiring and maintenance procedures
The outline and procedures for QD75MH installation, wiring and maintenance are shown below.
Dispose of the QD75MH and SSCNET cable
STEP 1
STEP 2
STEP 4
STEP 5
STEP 6
STEP 7
STEP 8
Refer to Section 4.5
Refer to Section 4.5
Refer to Section 4.3
Refer to Section 4.3
Refer to Section 4.2
Refer to Section 4.1
Preparation
Understand the "Handling precautions" and "Names of each part" of the module (QD75 MH)
Installing the module
Install the module (QD75MH) on the base unit.
Wiring the module
Wire the external device connection connector pins, and assemble the connector.
Connect the cable to the module (QD75MH)
Wire and connect the manufactured cable to QD75 MH after reading the precautions for wiring.
Confirming the installation and wiring
Servicing the module
Confirm the connection Check the connection using GX Configurator-QP.
Operation of the positioning system.
Carry out maintenance Carry out maintenance as necessary.
When the QD75MH is no longer necessary, dispose of it with the specified methods.
Refer to Section 4.4
The cables used to connect the QD75MH with the drive unit, with the mechanical system input (each input/output signal), and with the manual pulse generator are manufactured by soldering each signal wire onto the "external device connection connector" sold separately.(Refer to "Applicable connector for external wiring" in Section 3.1 "Performance specifications" for the optional connector.)
STEP 3
Refer to Section 4.2
Understand the "Precautions for wiring of SSCNET cable" before wiring of the module (QD75MH).
4 - 3
MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
4.1.2 Names of each part
(1) The part names of the QD75MH are shown below:
For QD75MH4
(1) RUN indicator LED, ERR indicator LED
(40-pin connector) AX1: Axis 1
QD75MH4
AX1 AX2
AX3 AX4
RUN
ERR AX4 AX3 AX2 AX1
QD75MH4
(2) Axis display LED
(3) External device connector
AX2: Axis 2 AX3: Axis 3 AX4: Axis 4
Refer to Section 3.4.2 "Signal layout for external device connection connector" for details.
(4) SSCNET cable connector
No. Name Details (1) RUN indicator LED, ERR indicator LED (2) Axis display LED (AX1 to AX4)
Refer to the next page.
(3) External device connector A connector connected with a drive unit, mechanical system input, manual pulse generator, or forced stop input.
(4) SSCNET cable connector A connector connected with servo amplifier.
4 - 4
MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
(2) The LED display indicates the following operation statuses of the QD75MH and
axes.
QD75MH4 RUN
ERR AX4 AX3 AX2 AX1
QD75MH4
Display Attention point Description Display Attention point Description
RUN
ERR
AX1 AX2 AX3 AX4
RUN is OFF. Hardware failure, watch dog timer error
RUN
ERR
AX1 AX2 AX3 AX4
AX1 (or other axis) illuminates.
The corresponding axis is in operation.
RUN
ERR
AX1 AX2 AX3 AX4
RUN illuminates. ERR is OFF.
The module operates normally.
RUN
ERR
AX1 AX2 AX3 AX4
ERR flashes. AX1 (or other axis) flashes.
An error occurs on the corresponding axis.
RUN
ERR
AX1 AX2 AX3 AX4
ERR illuminates. System error
RUN
ERR
AX1 AX2 AX3 AX4
All LEDs illuminate. Hardware failure
RUN
ERR
AX1 AX2 AX3 AX4
AX1 to AX4 are OFF.
The axes are stopped or on standby.
The symbols in the Display column indicate the following statuses:
: Turns OFF. : Illuminates. : Flashes.
(3) The interface for each QD75MH is shown below: QD75MH1 QD75MH2 QD75MH4
QD75MH1 QD75MH2
AX1 AX2AX1
RUN
ERR
AX2 AX1RUN
ERR
AX1
QD75MH1 QD75MH2
QD75MH4
AX1 AX2
AX3 AX4
RUN
ERR AX4 AX3 AX2 AX1
QD75MH4
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
4.1.3 Handling precautions
Handle the QD75MH 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. Failure to observe this could lead to module malfunctioning or trouble.
Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module. Failure to observe this could lead to fires, trouble or malfunctioning.
Never disassemble or modify the module. Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Completely turn off all lines of power supply externally before loading or unloading the module. Not doing so could result in electric shock or damage to the product. Because the connector has its orientation, check it before attaching or detaching the connector straight from the front. Unless it is properly installed, a poor contact may occur, resulting in erroneous input and output. Do not directly touch the module's conductive parts and electronic components of the module. Touching the conductive parts and electronic components of the module could cause an operation failure or give damage to the module.
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
[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 QD75MH 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. Do not damage the cable sheath.
(3) Installation environment
Do not install the module in the following type of environment. Where the ambient temperature exceeds the 0 to 55C range. Where the ambient humidity exceeds the 5 to 95%RH range. Where there is sudden temperature changes, or where dew condenses. Where there is corrosive gas or flammable gas. Where there are high levels of dust, conductive powder, such as iron
chips, oil mist, salt or organic solvents. Where the module will be subject to direct sunlight. Where there are strong electric fields or magnetic fields. Where vibration or impact could be directly applied onto the main body.
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
4.2 Installation
4.2.1 Precautions for installation
The precautions for installing the QD75MH are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.
[1] Precautions for SSCNET cable wiring
SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Make sure to use optical fiber within the range of operating temperature described in this manual. The optical cable and code part melts down if being left near the fire or high temperature. Therefore, do not make it touched the part which becomes high temperature, such as radiator or regenerative brake option of servo amplifier, or servomotor.
(1) Minimum bend radius
Make sure to lay SSCNET cable with greater radius than the minimum bend radius. If the SSCNET cable is less than the minimum bend radius, optical transmission is interrupted and it may cause malfunctions.
SSCNET cable Minimum bend radius [mm] ([inch])
MR-J3BUS M 25
MR-J3BUS M-A Reinforcement film cable : 50 (1.97) Code part : 25 (0.98)
MR-J3BUS M-B Reinforcement film cable : 50 (1.97) Code part : 30 (1.18)
(2) Tension
If tension is added on SSCNET cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNET cable or the connecting part of SSCNET connector. At worst, the breakage of SSCNET cable or damage of SSCNET connector may occur. For SSCNET cable laying, handle without putting forced tension. (For the tension strength, refer to section Appendix 3.1 Connection of SSCNET cables.)
(3) Lateral pressure
If lateral pressure is added on optical cable, the SSCNET cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of SSCNET cable may occur. As the same condition also occurs at cable laying, do not tighten up SSCNET cable with a thing such as nylon band (TY-RAP).
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
(4) Twisting
If SSCNET cable is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of SSCNET cable may occur at worst.
[2] Precautions for SSCNET cable wiring
Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET cable from putting its own weight on connector. Wiring duct
If the duct is below the bottom of the module, leave sufficient clearance to eliminate effects on the SSCNET cable, limit the space height to 70 mm (2.76 inch) MIN.
70 (2
.7 6)
Unit: [mm] ([inch])
Bundle fixing
Optical cord Loose slack
Bundle materialRecommended: NK clamp SP type(NIX, INC.)
Cable
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
[3] Precautions for installation
! DANGER Completely turn off the externally supplied power used in the system before clearing or tightening the screws. Not doing so may cause electric shocks.
! 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. Not doing so may cause an operation failure or damage to the module.
Use the PLC within the general specifications environment given in CPU module User's manual. Using the PLC outside the general specification range environment could lead to electric shocks, fires, malfunctioning, product damage or deterioration. Don't directly touch the conductive area or electronic components of the module. Failure to observe this could lead to trouble or malfunctioning.
While pressing the installation lever located at the bottom of module, insert the module fixing tab into the fixing hole in the base unit until it stops. Then, securely mount the module with the fixing hole as a supporting point. Incorrect loading of the module can cause a malfunction, failure or drop. When using the module in the environment of much vibration, tighten the module with a screw. Tighten the screw within the range of the specified tightening torque. Insufficient tightening may lead to dropping, short-circuit, or malfunctioning. Excessive tightening may damage the screw or module, leading to dropping, short-circuit, or malfunctioning.
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
4.3 Wiring
The precautions for wiring the QD75MH 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
DANGER Completely turn off the externally supplied power used in the system before installation or wiring. Not doing so could result in electric shock or damage to the product.
CAUTION Check the layout of the terminals and then properly route the wires to the module. Connectors for external input signal must be crimped with the tool specified by the manufacturer, or must be correctly soldered. Insufficient connections may cause short circuit, fire, or malfunction. Be careful not to let foreign matter such as sawdust or wire chips get inside the module. These may cause fires, failure or malfunction. The top surface of the module is covered with protective films to prevent foreign objects such as cable off cuts from entering the module when wiring. Do not remove this film until the wiring is complete. Before operating the system, be sure to remove the film to provide adequate ventilation. Securely connect the connector for SSCNET cable to the front connector on the module. When removing the cable from the module, do not pull the cable. Hold the connector that is connected to the module. Pulling the cable that is still connected to the module may cause malfunction or damage to the module or cable. The external input/output signal cable and the communication cable should not be routed near or bundled with the main circuit cable, power cable and/or other such load - carrying cables other than those for the PLC. These cables should be separated by at least 100mm (3.94inch) or more. They can cause electrical interference, surges and inductance that can lead to mis- operation. The shielded cable for connecting QD75MH can be secured in place. If the shielded cable is not secured, unevenness or movement of the shielded cable or careless pulling on it could result in damage to the QD75MH, servo amplifier or shielded cable or defective cable connections could cause mis-operation of the unit. If the cable connected to the QD75MH and the power line must be adjacently laid (less than 100mm (3.94inch)), use a shielded cable. Ground the shield of the cable securely to the control panel on the QD75MH side. (A wiring example is given on this section "[1] Precautions for wiring"). Forcibly removal the SSCNET cable from the QD75MH will damage the QD75MH and SSCNET cables.
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
CAUTION After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions. Do not remove the SSCNET cable while turning on the power supply of QD75MH and servo amplifier. Do not see directly the light generated from SSCNET connector and the end of SSCNET cable. When the light gets into eye, may feel something is wrong for eye. (The light source of SSCNET cable complies with class1 defined in JISC6802 or IEC60825-1.) If the SSCNET cable is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Be sure to take care enough so that the short SSCNET cable is added a twist easily. Be sure to use the SSCNET cable within the range of operating temperature described in this manual. Especially, as optical fiber for MR-J3BUS M and MR-J3BUS M-A are made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part which becomes high temperature, such as radiator or regenerative option of servo amplifier, or servomotor. When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. (Refer to this Section [2] Precautions for SSCNET cable wiring.) Put the SSCNET cable in the duct or fix the cable at the closest part to the QD75MH with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector. When laying cable, the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. Also, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected.
Optical cord Cable SSCNET cable Cord Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B
: Normally, cable is not affected by plasticizer. : Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable.
Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain non- migrating plasticizer and they do not affect the optical characteristic of SSCNET cable. However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS M and MR-J3BUS M-A cables (made of plastic). In addition, MR-J3BUS M-B cable (made of quartz glass) is not affected by plasticizer.
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
CAUTION If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machine characteristic. If it is used such an environment, be sure to do the protection measures to the cord part.
When keeping the QD75MH or servo amplifier, be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNET connector. SSCNET connector to connect the SSCNET cable is put a cap to protect light device inside connector from dust. For this reason, do not remove a cap until just before connecting SSCNET cable. Then, when removing SSCNET cable, make sure to put a cap. Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty. When exchanging the QD75MH or servo amplifier, make sure to put cap on SSCNET connector. When asking repair of QD75MH or servo amplifier for some troubles, make also sure to put a cap on SSCNET connector. When the connector is not put a cap, the light device may be damaged at the transit. In this case, exchange and repair of light device is required.
[1] Precautions for wiring (1) Use separate cables for connecting to the QD75MH and for the power cable
that create surge and inductance.
(2) The shielded cable for connecting QD75MH can be secured in duct or bundle fixing. If the shielded cable is not secured, unevenness or movement of the shielded cable or careless pulling on it could result in damage to the QD75MH or servo amplifier or shielded cable or defective cable connections could cause mis-operation of the unit.
(3) If a duct is being used and cables to connect to QD75MH are separated
from the power line duct, use metal piping. Ground the pipes securely after metal piping.
(4) The cable is to use the twisted pair shielded cable (wire size 0.3 mm 2 ). The
shielded must be grounded on the QD75MH side.
(5) Use separate shielded cables of the forced stop input signal (EMI, EMI.COM), limit signal (FLS, RLS, DOG, STOP, CHG, COM) and etc., and manual pulse generator signal (PULSER A+, PULSER A-, PULSER B+, PULSER B-, P5, SG) for connecting to the QD75MH. They can cause electrical interference, surges and inductance that can lead to mis-operation.
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
[Wiring example of shielded cable]
The following shows a wiring example for noise reduction in the case where the connector A6CON1 is used.
To QD75MH
Connector (A6CON1) Shielded
cable
The length between the connector and the shielded cables should be the shortest possible.
Use the shortest possible length to ground the 2mm or more FG wire. (The shield must be grounded on the QD75MH side.)
For forced stop input signal
For limit signal and etc.
For manual paluse generator signal
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
[Processing example of shielded cables] Connections of FG wire and each shielded cable
Coat the wire with insulaing tape.
Remove the covering from all shielded cables and bind the appeared shield with a conductive tape.
Solder the shield of any one of the shielded cables to the FG wire.
Assembling of connector (A6CON1)
Wrap the coated parts with a heat contractile tube.
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
(5) To make this product conform to the EMC directive and low voltage
instruction, be sure to used of a AD75CK type cable clamp (manufactured by Mitsubishi Electric) for grounding connected to the control box and the shielded cable.
Q D
75M H
20cm(7.88inch) to 30cm(11.82inch)
Inside control box
AD75CK
[How to ground shielded cable using AD75CK]
Shielded cable
Shield
Installation screw to control box (M4 screw)
Ground terminal
Ground terminal installation screw (M4 8 screw)
Using the AD75CK, you can tie four cables of about 7mm outside diameter together for grounding.
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
[Wiring examples using duct (incorrect example and corrected example)]
Relay
Servo amplifier
Noise source
PLC QD 75 MH
Changed
Control panel
(Power system, etc.)
Control panel
Servo amplifier
Relay
Relay
Noise source
(Power system, etc.)
Relay Relay
Relay
PLC
Servo amplifier
Servo amplifier
The servo amplifiers are placed near the noise source. The connection cable between the QD75MH and servo amplifiers is too long.
The QD75MH and servo amplifiers are placed closely. The connection cable between the QD75MH and servo amplifier is separately laid from the power line (in this example, the cable is outside of the duct) and is as short as possible.
Wiring duct
Wiring duct
QD 75 MH
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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 QD75MH 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. (GX Configurator-QP is required for this "connection confirmation".)
Are the QD75MH and servo amplifier correctly connected? Are the servo amplifier and servomotor correctly connected? Are the QD75MH and external device (input/output signal) correctly
connected?
With this "connection confirmation", "whether the direction that the QD75MH recognizes as forward run matches the address increment direction in the actual positioning work", and "whether the QD75MH recognizes the external input/output signals such as the near-point dog signal and stop signal" can be checked.
Refer to GX Configurator-QP Operating Manual for details on "Connection confirmation".
Note that the monitor data of the " Md.30 External input signal" in the GX Developer may also be used to "confirm the connection between the QD75MH and external device (input signals)".
Important If the QD75MH is faulty, or when the required signals such as the near-point dog signal and stop signal are not recognized, unexpected accidents such as "not decelerating at the near-point dog during machine OPR and colliding with the stopper", or "not being able to stop with the stop signal" may occur. The "connection confirmation" must be carried out not only when structuring the positioning system, but also when the system has been changed with module replacement or rewiring, etc.
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MELSEC-Q 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
4.5 Maintenance
4.5.1 Precautions for maintenance
The precautions for servicing the QD75MH are given below. Refer to this section as well as "4.1.3 Handling precautions" when carrying out the work.
! DANGER Completely turn off the externally supplied power used in the system before clearing or tightening screws. Not doing so may cause electric shocks.
! 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. Not doing so may cause an operation failure or damage to the module.
4.5.2 Disposal instructions
When you discard QD75MH, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area).
! CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative.
Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident.
5 - 1
5
Chapter 5 Data Used for Positioning Control
The parameters and data used to carry out positioning control with the QD75MH are explained in this chapter.
With the positioning system using the QD75MH, 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. Read this section thoroughly and make settings according to each control or application.
Refer to Section 2 for details on each control.
5.1 Types of data ................................................................................................................5- 2 5.1.1 Parameters and data required for control ......................................................5- 2 5.1.2 Setting items for positioning parameters........................................................5- 6 5.1.3 Setting items for OPR parameters .................................................................5- 8 5.1.4 Setting items for servo parameters ................................................................5- 9 5.1.5 Setting items for positioning data ..................................................................5- 11 5.1.6 Setting items for block start data ...................................................................5- 14 5.1.7 Setting items for condition data .....................................................................5- 15 5.1.8 Types and roles of monitor data....................................................................5- 18 5.1.9 Types and roles of control data .....................................................................5- 20 5.2 List of parameters........................................................................................................5- 24 5.2.1 Basic parameters 1........................................................................................5- 24 5.2.2 Basic parameters 2........................................................................................5- 28 5.2.3 Detailed parameters 1 ...................................................................................5- 30 5.2.4 Detailed parameters 2 ...................................................................................5- 38 5.2.5 OPR basic parameters ..................................................................................5- 50 5.2.6 OPR detailed parameters ..............................................................................5- 56 5.2.7 Servo parameters (Basic setting)..................................................................5- 62 5.2.8 Servo parameters (Gain filter setting) ........................................................5- 68 5.2.9 Servo parameters (Expansion setting)..........................................................5- 80 5.2.10 Servo parameters (Input/output setting) .......................................................5- 86 5.3 List of positioning data.................................................................................................5- 90 5.4 List of block start data ................................................................................................5-106 5.5 List of condition data...................................................................................................5-112 5.6 List of monitor data .....................................................................................................5-118 5.6.1 System monitor data.....................................................................................5-118 5.6.2 Axis monitor data ..........................................................................................5-128 5.7 List of control data ......................................................................................................5-148 5.7.1 System control data ......................................................................................5-148 5.7.2 Axis control data ...........................................................................................5-150
5 - 2
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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 QD75MH 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.)
Parameters Positioning parameters Basic parameters 1
Set according to the machine and applicable motor when system is started up.
Note) If the setting of the basic parameters 1 is incorrect, the rotation direction may be reversed, or no operation may take place.
Basic parameters 2
Detailed parameters 1
Detailed parameters 2 Set according to the system configuration when the system is started up.
Note) Detailed parameters 2 are data items for using the QD75MH functions to the fullest. Set as required.
OPR basic parameters
OPR detailed parameters
Positioning data Positioning data Set the block start data for "major positioning control".
Block start data Set the data for "high-level positioning control".
Condition data Set the condition data for "high-level positioning control".
Memo data Set the condition judgment values for the condition data used in "high-level positioning control".
to) Pr.1 )Pr.57 to) Pr.1 )Pr.42
to) Pr.80 )Pr.84
OPR parameters
to) Pr.43 )Pr.57
to) Da.1 )Da.10
to)Da.11 )Da.19
to)Da.15 )Da.19
to)Da.11 )Da.14
Block start data
Servo parameters (Basic setting)
Servo parameters (Gain filter setting) Set the data that is determined by the specification of the servo being used.
Servo parameters
to)Pr.100 )Pr.204
Servo parameters (Expansion setting)
Servo parameters (Input/output setting)
Set the values required for carrying out OPR control.
The data is set with the PLC program or peripheral device. In this chapter, the method using the peripheral device will be explained. (Refer to "Point" on the next page.)
The basic parameters 1, detailed parameters 1, OPR parameters, and " Pr.83 Speed control 10 x multiplier setting for degree axis" become valid when the PLC READY signal [Y0] turns from OFF to ON.
The basic parameters 2, detailed parameters 2 (Note that this excludes " Pr.83 Speed control 10 x multiplier setting for degree axis".) become valid immediately when they are written to the buffer memory, regardless of the state of the PLC READY signal [Y0].
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Even when the PLC READY signal [Y0] is ON, the values or contents of the following can be changed: basic parameters 2, detailed parameters 2, positioning data, and block start data.
The servo parameter is transmitted from QD75MH to the servo amplifier when the initialized communication carried out after the power supply is turned ON or the PLC CPU is reset. The power supply is turned ON or the PLC CPU is reset after writing servo parameter in flash ROM of QD75MH if the servo parameter is transmitted to the servo amplifier. The following servo parameter in the buffer memory is transmitted to the servo amplifier when the PLC READY [Y0] turns from OFF to ON. Pr.108 Auto tuning mode (Basic setting parameters) Pr.109 Auto tuning response (Basic setting parameters) Pr.122 Feed forward gain (Gain filter setting parameters) Pr.124 Ratio of load inertia moment to servo motor inertia moment (Gain filter
setting parameters) Pr.125 Model loop gain (Gain filter setting parameters) Pr.126 Position loop gain (Gain filter setting parameters) Pr.127 Speed loop gain (Gain filter setting parameters) Pr.128 Speed integral compensation (Gain filter setting parameters) Pr.129 Speed differential compensation (Gain filter setting parameters)
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.
Acceleration time 0 to 3 and deceleration time 0 to 3: Positioning data are pre-read and pre-analyzed. Modifications to the data four or more steps after the current step are valid.
External command function selection: The value at the time of detection is valid.
5 - 4
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
The data is monitored with the PLC program or peripheral device. In this chapter, the method using the peripheral device will be explained.
Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)
System monitor data Monitors the QD75MH specifications and the operation history.
Axis monitor data Monitors the data related to the operating axis, such as the current position and speed.
toMd.1 Md.50:
to) Md.1 )Md.19 , Md.50
to)Md.20 )Md.48 toMd.100 Md.111,
, toMd.100 Md.111
Control data (Data for user to control positioning system.)
System control data Writes/initializes the "setting data" in the module.
Axis control data Makes settings related to the operation, and controls the speed change during operation, and stops/restarts the operation.
toCd.1 Cd.42:
to)
Cd.1 Cd.2 )Cd.41, Cd.42,
to) Cd.3 Cd.40 , Cd.100 Cd.101, )Cd.108,
) )Cd.100 Cd.101, , Cd.108,
Control using the control data is carried out with the PLC program. " Deceleration start flag valid" is valid for only the value at the time when the PLC READY signal [Y0] turns from OFF to ON. Cd.41
POINT (1) The "setting data" is created for each axis. (2) The "setting data" parameters have determined default values, and are set to
the default values before shipment from the factory. (Parameters related to axes that are not used are left at the default value.)
(3) The "setting data" can be initialized with GX Configurator-QP or the PLC program.
(4) It is recommended to set the "setting data" with GX Configurator-QP. When executed with the PLC program, many PLC programs and devices must be used. This will not only complicate the program, but will also increase the scan time.
5 - 5
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
5 - 6
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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 "5.2 List of parameters".
Control Major positioning control Manual control Position control Other control Positioning parameter O
PR c
on tro
l
1- ax
is lin
ea r c
on tro
l 2/
3/ 4-
ax is
lin ea
r i nt
er po
la tio
n co
nt ro
l
1- ax
is fi
xe d-
fe ed
c on
tro l
2/ 3/
4- ax
is fi
xe d-
fe ed
c on
tro l
2- ax
is c
irc ul
ar in
te rp
ol at
io n
co nt
ro l
1 to
4 a
xis s
pe ed
c on
tro l
Sp ee
d- po
si tio
n or
p os
itio n-
sp ee
d
co nt
ro l
C ur
re nt
v al
ue c
ha ng
in g
JU M
P in
st ru
ct io
n, N
O P
in st
ru ct
io n,
LO
O P
to L
EN D
M an
ua l p
ul se
g en
er at
or o
pe ra
tio n
JO G
o pe
ra tio
n In
ch in
g op
er at
io n
R el
at ed
s ub
fu nc
tio n
Pr.1 Unit setting
Pr.2 No. of pulses per rotation (AP) (Unit: PLS)
Pr.3 Movement amount per rotation (AL) Pr.4 Unit magnification (AM)
12.3.2
Ba si
c pa
ra m
et er
s 1
Pr.7 Bias speed at start
Pr.8 Speed limit value 12.4.1
Pr.9 Acceleration time 0 Ba si
c pa
ra m
et er
s 2
Pr.10 Deceleration time 0
12.7.7
Pr.11 Back compensation amount 12.3.1
Pr.12 Software stroke limit upper limit value Pr.13 Software stroke limit lower limit value Pr.14 Software stroke limit selection
Pr.15 Software stroke limit valid/invalid selection
12.4.3
Pr.16 Command in-position width 12.7.6
Pr.17 Torque limit setting value 12.4.2
Pr.18 M code ON signal output timing 12.7.3
Pr.19 Speed switching mode
Pr.20 Interpolation speed designation method
Pr.21 Current feed value during speed control
Pr.22 Input signal logic selection
Pr.24 Manual pulse generator input selection
Pr.80 External signal selection 13.4
Pr.81 Speed-position function selection
D et
ai le
d pa
ra m
et er
s 1
Pr.82 Forced stop valid/invalid selection 12.4.5 : Always set : Set as required (Read "" when not required.) : Setting not possible : Setting restricted : Setting not required. (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no
problem.)
5 - 7
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Control Major positioning control Manual control Position control Other control Positioning parameter O
PR c
on tro
l
1- ax
is lin
ea r c
on tro
l 2/
3/ 4-
ax is
lin ea
r i nt
er po
la tio
n co
nt ro
l
1- ax
is fi
xe d-
fe ed
c on
tro l
2/ 3/
4- ax
is fi
xe d-
fe ed
c on
tro l
2- ax
is c
irc ul
ar in
te rp
ol at
io n
co nt
ro l
1 to
4 a
xis s
pe ed
c on
tro l
Sp ee
d- po
si tio
n or
p os
itio n-
sp ee
d co
nt ro
l
C ur
re nt
v al
ue c
ha ng
in g
JU M
P in
st ru
ct io
n, N
O P
in st
ru ct
io n,
LO
O P
to L
EN D
M an
ua l p
ul se
g en
er at
or o
pe ra
tio n
JO G
o pe
ra tio
n In
ch in
g op
er at
io n
R el
at ed
s ub
fu nc
tio n
Pr.25 Acceleration time 1 Pr.26 Acceleration time 2 Pr.27 Acceleration time 3 Pr.28 Deceleration time 1 Pr.29 Deceleration time 2 Pr.30 Deceleration time 3
12.7.7
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.36 Sudden stop deceleration time
12.7.7
Pr.37 Stop group 1 sudden stop selection
Pr.38 Stop group 2 sudden stop selection
Pr.39 Stop group 3 sudden stop selection
Pr.40 Positioning complete signal output time
Pr.41 Allowable circular interpolation error width
Pr.42 External command function selection 12.5.1 12.7.2
Pr.83 Speed control 10 x multiplier setting for degree axis 12.7.11
D et
ai le
d pa
ra m
et er
s 2
Pr.84 Restart allowable range when servo OFF to ON 5.2.4
: Always set : Set as required ("" when not set) : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no
problem.) Checking the positioning parameters
Pr.1 to Pr.84 are checked with the following timing.
(1) When the "PLC READY signal [Y0]" output from the PLC CPU to the QD75MH changes from OFF to ON
(2) When the test operation button is turned ON in the test mode using GX Configurator-QP
(3) When an error check is carried out with GX Configurator-QP
REMARK "High-level positioning control" is carried out in combination with the "major
positioning control". Refer to the "major positioning control" parameter settings for details on the parameters required for "high-level positioning control".
5 - 8
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.
OPR control OPR parameters
Machine OPR control Fast OPR control
Pr.43 OPR method
N ea
r-p oi
nt d
og
m et
ho d
C ou
nt m
et ho
d 1)
C ou
nt m
et ho
d 2)
D at
a se
t m et
ho d
Pr.44 OPR direction
Pr.45 OP address
Pr.46 OPR speed
Pr.47 Creep speed
O PR
b as
ic p
ar am
et er
s
Pr.48 OPR retry R R R
Pr.50 Setting for the movement amount after near- point dog ON
Pr.51 OPR acceleration time selection
Pr.52 OPR deceleration time selection
Pr.53 OP shift amount S S S
Pr.54 OPR torque limit value
Preset parameters are used for machine OPR control.
Pr.55 Operation setting for incompletion of OPR
Pr.56 Speed designation during OP shift S S S
O PR
d et
ai le
d pa
ra m
et er
s
Pr.57 Dwell time during OPR retry R R R
Preset parameters are used for machine OPR control.
: Always set : Set as required : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default
value or within the setting range, there is no problem.) R : Set when using the "12.2.1 OPR retry function". ("" when not set.) S : Set when using the "12.2.2 OP shift function". ("" when not set.)
Checking the OPR parameters.
Pr.43 to Pr.57 are checked with the following timing.
(1) When the "PLC READY signal [Y0]" output from the PLC CPU to the QD75MH changes from OFF to ON
(2) When the test operation button is turned ON in the test mode using GX Configurator-QP
(3) When an error check is carried out with GX Configurator-QP
5 - 9
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.1.4 Setting items for servo parameters
The servo parameters are used to control the servomotor and the data that is determined by the specification of the servo being used. The table below lists items set to the servo parameters.
Servo amplifier
Servo parameters
MR-J3-B Remark
Pr.100 Servo series Pr.102 Regenerative brake option Pr.103 Absolute position detection system Pr.104 Function selection A-1 Pr.108 Auto tuning mode Pr.109 Auto tuning response Pr.110 In-position range Pr.114 Rotation direction selection
Ba si
c se
tti ng
p ar
am et
er s
Pr.115 Encoder output pulses
Refer to the section 5.2.7
Pr.119 Adaptive tuning mode (Adaptive filter )
Pr.120 Vibration suppression control filter tuning mode
Pr.122 Feed forward gain
Pr.124 Ratio of load inertia moment to servo motor inertia moment
Pr.125 Model loop gain Pr.126 Position loop gain Pr.127 Speed loop gain Pr.128 Speed integral compensation Pr.129 Speed differential compensation Pr.131 Machine resonance suppression filter 1 Pr.132 Notch form selection 1 Pr.133 Machine resonance suppression filter 2 Pr.134 Notch form selection 2 Pr.136 Low-pass filter
Pr.137 Vibration suppression control vibration frequency setting
Pr.138 Vibration suppression control resonance frequency setting
Pr.141 Low-pass filter selection
Pr.142 Slight vibration suppression control selection
Pr.144 Gain changing selection
G ai
n
filt er
s et
tin g
pa ra
m et
er s
Pr.145 Gain changing condition
Refer to the section 5.2.8
: Always set : Set as required : Setting restricted
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Servo amplifier
Servo parameters
MR-J3-B Remark
Pr.146 Gain changing time constant
Pr.147 Gain changing ratio of load inertia moment to servomotor inertia moment
Pr.148 Gain changing position loop gain Pr.149 Gain changing speed loop gain
Pr.150 Gain changing speed integral compensation
Pr.151 Gain changing vibration suppression control vibration frequency setting
G ai
n
filt er
p ar
am et
er s
Pr.152 Gain changing vibration suppression control resonance frequency setting
Refer to the section 5.2.8
Pr.164 Error excessive alarm level
Pr.165 Electromagnetic brake sequence output
Pr.166 Encoder output pulses selection Pr.167 Function selection C-1 Pr.168 Function selection C-2 Pr.170 Zero speed Pr.172 Analog monitor output 1 Pr.173 Analog monitor output 2 Pr.174 Analog monitor 1 offset Pr.175 Analog monitor 2 offset
Ex pa
ns io
n se
tti ng
p ar
am et
er s
Pr.180 Function selection C-4
Refer to the section 5.2.9
Pr.202 Output signal device selection 1 Pr.203 Output signal device selection 2
I/O s
et tin
g pa
ra m
et er
s
Pr.204 Output signal device selection 3
Refer to the section 5.2.10
: Always set : Set as required : Setting restricted
5 - 11
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.1.5 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".
Major positioning control Position control Other control Positioning data 1-
ax is
lin ea
r c on
tro l
2/ 3/
4- ax
is lin
ea r
in te
rp ol
at io
n co
nt ro
l
1- ax
is fi
xe d-
fe ed
c on
tro l
2/ 3/
4- ax
is fi
xe d-
fe ed
c on
tro l
2- ax
is c
irc ul
ar in
te rp
ol at
io n
co nt
ro l
1 to
4 a
xis s
pe ed
c on
tro l
Sp ee
d- po
si tio
n sw
itc hi
ng
co nt
ro l
Po si
tio n-
sp ee
d sw
itc hi
ng
co nt
ro l
N O
P in
st ru
ct io
n
C ur
re nt
v al
ue c
ha ng
in g
JU M
P in
st ru
ct io
n
LO O
P
LE N
D
Independent positioning control
Continuous positioning control
Da.1
Operation pattern
Continuous path control
Da.2
Control system
Linear 1 Linear 2 Linear 3 Linear 4
Fixed- feed 1 Fixed- feed 2 Fixed- feed 3 Fixed- feed 4
Circular sub
Circular right
Circular left
Forward run speed 1 Reverse run
speed 1 Forward
run speed 2 Reverse run
speed 2 Forward
run speed 3 Reverse run
speed 3 Forward
run speed 4 Reverse run
speed 4
Forward run
speed/ position Reverse
run speed/ position
Forward run
position/ speed
Reverse run
position/ speed
NOP instruction
Current value
changing
JUMP instruction LOOP LEND
Da.3
Acceleration time No.
Da.4
Deceleration time No.
Da.6
Positioning address/ movement amount
New address
Da.7
Arc address
Da.8
Command speed
Da.9
Dwell time (JUMP destination positioning data No.)
JUMP destination positioning data No.
Da.10 M code (JUMP condition data No.)
JUMP condition data No.
No. of LOOP to
LEND repetitions
: Always set : Set as required (Read "" when not required.) : Setting not possible : Setting not required.
(This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no problem.) : Two control systems are available: the absolute (ABS) system and incremental (INC) system.
5 - 12
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Checking the positioning data The items Da.1 to Da.10 are checked at the following timings:
(1) Startup of a positioning operation (2) Error check performed by GX Configurator-QP
5 - 13
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
5 - 14
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.1.6 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.
High-level positioning control
Block start data
Block start (Normal start)
Condition start Wait start Simultaneous
start
Repeated start
(FOR loop)
Repeated start (FOR
condition)
Da.11 Shape (end/continue)
Da.12 Start data No.
Da.13 Special start instruction
Da.14 Parameter
: Set as required ("" when not set) : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
Checking the block start data Da.11 to Da.14 are checked with the following timing.
(1) When the "Block start data" starts (2) When an error check is carried out with GX Configurator-QP
5 - 15
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.1.7 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 5.5 "List of condition data" for details on each setting item.
Major positioning control High-level positioning control Control
Condition data
Other than JUMP
instruction
JUMP instruction
Block start (Normal start )
Condition start Wait start
Simul- taneous
start
Repeated start (FOR loop)
Repeated start (FOR
condition)
Da.15 Condition target
Da.16 Condition operator
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2 : Set as required ("" when not set) : Setting limited : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)
Checking the condition data Da.15 to Da.19 are checked with the following timing.
(1) When the " Block start data" starts (2) When "JUMP instruction" starts (3) When an error check is carried out with GX Configurator-QP
5 - 16
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.1.8 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 QD75MH configuration and operation history (through the system monitor data Md.1 through Md.19 , Md.50 )
Axis operation monitoring:
Monitoring of the current position and speed, and other data related to the movements of axes (through the axis monitor data Md.20 through Md.48 )
The axis monitor data are refreshed every 1.7ms. Note that " Md.21 Machine feed value", " Md.22 Feedrate", " Md.28 Axis feedrate " and "Md.30 External input/ output signal " are refreshed every 56.8ms. Also, " Md.23 Valid M code", is updated when the "M code ON signal [X4, X5, X6, X7]" turns ON.
[1] Monitoring the system
Monitoring the positioning system operation history
Monitoring details Corresponding item
Whether the system is in the test mode or not Md.1 In test mode flag
Start information Md.3 Start information
Start No. Md.4 Start No.
Hour Md.5 Start (Hour)
Start Minute:second Md.6
Start (Minute:second)
Error upon starting Md.7 Error judgment
History of data that started an operation
Latest pointer No. Md.8 Start history pointer
Axis in which the error occurred Md.9 Axis in which the error occurred
Axis error No. Md.10 Axis error No.
Hour Md.11 Axis error occurrence (Hour)
Axis error occurrence Minute:second Md.12
Axis error occurrence (Minute:second)
History of all errors
Latest pointer No. Md.13 Error history pointer
Axis in which the warning occurred Md.14 Axis in which the warning occurred
Axis warning No. Md.15 Axis warning No.
Hour Md.16 Axis warning occurrence (Hour) Axis warning
occurrence Minute:second Md.17 Axis warning occurrence (Minute:second)
History of all warnings
Latest pointer No. Md.18 Warning history pointer
5 - 17
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Monitoring details Corresponding item
Number of write accesses to the flash ROM after the power is switched ON
Number of write accesses to flash ROM Md.19 No. of write accesses to flash ROM
Forced stop input signal turn ON/OFF
Forced stop input signal (EMI) information Md.50 Forced stop input
[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 Corresponding item
During independent axis control Indicates the speed of each axis
When "0: Composite speed" is set for " Pr.20
Interpolation speed designation method"
Indicates the composite speed
During interpola- tion control
When "1: Reference axis speed" is set for " Pr.20 Interpolatio n speed designation method"
Indicates the reference axis speed
Md.22 Feedrate Monitor the
current speed
Constantly indicates the speed of each axis Md.28 Axis feedrate
Monitor the current target speed Md.33 Target speed
5 - 18
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.
Monitor the external input/output signal and flag Md.30
Md.31
External input/output signal
Status
Monitor the valid M codes Md.25 Valid M code
Monitor whether the speed is being limited Md.39 In speed control flag
Monitor whether the speed is being changed Md.40 In speed change processing flag
Monitor the "start data" point currently being executed Md.43 Start data pointer being executed
Monitor the "positioning data No." currently being executed Md.44 Positioning data No. being executed
Monitor the remaining No. of repetitions (special start) Md.41 Special start repetition counter
Monitor the remaining No. of repetitions (control system) Md.42 Control system repetition counter
Monitor the block No. Md.45 Block No. being executed
Monitor the current torque limit value Md.35 Torque limit stored value
Monitor the "instruction code" of the special start data when using special start
Md.36 Special start data instruction code setting value
Monitor the "instruction parameter" of the special start data when using special start
Md.37 Special start data instruction parameter setting value
Monitor the "start data No." of the special start data when using special start
Md.38 Start positioning data No. setting value
Monitor the "positioning data No." executed last Md.46 Last executed positioning data No.
Monitor the positioning data currently being executed Md.47 Positioning data being executed
Monitor the movement amount after the current position control switching when using "speed-position switching control (INC mode)".
Md.29 Speed-position switching control positioning amount
Monitor switching from the constant speed status or acceleration status to the deceleration status during position control whose operation pattern is "Positioning complete"
Md.48 Deceleration start flag
5 - 19
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
5 - 20
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.1.9 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 PLC program.) Controls are performed over system data or machine operation.
Controlling the system data :
Setting and resetting QD75MH setting data (through the system control data Cd.1 , Cd.2 )
Controlling the operation :
Setting operation parameters, changing speed during operation, interrupting or restarting operation (through the axis control data Cd.3 to Cd.42 , Cd.100 to Cd.108 )
[1] Controlling the system data
Setting and resetting the setting data Control details Controlled data item
Write setting data from buffer memory to flash ROM. Cd.1 Flash ROM write request
Reset (initialize) parameters. Cd.2 Parameter initialization request
5 - 21
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
[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. for executing block start. Cd.4 Positioning starting point No.
Stop continuous control. Cd.18 Interrupt request during continuous operation
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.)
Cd.32 Simultaneous starting axis start data No. (axis 3 start data No.)
Set start data Nos. for axes that start up simultaneously.
Cd.33 Simultaneous starting axis start data No. (axis 4 start data No.)
Specify write destination for teaching results. Cd.38 Teaching data selection
Specify data to be taught. Cd.39 Teaching positioning data No.
Controlling operation per step
Control details Corresponding item
Stop positioning operation after each operation. Cd.35 Step valid flag
Set unit to carry out step. Cd.34 Step mode
Issue instruction to continuous operation or restart from stopped step.
Cd.36 Step start information
Controlling the speed
Control details Corresponding item
Set new speed when changing speed during operation. Cd.14 New speed value
Issue instruction to change speed in operation to Cd.14 value. (Only during positioning operation and JOG operation).
Cd.15 Speed change request
Change positioning operation speed between 1 and 300% range. Cd.13 Positioning operation speed override
Set inching movement amount. Cd.16 Inching movement amount
Set JOG speed. Cd.17 JOG speed
When changing acceleration time during speed change, set new acceleration time.
Cd.10 New acceleration time value
When changing deceleration time during speed change, set new deceleration time.
Cd.11 New deceleration time value
Set acceleration/deceleration time validity during speed change. Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection
5 - 22
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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 device. Cd.24 Speed-position switching enable flag
Change movement amount for position control during speed- position switching control (INC mode).
Cd.23 Speed-position switching control movement amount change register
Validate external position-speed switching signal. Cd.26 Position-speed switching enable flag
Change speed for speed control during position-speed switching control.
Cd.25 Position-speed switching control speed change register
Set up a flag when target position is changed during positioning. Cd.29 Target position change request flag
Set new positioning address when changing target position during positioning.
Cd.27 Target position change value(new address)
Set new speed when changing target position during positioning. Cd.28 Target position change value(new speed)
Set absolute (ABS) moving direction in degrees. Cd.40 ABS direction in degrees
Set manual pulse generator operation validity. Cd.21 Manual pulse generator enable flag
Set scale per pulse of No. of input pulses from manual pulse generator.
Cd.20 Manual pulse generator 1 pulse input magnification
Change OPR request flag from "ON to OFF". Cd.19 OPR request flag OFF request
Validate external command signal. Cd.8 External command valid
Change Md.35 Torque limit stored value. Cd.22 New torque value
Set whether " Md.48 Deceleration start flag" is valid or invalid Cd.41 Deceleration start flag valid Set the stop command processing for deceleration stop function
(deceleration curve re-processing/deceleration curve continuation)
Cd.42 Stop command processing for deceleration stop selection
Turn Servo ON/OFF command ON by the buffer memory ON. Cd.100 Servo OFF command Set torque limit value Cd.101 Torque output setting Set whether gain changing is execution or not. Cd.108 Gain changing command
5 - 23
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
5 - 24
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.2 List of parameters
5.2.1 Basic parameters 1
Setting value, setting range Setting value buffer memory address Item
Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4 0 : mm 0 1 : inch 1 2 : degree 2
Pr.1 Unit setting
3 : PLS 3
3 0 150 300 450
Pr.2
No. of pulses per rotation (AP) (Unit : PLS)
1 to 200000000 1 to 200000000 20000 2 3
152 153
302 303
452 453
Pr.3
Movement amount per rotation (AL)
The setting value range differs according to the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
[Table 1] on right page
20000 4 5
154 155
304 305
454 455
1 : 1 times 1 10 : 10 times 10
100 : 100 times 100
M ov
em en
t a m
ou nt
p er
p ul
se
Pr.4
Unit magnification (AM) 1000 : 1000 times 1000
1 1 151 301 451
Pr.7 Bias speed at start Not used 0 6
7 156 157
306 307
456 457
Pr.1 Unit setting
Set the unit used for defining positioning operations. Choose from the following units depending on the type of the control target: mm, inch, degree, or PLS. Different units can be defined for different axes (axis 1 to 4). (Example) Different units (mm, inch, degree, and PLS) are applicable to different
systems: mm or inch .... X-Y table, conveyor (Select mm or inch depending on the
machine specifications.) degree ........... Rotating body (360 degrees/rotation) PLS................ X-Y table, conveyor
When you change the unit, note that the values of other parameters and data will not be changed automatically. After changing the unit, check if the parameter and data values are within the allowable range. Set "degree" to exercise speed-position switching control (ABS mode).
5 - 25
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Pr.2 to Pr.4 Electronic gear Mechanical system value used when the QD75MH performs positioning control. The settings are made using Pr.2 to Pr.4 . The electronic gear is expressed by the following equation.
No. of pulses per rotation (AP) Electronic gear =
Movement amount per rotation (AL) Unit magnification (AM)
When positioning has been performed, an error (mechanical system error) may be produced between the specified movement amount and the actual movement amount. (Refer to Section 12.3.2 "Electronic gear function".)
Pr.2 No. of pulses per rotation (AP) Set the number of pulses required for a complete rotation of the motor shaft. If you are using the Mitsubishi servo amplifier MR-J3-B set the value given as the "resolution per servomotor rotation" in the speed/position detector specifications.
No. of pulses per rotation (AP) = Resolution per servomotor rotation
[Table 1]
Pr.1 setting value Value set with peripheral device (unit)
Value set with PLC program (unit) 1
0 : mm 0.1 to 2000000.0 (m) 1 to 200000000 (10-1m)
1 : inch 0.00001 to 2000.00000 (inch) 1 to 200000000 (10-5inch)
2 : degree 0.00001 to 2000.00000 (degree) 1 to 200000000 (10-5degree)
3 : PLS 1 to 200000000 (PLS) 1 to 200000000 (PLS)
Pr.3 Movement amount per rotation (AL), Pr.4 Unit magnification (AM)
The amount how the workpiece moves with one motor rotation is determined by the mechanical structure. If the worm gear lead (m/rev) is PB and the deceleration rate is 1/n, then Movement amount per rotation (AL) = PB 1/n
5 - 26
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
However, the maximum value that can be set for this "movement amount per rotation (AL)" parameter is 20000000.0m (20m). 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. If the "PB
1/n" value exceeds 20000000.0m (20m), adjust with the unit magnification so that the "movement amount per rotation (AL) " does not exceed 20000000.0m (20m).
1: Refer to the section 12.3.2 Electric gear function information about electric
gear.
Pr.7 Bias speed at start
Do not set other than the default value "0".
5 - 27
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
5 - 28
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.2.2 Basic parameters 2
Setting value, setting range Setting value buffer memory address Item
Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Pr.8 Speed limit value
The setting range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
[Table 1] on right page
200000 10 11
160 161
310 311
460 461
Pr.9 Acceleration time 0
1 to 8388608 (ms) 1 to 8388608 (ms) 1000 12 13
162 163
312 313
462 463
Pr.10 Deceleration time 0
1 to 8388608 (ms) 1 to 8388608 (ms) 1000 14 15
164 165
314 315
464 465
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
[Table 1]
Pr.1 setting value Value set with peripheral device (unit) Value set with PLC 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 2000000.000 (degree/min) 1 1 to 2000000000 (10-3degree/min) 2 3 : PLS 1 to 50000000 (PLS/s) 1 to 50000000 (PLS/s)
1: The speed limit value setting range is 0.001 to 2000000.000[degree/min], but it will be decupled and become 0.01 to 20000000.00[degree/min] by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
2: The speed limit value setting range is 1 to 2000000000(10-3degree/min), but it will be decupled and become 1 to 2000000000 (10-2degree/min) by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
Pr.8 Speed limit value Set the maximum speed during positioning and OPR operations. The maximum speed during positioning control has to be limited in consideration of the drive unit and control target specifications. Take account of the following when determining the speed limit value:
1) Motor speed 2) Workpiece movement speed
Pr.9 Acceleration time 0, Pr.10 Deceleration time 0 " Pr.9 Acceleration time 0" specifies the time for the speed to increase from zero
to the speed limit value ( Pr.8 ).
" Pr.10 Deceleration time 0" specifies the time for the speed to decrease from the
speed limit value ( Pr.8 ) to zero.
Actual acceleration time
Actual deceleration time
Time
Velocity Speed limit value
Positioning speed
Acceleration time 0 Pr.9 Pr.10
Pr.8
Deceleration time 0
1) If the positioning speed is set lower than the parameter-defined speed limit value, the actual acceleration/deceleration time will be relatively short. Thus, set the maximum positioning speed equal to or only a little lower than the parameter-defined speed limit value.
2) These settings are valid for OPR, positioning and JOG operations. 3) When the positioning involves interpolation, the acceleration/deceleration time
defined for the reference axis is valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.2.3 Detailed parameters 1
Setting value, setting range Setting value buffer memory address Item
Value set with peripheral device Value set with PLC program
Default value Axis 1 Axis 2 Axis 3 Axis 4
Pr.11
Backlash compensation amount
The setting value range differs according to the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
[Table 1] on right page
0 17 167 317 467
Pr.12
Software stroke limit upper limit value
2147483647 18 19
168 169
318 319
468 469
Pr.13
Software stroke limit lower limit value
The setting value range differs according to the " Pr.1 Unit setting". Here, the value within the [Table 2] range is set.
[Table 2] on right page
2147483648 20 21
170 171
320 321
470 471
0 : Apply software stroke limit on current feed value 0 Pr.14
Software stroke limit selection
1 : Apply software stroke limit on machine feed value 1
0 22 172 322 472
0 : Software stroke limit valid during JOG operation, inching operation and manual pulse generator operation
0 Pr.15
Software stroke limit valid/invalid setting
1 : Software stroke limit invalid during JOG operation, inching operation and manual pulse generator operation
1
0 23 173 323 473
Pr.11 Backlash compensation amount The error that occurs due to backlash when moving the machine via gears can be compensated. When the backlash compensation amount is set, pulses equivalent to the compensation amount will be output each time the direction changes during positioning.
Workpiece (moving body)
Worm gear
Backlash (compensation amount)
Pr.44 OPR direction
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) " Pr.2 No. of pulses per rotation", " Pr.3 Movement amount per pulse" and " Pr.11 Backlash compensation amount" which satisfies the following (1) can be set up.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
( Pr.11 Backlash compensation amount) ( Pr.2 No. of pulses per rotation)
0 ( Pr.3 Movement amount per pulse)
( = A) 65535 (PLS) .(1)
An error (error code: 920) occurs when " Pr.2 No. of pulses per rotation", " Pr.3 Movement amount per pulse" and " Pr.11 Backlash compensation amount" setting range is 0 to 65535. (the calculation result of the following (1) ) A servo alarm (error code: 2032, 2035 etc.) may be made to occur by kinds of servo amplifier (servomotor), load inertia and the amount of command of a cycle time (QD75MH) is set so that the calculation result of the following (1) may satisfy " Pr.2 No. of pulses per rotation", " Pr.3 Movement amount per pulse" and " Pr.11 Backlash compensation amount" setting range is 65536 and lower 0.
(Maximum motor speed (r/min) ) 1.2 (Encoder resolution (PLS/r) ) 1.7 (ms) A 60(s) 1000 (ms)
(PLS) ....(2)
[Table 1]
Pr.1
setting value Value set with peripheral device
(unit) Value set with PLC program
(unit)
0 : mm 0 to 6553.5 (m) 0 to 65535 (10-1m)
1 : inch 0 to 0.65535 (inch) 0 to 65535 (10-5inch)
2 : degree 0 to 0.65535 (degree) 0 to 65535 (10-5degree)
3 : PLS 0 to 65535 (PLS) 0 to 65535 (PLS)
1 to 32767 : Set as a decimal 32768 to 65535 : Convert into hexadecimal and set
[Table 2]
Pr.1
setting value
Value set with peripheral device (unit)
Value set with PLC program (unit)
0 : mm -214748364.8 to 214748364.7 (m) -2147483648 to 2147483647 (10-1m)
1 : inch -21474.83648 to 21474.83647(inch) -2147483648 to 2147483647 (10-5inch)
2 : degree 0 to 359.99999 (degree) 0 to 35999999 (10-5degree)
3 : PLS -2147483648 to 2147483647(PLS) -2147483648 to 2147483647 (PLS)
Pr.12 Software stroke limit upper limit value Set the upper limit for the machine's movement range during positioning control.
Pr.13 Software stroke limit lower limit value Set the lower limit for the machine's movement range during positioning control.
Software stroke limit lower limit
Software stroke limit upper limit
OP (Machine movement range)
Emergency stop limit switch
Emergency stop limit switch
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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. To invalidate the software stroke limit, set the setting value to "upper limit value = lower limit value". (The setting value can be anything.) When the unit is "degree", the software stroke limit check is invalid during speed control (including speed-position switching control, position-speed switching control) or during manual control.
Pr.14 Software stroke limit selection Set whether to apply the software stroke limit on the "current feed value" or the "machine feed value". The software stroke limit will be validated according to the set value. To invalidate the software stroke limit, set the setting value to "current feed value".
Pr.15 Software stroke limit valid/invalid setting Set whether to validate the software stroke limit during JOG/Inching operation and manual pulse generator operation.
Setting value, setting range Setting value buffer memory address Item
Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Pr.16
Command in-position width
The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
[Table 1] on right page
100 24 25
174 175
324 325
474 475
Pr.17 Torque limit setting value
1 to 1000 (%) 1 to 1000 (%) 300 26 176 326 476
0 : WITH mode 0 Pr.18
M code ON signal output timing 1 : AFTER mode 1
0 27 177 327 477
Pr.16 Command in-position width
Set the remaining distance that turns the command in-position ON. The command in-position signal is used as a front-loading signal of the positioning complete signal. When positioning control is started, the "command in-position flag" (3rd flag from right) in " Md.31 Status" turns OFF, and the "command in-position flag" turns ON at the set position of the command in-position signal.
ON OFF
Pr.16 Command in-position width
Velocity
Position control start
Command in-position flag
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Pr.17 Torque limit setting value Set the maximum value of the torque generated by the servomotor as a percentage between 1 and 1000%.
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. (Refer to "12.4.2 Torque limit function".)
[Table 1]
Pr.1 setting value Value set with peripheral device
(unit) Value set with PLC program (unit)
0 : mm 0.1 to 214748364.7 (m) 1 to 2147483647 (101m)
1 : inch 0.00001 to 21474.83647 (inch) 1 to 2147483647 (105inch)
2 : degree 0.00001 to 21474.83647 (degree) 1 to 2147483647 (105degree)
3 : PLS 1 to 2147483647 (PLS) 1 to 2147483647 (PLS)
Pr.18 M code ON signal output timing This parameter sets the M code ON signal output timing. Choose either WITH mode or AFTER mode as the M code ON signal output timing.
WITH mode......... An M code is output and the M code ON signal is turned ON when a positioning operation starts.
m1 m2
01 (continuous) 00 (end)
Positioning start signal [Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
Positioning
M code ON signal [X4,X5,X6,X7]
M code OFF request [1504,1604,1704,1804] Cd.7
Operation patternDa.1
Valid M codeMd.25
: m1 and m2 indicate set M codes.
AFTER mode ...... An M code is output and the M code ON signal is turned ON when a positioning operation completes.
: m1 and m2 indicate set M codes.
m1 m2
01 (continuous) 00 (end)
Positioning complete signal [X14,X15,X16,X17]
BUSY signal [XC,XD,XE,XF]
Positioning
M code ON signal [X4,X5,X6,X7]
M code OFF request [1504,1604,1704,1804] Cd.7
Operation patternDa.1
Valid M codeMd.25
Note: If AFTER mode is used with speed control, an M code will not be output and the M code ON signal will not be turned ON.
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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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value, setting range Setting value buffer memory
address Item Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 : Standard speed switching mode 0 Pr.19
Speed switching mode 1 : Front-loading speed switching mode 1
0 28 178 328 478
0 : Composite speed 0 Pr.20
Interpolation speed designation method 1 : Reference axis speed 1
0 29 179 329 479
0 : Do not update current feed value 0
1 : Update current feed value 1 Pr.21
Current feed value during speed control
2 : Clear current feed value to zero 2
0 30 180 330 480
b0 Lower limit b1 Upper limit b2 Not used b3 Stop signal
b4
External command/ switching signal
b5 Not used
b6 Near-point dog signal
b7 Not used
b8 Manual pulse generator input
Pr.22
Input signal logic selection
b9 to b15
Not used
0: Negative logic
1: Positive logic
b0123456789101112131415
Always "0" is set to the part not used.
0 31 181 331 481
0: External input signal of QD75MH 0 Pr.80 External input signal selection
1: External input signal of servo amplifier 1
0 32 182 332 482
0: A-phase/B-phase multiplied by 4 0 1: A-phase/B-phase multiplied by 2 1 2: A-phase/B-phase multiplied by 1 2
Pr.24
Manual pulse generator input selection 3: PLS/SIGN 3
0 33
0: Speed-position switching control (INC mode) 0 Pr.81
Speed-position function selection 2: Speed-position switching control
(ABS mode) 2 0 34 184 334 484
0: Valid 0 Pr.82 Forced stop valid/invalid selection 1: Invalid 1
0 35
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.
t
n n+1
Switch the speed when executing the next positioning data
Velocity
n: Positioning data No.
The next positioning data starts positioning at the designated speed
t
n n+1
Velocity
Pr.20 Interpolation speed designation method
When carrying out linear interpolation/circular interpolation, set whether to designate the composite speed or reference axis speed. 0: Composite speed .................. The movement speed for the control target is
designated, and the speed for each axis is calculated by the QD75MH.
1: Reference axis speed ........... The axis speed set for the reference axis is designated, and the speed for the other axis carrying out interpolation is calculated by the QD75MH.
X axis
Y axis
Designate composite speed
Calculated by QD75MH
Designate speed for reference axis
X axis
Y axis
Calculated by QD75MH
Note: Always specify the reference axis speed if the 4-axis linear interpolation or 2 to 4 axis speed control has to be performed. If you specify the composite speed for a positioning operation that involves the 4-axis linear interpolation or 2 to 4 axis speed control, the error code 523 "interpolation mode error" will be output when the positioning operation is attempted. For a positioning operation that involves the circular interpolation, specify the composite speed always.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.)
1: The update of the current feed value is enabled The current feed value will be updated. (The current feed value will change from the initial.)
2: The current feed value is cleared to zero The current feed will be set initially to zero and change from zero while the speed control is in effect.
Note1: When the speed control is performed over two to four axes, the choice between enabling and disabling the update of " Md.20 Current feed value" depends on how the reference axis is set.
Note2: Set "1" to exercise speed-position switching control (ABS mode).
Pr.22 Input signal logic selection Set the input signal logic that matches the signaling specification of the connected external device. Negative logic
(1) When the input signal contact is not flowed with the current. (a) FLS, RLS ON (Limit signal turn ON) (b) DOG, STOP, CHG OFF (2) When the input signal contact is flowed with the current. (a) FLS, RLS OFF (Limit signal turn OFF) (b) DOG, STOP, CHG ON
Positive logic Opposite the concept of negative logic.
Note1: A mismatch in the signal logic will disable normal operation. Be careful of
this when you change from the default value. Note2: Set the manual pulse generator input logic selection (b8) to axis 1. (Setting
of any of axes 2 to 4 is invalid.) Note3: The lower limit switch logic selection (b0), the upper limit switch logic
selection (b1), and the near-point dog signal logic selection (b3) become valid when the external input signal of QD75MH/servo amplifier is set to the " Pr.80 External signal selection".
Pr.80 External input signal selection Set whether to use the external input signal (Upper/lower limit switches, Near-point dog) for the QD75MH side or servo amplifier side. 0: External input signal of QD75MH 1: External input signal of servo amplifier Note1: When external input signal of the servo amplifier is used, the "Count
method 1) or 2)" OPR method can not be used as a near-point dog signal. ("Illegal near-point dog signal error" (error code: 220) occurs when the positioning starts.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Pr.24 Manual pulse generator input selection Set the manual pulse generator input pulse mode. (Only the value specified against the axis 1 is valid.)
0: A-phase/B-phase; multiplied by 4 1: A-phase/B-phase; multiplied by 2 2: A-phase/B-phase; multiplied by 1 3: PLS/SIGN
Pr.81 Speed-position function selection Select the mode of speed-position switching control. 0: INC mode 2: ABS mode
Note1: If the setting is other than 0 and 2, operation is performed in the INC mode with the setting regarded as 0.
Pr.82 Forced stop valid/invalid selection Set the forced stop valid/invalid. (Only the value specified against the axis 1 is valid.) All axis of the servo amplifier are made to batch forced stop when the forced stop input signal is turned on. But "Servo READY signal OFF during operation" (error code: 102) does not occur even if the forced input signal is turned on the during operation.
0: Valid (Forced stop is used) 1: Invalid (Forced stop is not used)
Note1: If the setting is other than 0 and 1, "Forced stop valid/invalid setting error" (error code: 937) occurs.
Note2: The " Md.50 Forced stop input" is stored "1" by setting "Forced stop valid/invalid selection" to invalid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.2.4 Detailed parameters 2
Setting value, setting range Setting value buffer memory address Item
Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Pr.25 Acceleration time 1 36 37
186 187
336 337
486 487
Pr.26 Acceleration time 2 38 39
188 189
338 339
488 489
Pr.27 Acceleration time 3 40 41
190 191
340 341
490 491
Pr.28 Deceleration time 1 42 43
192 193
342 343
492 493
Pr.29 Deceleration time 2 44 45
194 195
344 345
494 495
Pr.30 Deceleration time 3
1 to 8388608 (ms) 1 to 8388608 (ms) 1000
46 47
196 197
346 347
496 497
Pr.31
JOG speed limit value
The setting range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
[Table 1] on right page
20000 48 49
198 199
348 349
498 499
0: Pr.9 Acceleration time 0 0
1: Pr.25 Acceleration time 1 1
2: Pr.26 Acceleration time 2 2
Pr.32
JOG operation acceleration time selection
3: Pr.27 Acceleration time 3 3
0 50 200 350 500
0: Pr.10 Deceleration time 0 0
1: Pr.28 Deceleration time 1 1
2: Pr.29 Deceleration time 2 2
Pr.33
JOG operation deceleration time selection
3: Pr.30 Deceleration time 3 3
0 51 201 351 501
Pr.25 Acceleration time 1 to Pr.27 Acceleration time 3 These parameters set the time for the speed to increase from zero to the speed limit value ( Pr.8 ) during a positioning operation.
Pr.28 Deceleration time 1 to Pr.30 Deceleration time 3 These parameters set the time for the speed to decrease from the speed limit value ( Pr.8 ) to zero during a positioning operation.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
[Table 1]
Pr.1 setting value Value set with peripheral device
(unit) Value set with PLC 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 2000000.000 (degree/min) 2
1 to 2000000000 (10-3degree/min) 3
3 : PLS 1 to 50000000 (PLS/s) 1 to 50000000 (PLS/s) 1: For Select type, refer to GX Configurator-QP Operating Manual. 2: The JOG speed limit value setting range is 0.001 to 2000000.000[degree/min], but it will be
decupled and become 0.01 to 20000000.00[degree/min] by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
3: The JOG speed limit value setting range is 1 to 2000000000(10-3degree/min), but it will be decupled and become 1 to 2000000000 (10-2degree/min) by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
Pr.31 JOG speed limit value
Set the maximum speed for JOG operation. Note) Set the "JOG speed limit value" to less than " Pr.8 Speed limit value".
If the "speed limit value" is exceeded, the "JOG speed limit value error" (error code: 956) will occur.
Pr.32 JOG operation acceleration time selection
Set which of "acceleration time 0 to 3" to use for the acceleration time during JOG operation. 0 : Use value set in " Pr.9 Acceleration time 0".
1 : Use value set in " Pr.25 Acceleration time 1".
2 : Use value set in " Pr.26 Acceleration time 2".
3 : Use value set in " Pr.27 Acceleration time 3".
Pr.33 JOG operation deceleration time selection
Set which of "deceleration time 0 to 3" to use for the deceleration time during JOG operation. 0 : Use value set in " Pr.10 Deceleration time 0".
1 : Use value set in " Pr.28 Deceleration time 1".
2 : Use value set in " Pr.29 Deceleration time 2".
3 : Use value set in " Pr.30 Deceleration time 3".
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value, setting range Setting value buffer memory
address Item Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4 0 : Automatic trapezoid acceleration/deceleration process 0 Pr.34
Acceleration/deceleration process selection
1 : S-pattern acceleration/deceleration process 1
0 52 202 352 502
Pr.35
S-pattern ratio 1 to 100 (%) 1 to 100 (%) 100 53 203 353 503
Pr.36
Sudden stop deceleration time
1 to 8388608 (ms) 1 to 8388608 (ms) 1000 54 55
204 205
354 355
504 505
Pr.37
Stop group 1 sudden stop selection
56 206 356 506 0 : Normal deceleration stop 0
Pr.38
Stop group 2 sudden stop selection
57 207 357 507
Pr.39
Stop group 3 sudden stop selection
1 : Sudden stop 1
0
58 208 358 508
Pr.34 Acceleration/deceleration process selection
Set whether to use automatic trapezoid acceleration/deceleration or S-pattern acceleration/deceleration for the acceleration/deceleration process. Note) Refer to Section 12.7.7 "Acceleration/deceleration process function" for details.
Velocity
Time
The acceleration and deceleration are linear.
The acceleration and deceleration follow a Sin curve.
Velocity
Time
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.
A B
B/2 B/2
V
t
V
t
b/a = 0.7b a
sin curve
S-pattern ratio = B/A 100%
(Example)
Positioning speed
Positioning speed
When S-pattern ratio is 100%
When S-pattern ratio is 70%
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.
When positioning is started, the acceleration starts following the "acceleration time".
1) Positioning start 2) Sudden stop cause occurrence When a "sudden stop cause" occurs, the deceleration starts following the "sudden stop deceleration time".
3) Positioning stop When a "sudden stop cause" does not occur, the decelera- tion starts toward the stop position following the "decel- eration time".
Actual accel- eration time
Actual sudden stop deceleration time
Acceleration time
Actual decel- eration time
Deceleration time
Speed limit value
Pr.8
Command speed
Da.8
Pr.36 Sudden stop deceleration time
Acceleration time 0Pr.9
Acceleration time 1Pr.25
Acceleration time 2Pr.26
Acceleration time 3Pr.27
Deceleration time 0Pr.10
Deceleration time 1Pr.28
Deceleration time 2Pr.29
Deceleration time 3Pr.30
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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 .............. Error occurrence of the PLC CPU, PLC READY signal
[Y0] OFF, Fault in test mode Stop group 3 .............. External stop signal
Stop signal from PLC CPU Stop signal from peripheral device Error occurrence (excludes errors in stop groups 1 and 2: includes only the software stroke limit errors during JOG operation, speed control, speed-position switching control, and position-speed switching control) Stop made when the near-point dog signal turns from OFF to ON in counter method machine OPR
The methods of stopping include "0: Normal deceleration stop" and "1: Sudden stop". If "1: Sudden stop" is selected, the axis will suddenly decelerate to a stop when the stop signal is input.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value, setting range Setting value buffer memory
address Item Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Pr.40
Positioning complete signal output time
0 to 65535 (ms)
0 to 65535 (ms) 0 to 32767 :
Set as a decimal 32768 to 65535:
Convert into hexadecimal and set
300 59 209 359 509
Pr.41
Allowable circular interpolation error width
The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
[Table 1] on right page
100 60 61
210 211
360 361
510 511
0: External positioning start 0 1: External speed change
request 1
2: Speed-position, position- speed switching request 2
Pr.42
External command function selection
3: Skip request 3
0 62 212 362 512
Pr.83
Speed control 10 x multiplier setting for degree axis [Table 2] on right page
0 63 213 363 513
Pr.84 Restart allowable range when servo OFF to ON
0, 1 to 327680 [PLS] 0: restart not allowed 0 64
65 214 215
364 365
514 515
Pr.40 Positioning complete signal output time
Set the output time of the positioning complete signal [X14, X15, X16, X17] output from the QD75MH. A positioning completes when the specified dwell time has passed after the QD75MH had terminated the output.
M
QD75MH
[Y10, Y11, Y12, Y13]
PLC
PLC CPU Positining Start signal
Positioning complete signal
[X14, X15, X16, X17]
Positioning
Positioning start signal
Start complete signal
BUSY signal
Positioning complete signal
Positioning complete signal (after dwell time has passed)
Output time
[Y10, Y11,Y12,Y13]
[X10, X11, X12, X13]
[XC, XD, XE, XF]
[X14, X15, X16, X17]
Positioning complete signal output time
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
[Table 1]
Pr.1 setting value Value set with peripheral device
(unit) Value set with PLC program
(unit)
0 : mm 0 to 10000.0 (m) 0 to 100000 (10-1m)
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 : PLS 0 to 100000 (PLS) 0 to 100000 (PLS)
Pr.41 Allowable circular interpolation error width
With the "allowable circular interpolation error width", the allowable error range of the calculated arc path and end point address is set. If the error of the calculated arc path and end point address is within the set range, circular interpolation will be carried out to the set end point address while compensating the error with spiral interpolation. The allowable circular interpolation error width is set in the following axis buffer memory addresses. If axis 1 is the reference axis, set in the axis 1 buffer memory address
[60, 61]. If axis 2 is the reference axis, set in the axis 2 buffer memory address
[210, 211]. If axis 3 is the reference axis, set in the axis 3 buffer memory address
[360, 361]. If axis 4 is the reference axis, set in the axis 4 buffer memory address
[510, 511].
Path with spiral interpolation Error
End point address with calculation End point address
Start point address Center point address
With circular interpolation control using the center point designation, the arc path calculated with the start point address and center point address and the end point address may deviate.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.14 Speed change value"
2: Speed-position, position-speed switching request The external command signal input is used to switch from the speed control to the position control while in the speed-position switching control mode, or from the position control to the speed control while in the position-speed switching control mode. To enable the speed-position switching control, set the " Cd.24 Speed-position switching enable flag" to "1". To enable the position-speed switching control, set the " Cd.26 Position-speed switching enable flag" to "1".
3: Skip request The external command signal input is used skip the current positioning operation.
POINT
To enable the external command signal, set the " Cd.8 External command enable"
to "1".
Pr.83 Speed control 10 x multiplier setting for degree axis Set the speed control 10 x multiplier setting for degree axis when you use command speed and speed limit value set by the positioning data and the parameter at " Pr.1 Unit setting" setup degree by ten times at the speed.
0: Invalid 1: Valid
Normally, the speed specification range is 0.001 to 2000000.000[degree/min], but it will be decupled and become 0.01 to 20000000.00[degree/min] by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
Note) The speed control 10 x multiplier setting for degree axis is included in
detailed parameters 2, but it will be valid at the rising edge (OFF to ON) of the PLC READY signal (Y0).
1: Refer to the section 12.7.11 Speed control 10 x multiplier setting for degree
axis function about speed control 10 x multiplier setting for degree axis.
[Table 2]
Pr.83 setting value Value set with peripheral device (unit) Value set with PLC program (unit)
0 : Invalid 0.001 to 2000000.000 (degree/min) 0 to 2000000000 (10-5degree)
1 : Valid 0.01 to 20000000.00 (degree/min) 0 to 2000000000 (10-4degree)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Pr.84 Restart allowable range when servo OFF to ON (1) What is the restart function when servo OFF to ON ?
The QD75MH restart function when servo OFF changes to ON, performs continuous positioning operation (positioning start, restart) when the servo is switched from OFF to ON in the stopped state (including servo emergency stop). Restart when servo OFF changes to ON can be performed when the difference between the last command position for the QD75MH when it stopped and the present value when servo OFF changed to ON, is less than the value set in the buffer memory for the restart allowable range setting.
(a) Servo emergency stop processing
1) For stop caused by a servo emergency stop signal, positioning operation is judged as stopped and can be restarted if the difference between the last command position for the QD75MH when the servo stop signal turned ON and present value at the time the servo stop signal turned OFF is lower than the value set in the buffer memory for the restart allowable range setting.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
2) When the difference between the last command position of the
QD75MH at the time the servo stop signal turned ON and the present value at the time the servo stop signal turned OFF is greater than the value set in the buffer memory for the restart allowable range setting, the positioning operation is judged as on-standby and cannot be restarted.
ON
OFF
Operation Error Servo OFF Stopping/Waitting
Last command position Servo ON Restart invalid Restart valid
Axis status
Servo emergency stop signal
(b) Processing when the servo ON signal changes from OFF to ON. 1) The positioning operation is stopped and restart can be performed
when the difference between the last command position of the QD75MH when the servo ON signal went from OFF to ON is lower than the value set in the buffer memory for restart allowable range setting.
2) When the difference between the last command position of the QD75MH at the time the servo ON signal when from ON to OFF and the present value at the time the servo ON signal went from OFF to ON is greater than the value set in the buffer memory for the restart allowable range setting, the positioning operation is judged as on- standby and cannot be restarted.
Axis status
Servo emergency stop signal
StoppingPositioning Servo OFFStopping/Waiting
Stop command
Servo OFF Waitting
Restart invalid Restart validServo ON
ON OFF
Servo ON Restart invalid
(2) Setting method When performing restart at the time servo OFF changes to ON, set the restart
allowable range in the following buffer memory. Setting value buffer memory
address
Axis 1 Axis 2 Axis 3 Axis 4 Item Setting range Default value
64 65
214 215
364 365
514 515
Pr.84 Restart allowable range setting when servo OFF changes to ON
0, 1 to 327680 (PLS) 0: restart not allowed 0
[Setting example] A program in which the restart allowable range for axis 1 is set to 10000 PLS is shown below.
DMOVP K10000 D0
DTOP H0 K64 D0 K1
Restart allowable range (10000 PLS) is stored in D0, D1.
Data for D0, D1 is stored in buffer memory 64, 65 of the QD75MH.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
(3) Precautionary notes
(a) The difference between the last command position when the servo turned OFF and the present value when the servo turned ON, is output at the first operation of restart. If the restart allowable range is large at this time, an overload may occur on the servo side. Set the "restart allowable range when servo OFF changes to ON" to a value where the mechanical system will not be affected by a signal output.
(b) The restart servo OFF changes to ON is valid only for the first time servo
OFF changes to ON. From the second time servo OFF changes to ON, the setting for restart allowable range when servo OFF changes to ON is disregarded.
(c) Execute servo OFF when the mechanical system is in complete stop
state. The restart when servo OFF changes to ON cannot be applied to a system in which the mechanical system operated by external pressure or other force while the servo is OFF.
(d) Restart can only be executed while the operating status of the axis is
"stop". Restart cannot be executed when the operation status of the axis is other than "stop".
(e) Do not restart while a stop command is ON.
If restart is executed while stopped, an error (error code 106: Started during stop command ON) is generated, and the operating status of the axis becomes "ERR". Therefore, restart cannot be performed even if the error is reset.
(f) Restart can also be executed while the positioning starts signal is ON.
However do not set the positioning start signal from OFF to ON while stopped. If the positioning start signal switches ON from OFF, positioning is performed from the positioning data number set in the buffer memory at 1500 or from the positioning data number of the specified point.
(g) If positioning is terminated by a continuous-operation interrupt request,
restart cannot be performed. If a restart request is made, a warning (warring code 104: Restart disabled) is generated.
[Operation at the time an emergency stop is input] [Operation when a restart is performed]
Emergency stop input (Last command position)
Stop position at the time of servo OFF
Movement while servo is OFF
Restart operation
Last command position
Output once at the time of restart
(Present value time of servo ON) Stop position at time of servo OFF
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.2.5 OPR basic parameters
Setting value, setting range Setting value buffer memory address Item
Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4 0 : Near-point dog method 0 4 : Count method 1) 4 5 : Count method 2) 5
Pr.43
OPR method 6 : Data set method 6
0 70 220 370 520
Pr.43 OPR method
Set the "OPR method" for carrying out machine OPR. 0 : Near-point dog method ........ After decelerating at the near-point dog ON, stop
at the zero signal and complete the machine OPR.
4 : Count method 1) .................. After decelerating at the near-point dog ON, move the designated distance, and complete the machine OPR with the zero signal.
5 : Count method 2) .................. After decelerating at the near-point dog ON, move the designated distance, and complete the machine OPR.
6 : Data set method................... The position where the machine OPR has been made will be the OP.
Note) Refer to Section 8.2.2 "Machine OPR method" for details on the OPR methods.
OPR method
0 : Near-point dog method
(1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the
" Pr.44 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " Pr.47 Creep speed", and move with the creep speed. (At this time, the near-point dog must be ON. If the near- point dog is OFF, the axis will decelerate to a stop.)
(4) At the first zero signal after the near-point dog turned OFF, machine OPR is completed. Note) After the home position return (OPR) has been
started, the zero point of the encoder must be passed at least once before point A is reached. However, if selecting "1: It is not necessary to pass through the Z phase after the power on." with " Pr.180 Function selection C-4", it is possible to carried out the home position return (OPR).
A t
V
ON (1)
(2)
(3) (4)
Near-point dog OFF
Zero signal
Pr.47 Creep speed
OPR speedPr.46
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
4 : Count method 1)
(1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the
" Pr.44 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(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.50 Setting for the movement amount after near-point dog ON" has passed, the QD75MH stops with the first zero signal, and the machine OPR is completed.
Note) After the home position return (OPR) has been started, the zero point of the encoder must be passed at least once before point A is reached. However, if selecting "1: It is not necessary to pass through the Z phase after the power on." with " Pr.180 Function selection C-4", it is possible to carried out the home position return (OPR).
A t
V
ON
(4)(3)
(2)
(1)
Near-point dog OFF
Zero signal
OPR speedPr.46
Pr.47 Creep speed
Pr.50 Setting for the movement amount after near-poing dog ON
First zero signal after moving the movement amount after near- point dog ON
Movement amount after near-point dog ON
Md.34
The near-point dog must turn OFF at a sufficient distance away from the OP position.
5 : Count method 2)
(1) Start machine OPR. (Start movement at the " Pr.46 OPR speed" in the
" Pr.44 OPR direction".)
(2) Detect the near-point dog ON, and start deceleration.
(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.50 Setting for the movement amount after near-point dog ON" has passed, machine OPR is completed.
t
V
ON
(1)
(2)
(3)
(4)
Near-point dog OFF
Movement amount after near-point dog ON
Md.34
OPR speedPr.46
Pr.47 Creep speed
Pr.50 Setting for the movement amount after near-poing dog ON
6 : Data set method
The position where the machine OPR has been made will be the OP. (Perform after the servo amplifier has been turned ON and the servomotor has been rotated at least once using the JOG or similar operation. However, if selecting "1: It is not necessary to pass through the Z phase after the power on." with " Pr.180 Function selection C-4", it is possible to carried out the home position return (OPR).)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value, setting range Setting value buffer memory
address Item Value set with peripheral device Value set with PLC
program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 : Positive direction (address increment direction) 0 Pr.44
OPR direction 1 : Negative direction (address
decrement direction) 1 0 71 221 371 521
Pr.45
OP address
The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
[Table 1] on right page
0 72 73
222 223
372 373
522 523
Pr.46
OPR speed
The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 2] range is set.
[Table 2] on right page
1 74 75
224 225
374 375
524 525
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.
Address decrement direction
Lower limit
OP
Upper limit
Address increment direction
1)
2)
Address decrement direction
Lower limit
OP
Upper limit
Address increment direction
When the OP is set at the upper limit side, the OPR direction is in the direction of arrow 2). Set "0" for .Pr.44
When the zero point is set at the lower limit side, the OPR direction is in the direction of arrow 1). Set "1" for .Pr.44
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
[Table 1]
Pr.1 setting value Value set with peripheral device
(unit) Value set with PLC program
(unit)
0 : mm -214748364.8 to 214748364.7 (m) -2147483648 to 2147483647 (10-1m)
1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 (10-5inch)
2 : degree 0 to 359.99999 (degree) 0 to 35999999 (10-5degree)
3 : PLS -2147483648 to 2147483647 (PLS) -2147483648 to 2147483647 (PLS)
[Table 2]
Pr.1 setting value Value set with peripheral device
(unit) Value set with PLC 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 2000000.000 (degree/min) 1
1 to 2000000000 (10-3degree/min) 2
3 : PLS 1 to 50000000 (PLS/s) 1 to 50000000 (PLS/s) 1: The OPR speed setting range is 0.001 to 2000000.000[degree/min], but it will be decupled and
become 0.01 to 20000000.00[degree/min] by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
2: The OPR speed setting range is 1 to 2000000000(10-3degree/min), but it will be decupled and become 1 to 2000000000 (10-2degree/min) by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
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". If the "speed
limit value" is exceeded, the "OPR speed" will be limited by " Pr.8 Speed limit value". The "OPR speed" should be equal to or faster than the " Pr.7 Bias speed
at start" and " Pr.47 Creep speed".
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value, setting range Setting value buffer memory
address Item Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Pr.47
Creep speed
The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
1 76 77
226 227
376 377
526 527
0 : Do not retry OPR with limit switch 0 Pr.48
OPR retry 1 : Retry OPR with limit switch 1
0 78 228 378 528
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)
ON
V
Machine OPR start
Near-point dog signal OFF
Zero signal
OPR speedPr.46
Creep speedPr.47
[Table 1]
Pr.1 setting value Value set with peripheral device
(unit) Value set with PLC 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 2000000.000 (degree/min) 1
1 to 2000000000 (10-3degree/min) 2
3 : PLS 1 to 50000000 (PLS/s) 1 to 50000000 (PLS/s) 1: The creep speed setting range is 0.001 to 2000000.000[degree/min], but it will be decupled and
become 0.01 to 20000000.00[degree/min] by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
2: The creep speed setting range is 1 to 2000000000(10-3degree/min), but it will be decupled and become 1 to 2000000000 (10-2degree/min) by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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 the OPR direction (3)). If the following edge of the near-point dog signal is detected during movement in the opposite direction, the axis will decelerate to a stop (4)), and then will carry out machine OPR again (5), 6)).
ON
Start position
Near-point dog signal
Limit switch OFF state
Zero signal
5)
4)
6)
1) 2)
3)
[Operation for OPR retry function] 1) Movement in the OPR direction starts with the machine OPR start. 2) The axis decelerates when the limit switch is detected. 3) After stopping at detection the limit signal OFF, the axis moves at the OPR speed in the
direction opposite to the specified OPR direction. 4) The axis decelerates when the near-point dog signal turns OFF. 5), 6) After stopping with the near-point dog signal OFF, carries out OPR in the OPR
direction.
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5.2.6 OPR detailed parameters
Setting value, setting range Setting value buffer memory address Item
Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Pr.50
Setting for the movement amount after near-point dog ON
The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
[Table 1] on right page
0 80 81
230 231
380 381
530 531
0 : Pr.9 Acceleration time 0 0
1 : Pr.25 Acceleration time 1 1
2 : Pr.26 Acceleration time 2 2
Pr.51
OPR acceleration time selection
3 : Pr.27 Acceleration time 3 3
0 82 232 382 532
0 : Pr.10 Deceleration time 0 0
1 : Pr.28 Deceleration time 1 1
2 : Pr.29 Deceleration time 2 2
Pr.52
OPR deceleration time selection
3 : Pr.30 Deceleration time 3 3
0 83 233 383 533
Pr.50 Setting for the movement amount after near-point dog ON
When using the count method 1) or 2), set the movement amount to the OP after the near-point dog signal turns ON. (The movement amount after near-point dog ON should be equal to or greater than the sum of the "distance covered by the deceleration from the OPR speed to the creep speed" and "distance of movement in 10 ms at the OPR speed".)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
[Table 1]
Pr.1 setting value Value set with peripheral device
(unit) Value set with PLC program
(unit)
0 : mm 0 to 214748364.7 (m) 0 to 2147483647 (10-1m)
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 : PLS 0 to 2147483647 (PLS) 0 to 2147483647 (PLS)
Deceleration time: Tb=300 ms
Creep speed: Vc=1 kPLS/s
Actual deceleration time:t = Tb tVz Vp
Pr.47
Speed limit value: Vp=200 kPLS/sPr.8
OPR speed: Vz=10 kPLS/s
Pr.46
[OPR operation]
Example of setting for " Pr. 50 Setting for the movement amount after near-point dog ON"
Assuming that the " Pr. 8 Speed limit value" is set to 200 kPLS/s, " Pr. 46 OPR speed" to 10 kPLS/s, " Pr. 47 Creep speed" to 1 kPLS/s, and deceleration time to 300 ms, the minimum value of " Pr. 50 Setting for the Movement amount after near-point dog ON" is calculated as follows:
[Deceleration distance] = 1 2
Vz 1000 t + 0.01 Vz
Movement amount for 10ms at OPR speed.
= Tb Vz
Vp + 0.01 Vz Vz
2000
= 300 10 10
200 10 10 10 2000
3 3
3 + 0.01 10 10
3
= 75 + 100 = 175
Setting for the movement amount after nearpoint dog ON ( Pr. 50 ) should be equal to or larger than 175.
Pr.51 OPR acceleration time selection
Set which of "acceleration time 0 to 3" to use for the acceleration time during OPR. 0 : Use the value set in " Pr.9 Acceleration time 0".
1 : Use the value set in " Pr.25 Acceleration time 1".
2 : Use the value set in " Pr.26 Acceleration time 2".
3 : Use the value set in " Pr.27 Acceleration time 3".
Pr.52 OPR deceleration time selection
Set which of "deceleration time 0 to 3" to use for the deceleration time during OPR. 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".
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value, setting range Setting value buffer memory
address Item Value set with peripheral
device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Pr.53
OP shift amount
The setting value range differs depending on the " Pr.1 Unit setting". Here, the value within the [Table 1] range is set.
[Table 1] on right page
0 84 85
234 235
384 385
534 535
Pr.54
OPR torque limit value 1 to 1000 (%) 1 to 1000 (%) 300 86 236 386 536
0 : Positioning control is not executed. 0 Pr.55
Operation setting for incompletion of OPR
1 : Positioning control is
executed. 1 0 87 237 387 537
0 : OPR speed 0 Pr.56
Speed designation during OP shift 1 : Creep speed 1
0 88 238 388 538
Pr.57
Dwell time during OPR retry
0 to 65535 (ms)
0 to 65535 (ms) 0 to 32767 :
Set as a decimal 32768 to 65535 :
Convert into hexadecimal and set
0 89 239 389 539
Pr.53 OP shift amount
Set the amount to shift (move) from the position stopped at with machine OPR.
The OP shift function is used to compensate the OP position stopped at with machine OPR. If there is a physical limit to the OP position, due to the relation of the near-point dog installation position, use this function to compensate the OP to an optimum position.
OPR direction
When " OP shift amount" is positive
Shift point
Shift point
When " OP shift amount" is negative
Start point
Near-point dog signal
Zero signal
Pr.53
Pr.53
Pr.44
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
[Table 1]
Pr.1 setting value Value set with peripheral device
(unit) Value set with PLC program
(unit)
0 : mm -214748364.8 to 214748364.7 (m) -2147483648 to 2147483647 (10-1m)
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 : PLS -2147483648 to 2147483647 (PLS) -2147483648 to 2147483647 (PLS)
Pr.54 OPR torque limit value
Set the value to limit the servomotor torque after reaching the creep speed during machine OPR. Refer to Section 12.4.2 "Torque limit function" for details on the torque limits.
Pr.55 Operation setting for incompletion of OPR Set whether the positioning control is executed or not (When the OPR request flag is ON.). 0: Positioning control is not executed. 1: Positioning control is executed.
(1) When OPR request flag is ON, selecting "0: Positioning control is not
executed" will result in an "Operation starting at incompletion of OPR" error (error code: 547), and positioning control will not be performed. At this time, operation with the manual control (JOG operation, inching operation, manual pulse generator operation) is available.
(2) The following shows whether the positioning control is possible to start/restart
or not. (a) Start possible
Machine OPR, JOG operation, inching operation, manual pulse generator operation, current value changing using current value changing start No. (9003).
(b) Start/restart impossible control
The positioning control is impossible to start/restart in the following case. 1-axis linear control, 2/3/4-axis linear interpolation control, 1/2/3/4-axis fixed-feed control, 2-axis circular interpolation control with sub point designation, 2-axis circular interpolation control with center point designation, 1/2/3/4-axis speed control, Speed-position switching control (INC mode/ ABS mode), Position-speed switching control, current value changing using current value changing (No.1 to 600).
(3) When OPR request flag is ON, starting Fast OPR will result in an Home
positioning return (OPR) request flag ON error (error code: 207) despite the setting value of Operation setting incompletion of OPR, and Fast OPR will not be executed.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Pr.56 Speed designation during OP shift
Set the operation speed for when a value other than "0" is set for " Pr.53 OP shift amount". Select the setting from " Pr.46 OPR speed" or " Pr.47 Creep speed".
0 : Designate " Pr.46 OPR speed" as the setting value.
1 : Designate " Pr.47 Creep speed" as the setting value.
Pr.57 Dwell time during OPR retry
When OPR retry is validated (when "1" is set for Pr.48 ), set the stop time after decelerating in 2) and 4) in the following drawing.
Start position
Temporarily stop for the time set in Pr. 57
Temporarily stop for the time set in Pr. 571) 2)
3)
4)
5)
6)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.2.7 Servo parameters (Basic setting)
Do not set other than the buffer memory addresses of the servo parameters in this section.
Item 2 Setting details
Setting value
Pr.100 Servo series
Used to select the servo amplifier series, which is connected to the QD75MH.
POINT Be sure to set up servo series. Communication with servo amplifier isn't started by the initial value "0" in default value. (The LED indication of servo amplifier indicates "Ab".)
0: Servo series is not set 1: MR-J3-B
00: Not used For MR-J3-10B, regenerative brake resistor is not used. For MR-J3-20B or more, built- in regenerative brake resistor is used.
01: FR-BU FR-RC 02: MR-RB032 03: MR-RB12 04: MR-RB32 05: MR-RB30 06: MR-RB50 08: MR-RB31
Pr.102 (PA02)
3 Regenerative brake option Used to select the regenerative brake option.
09: MR-RB51
Pr.103 (PA03)
3
Absolute position detection system
Used to select the absolute position detection system. When used to the incremental: "0: invalid" When used to the absolute position detection system: "1: valid"
POINT When absolute position detection selection invalid is selected with incremental encoder, a parameter error occurs.
0: Invalid (Incremental system used)
1: Valid (Absolute system used)
Pr.104 (PA04)
3 Function selection A-1
Used to select the forced stop (EM1) of the servo amplifier.
0: Valid (Use the forced stop (EM1). )
1: Invalid (Do not use the forced stop (EM1). )
Used to select the gain adjustment. Automatically set parameters. Item Parameters
0: Interpolation mode Pr.124 , Pr.126 , Pr.127 , Pr.128
1: Auto tuning mode 1 Pr.124 , Pr.125 , Pr.126 , Pr.127 , Pr.128
2: Auto tuning mode 2 Pr.125 , Pr.126 , Pr.127 , Pr.128
3: Manual mode
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Pr.108 (PA08)
Auto tuning mode
0: Interpolation mode 1: Auto tuning mode 1 2: Auto tuning mode 2 3: Manual mode
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 to 1 0 30100 30300 30500 30700
Regenerative brake option selection
0 H
1: is used to set up the setting value. (Hexadecimal)
0
0000H 30102 30302 30502 30702
0 to 1 0 30103 30303 30503 30703
Forced stop selection
0 H
1: is used to set up the setting value. (Hexadecimal)
0000H 30104 30304 30504 30704
0 to 3 1H 30108 30308 30508 30708
2: The PA corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
1 : Low response (10.0Hz) 2 : (11.3Hz) 3 : (12.7Hz) 4 : (14.3Hz) 5 : (16.1Hz) 6 : (18.1Hz) 7 : (20.4Hz) 8 : (23.0Hz) 9 : (25.9Hz) 10 : (29.2Hz) 11 : (32.9Hz) 12 : (37.0Hz) 13 : (41.7Hz) 14 : (47.0Hz) 15 :
(52.9Hz)
16 : Middle response
(59.6Hz)
17 : (67.1Hz) 18 : (75.6Hz) 19 : (85.2Hz) 20 : (95.9Hz) 21 : (108.0Hz) 22 : (121.7Hz) 23 : (137.1Hz) 24 : (154.4Hz) 25 : (173.9Hz) 26 : (195.9Hz) 27 : (220.6Hz) 28 : (248.5Hz) 29 : (279.9Hz) 30 : (315.3Hz) 31 :
(355.1Hz)
Pr.109 (PA09)
Auto tuning response
Used to set the response of auto tuning. (When " Pr.108 Auto tuning mode" is valid) Optimum response can be selected according to the rigidity of the machine. As machine rigidity is higher, faster response can be set to improve tracking performance in response to a command and to reduce setting time.
32 : High response (400.0Hz)
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Pr.110 (PA10)
In-position range Used to set the output range of positioning complete in command pulse unit.
0 to 50000[PLS]
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
1 to 32 12 30109 30309 30509 30709
0 to 50000 100 30110 30310 30510 30710
2: The PA corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
0: Forward rotation (CCW) with the increase of the positioning address.
Pr.114 (PA14)
3 Rotation direction selection Used to set the rotation direction of the servomotor.
1: Reverse rotation (CW) with the increase of the positioning address.
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Pr.115 (PA15)
3 Encoder output pulses
Used to set the encoder pulses (A-phase, B-phase) output by the servo amplifier. Set the value 4 times greater than the A-phase or B- phase pulses. You can use " Pr.166 Encoder output pulses selection" to choose "0: Output pulse designation" or "1: Division ratio setting". The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses. The maximum output frequency is 4.6[Mpps] (after multiplication by 4). Use this parameter within this range.
1 to 65535[PLS/rev]
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 to 1 0 30114 30314 30514 30714
1 to 65535 4000 30115 30315 30515 30715
2: The PA corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.2.8 Servo parameters (Gain filter setting)
Do not set other than the buffer memory addresses of the servo parameters in this section.
Item 2 Setting details
Setting value
Pr.119 (PB01)
Adaptive tuning mode (Adaptive filter )
Used to set the adaptive filter tuning of the servo amplifier.
Setting this parameter to "1: Filter tuning mode 1" automatically changes " Pr.131 Machine resonance suppression filter 1" and " Pr.132 Notch form selection 1".
When this parameter is set to "1: Filter tuning mode 1", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to "2: Manual mode".
When this parameter is set to "0: Filter OFF", the initial values are set to " Pr.131 Machine resonance suppression filter 1" and " Pr.132 Notch form selection 1". However, this does not occur when the servo OFF.
0: Filter OFF 1: Filter tuning mode (Adaptive
filter) 2: Manual mode
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Pr.120 (PB02)
Vibration suppression control filter tuning mode (advanced vibration suppression control)
Used to set the vibration suppression control filter tuning mode of the servo amplifier.
Setting this parameter to "1: Vibration suppression control tuning mode" automatically changes " Pr.137 Vibration suppression control vibration frequency setting" and changes " Pr.138 Vibration suppression control resonance frequency setting" after positioning is done the predetermined number of times.
When this parameter is set to "1: Vibration suppression control tuning mode", the tuning is completed after positioning is done the predetermined number or times for the predetermined period of time, and the setting changes to "2: Manual mode".
When this parameter is set to "0: Vibration suppression control OFF", the initial values are set to " Pr.137 Vibration suppression control vibration frequency setting" and " Pr.138 Vibration suppression control resonance frequency setting".
0: Vibration suppression control OFF
1: Vibration suppression control tuning mode
2: Manual mode
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 to 2 0 30119 30319 30519 30719
0 to 2 0 30120 30320 30520 30720
2: The PB corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
Pr.122 (PB04)
3
Feed forward gain
Used to set the feed forward gain of the positioning control. When the setting is 100[%], the droop pulses during operation at constant speed are nearly zero. However, sudden acceleration/deceleration will increase the overshoot. (As a guideline, when the feed forward gain setting is 100[%], set 1[s] or more as the acceleration/deceleration time constant up to the rated speed).
0 to 100[%]
Pr.124 (PB06)
Ratio of load inertia moment to servomotor inertia moment
Used to set the ratio of the load inertia moment to the servomotor shaft inertia moment.
When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is automatically used. When " Pr.108 Auto tuning mode" is set to "2: Auto tuning mode 2" or "3: Manual mode", this parameter can be set manually.
0 to 300[Times]
Pr.125 (PB07)
Model loop gain
Set the response gain up to the target position. Increase the gain to improve trackability in response
to the position command. When auto turning mode 1 2 is selected, the result
of auto turning is automatically used. When " Pr.108 Auto tuning mode" is set to "1: Auto tuning mode 1" or "3: Manual mode", this parameter can be set manually.
1 to 2000[rad/s]
Pr.126 (PB08)
Position loop gain
Used to set the gain of the position loop. Set this parameter to increase the position response
to level load disturbance. Higher setting increases the response level but is liable to generate vibration and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the result of auto tuning is automatically used. When " Pr.108 Auto tuning mode" is set to "3: Manual mode", this parameter can be set manually.
1 to 1000
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Pr.127 (PB09)
Speed loop gain
Used to set the speed loop gain. Higher setting increases the response level but is liable to generate vibration and/or noise.
When auto tuning mode 1 2, manual mode and interpolation mode is selected, the result of auto tuning is automatically used. When " Pr.108 Auto tuning mode" is set to "3: Manual mode", this parameter can be set manually.
20 to 50000
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 to 100 0 30122 30322 30522 30722
0 to 3000 70 30124 30324 30524 30724
1 to 2000 24 30125 30325 30525 30725
1 to 1000 37 30126 30326 30526 30726
20 to 50000 823 30127 30327 30527 30727
2: The PB corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
Pr.128 (PB10)
Speed integral compensation
Used to set the integral time constant of the speed loop.
Higher setting increases the response level but is liable to generate vibration and/or noise.
When auto tuning mode 1 2 and interpolation mode is selected, the result of auto tuning is automatically used. When " Pr.108 Auto tuning mode" is set to "3: Manual mode", this parameter can be set manually.
0.1 to 1000.0[ms]
Pr.129 (PB11)
Speed differential compensation
Used to set the differential compensation. When "PI-PID control selection" setting is "PID
control is always valid", the setting of this parameter is valid.
0 to 1000
Pr.131 (PB13)
Machine resonance suppression filter 1
Used to set the notch frequency of the machine resonance suppression filter 1.
Setting " Pr.119 Adaptive tuning mode" to "1: Filter tuning mode" automatically changes this parameter.
When " Pr.119 Adaptive tuning mode" setting is "0: Filter OFF", the setting of this parameter is ignored.
100 to 4500[Hz]
Pr.132 (PB14)
Notch form selection 1
Used to selection the machine resonance suppression filter 1.
Setting " Pr.119 Adaptive tuning mode" to "1: Filter tuning mode" automatically changes this parameter.
When " Pr.119 Adaptive tuning mode" setting is "0: Filter OFF", the setting of this parameter is invalid.
Notch depth selection 0: Deep (-40db) 1: (-14db) 2: (-8db) 3: Shallow (-4db) Notch width selection 0: Standard (=2) 1: (=3) 2: (=4) 3: Wide (=5)
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Pr.133 (PB15)
Machine resonance suppression filter 2
Set the notch frequency of the machine resonance suppression filter 2.
When " Pr.134 Notch form selection 2" setting is "0: Invalid", the setting of this parameter is invlid.
100 to 4500[Hz]
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
1 to 10000 337 30128 30328 30528 30728
0 to 1000 980 30129 30329 30529 30729
100 to 4500 4500 30131 30331 30531 30731
0
1: is used to set up the setting value. (Hexadecimal)
Notch depth selection Notch width selection
H0
0000H 30132 30332 30532 30732
100 to 4500 4500 30133 30333 30533 30733
2: The PB corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
Pr.134 (PB16)
Notch form selection 2 Use to selection the machine resonance
suppression filter 2.
Machine resonance suppression filter 2 selection 0: Invalid 1: Valid Notch depth selection 0: Deep (-40db) 1: (-14db) 2: (-8db) 3: Shallow (-4db) Notch width selection 0: Standard (=2) 1: (=3) 2: (=4) 3: Wide (=5)
Pr.136 (PB18)
Low-pass filter
Use to set the low pass filter. Setting " Pr.141 Low-pass filter selection" to "0:
Automatic selection" automatically changes this parameter.
When " Pr.141 Low-pass filter selection" is set to "1: Manual selection", this parameter can be set manually.
100 to 18000[rad/s]
Pr.137 (PB19)
Vibration suppression control vibration frequency setting
Set the vibration frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration.
Setting " Pr.120 Vibration suppression control filter tuning mode" to "1: Vibration suppression control tuning mode" automatically changes this parameter.
When " Pr.120 Vibration suppression control filter tuning mode" is set to "2: Manual mode", this parameter can be set manually.
When " Pr.120 Vibration suppression control filter tuning mode" setting is "0: Vibration suppression OFF", the setting parameter is invalid.
0.1 to 100.0[Hz]
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Pr.138 (PB20)
Vibration suppression control resonance frequency setting
Set the resonance frequency for vibration suppression control to suppress low-frequency machine vibration, such as enclosure vibration.
Setting " Pr.120 Vibration suppression control filter tuning mode" to "1: Vibration suppression control tuning mode" automatically changes this parameter.
When " Pr.120 Vibration suppression control filter tuning mode" is set to "2: Manual mode", this parameter can be set manually.
When " Pr.120 Vibration suppression control filter tuning mode" setting is "0: Vibration suppression OFF", the setting parameter is invalid.
0.1 to 100.0[Hz]
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0
1: is used to set up the setting value. (Hexadecimal)
Machine resonance suppression filter 2
Notch depth selection Notch width selection
H
0000H 30134 30334 30534 30734
100 to 18000 3141 30136 30336 30536 30736
1 to 1000 1000 30137 30337 30537 30737
1 to 1000 1000 30138 30338 30538 30738
2: The PB corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
Pr.141 (PB23)
Low-pass filter selection Select the low pass filter. 0: Automatic selection
1: Manual selection (" Pr.136 Low-pass filter" setting value)
Pr.142 (PB24)
3
Slight vibration suppression control selection
Select the slight vibration suppression control and PI-PID change.
When " Pr.108 Auto tuning mode" is set to "3: Manual mode", this parameter is made valid.
Slight vibration suppression control selection 0: Invalid
1: Valid PI-PID control selection 0: PI control is valid 3: PID control is always valid
Pr.144 (PB26)
3 Gain changing selection Select the gain changing condition.
Gain changing selection 0: invalid 1: "Cd.108 Gain changing
command" (setting value) is valid.
2: Command frequency (" Pr.145 Gain changing condition" setting value)
3: Droop pulse value (" Pr.145 Gain changing condition" setting value)
4: Servomotor speed (" Pr.145 Gain changing condition" setting value)
Gain changing condition 0: Valid at more than condition
(When "Cd.108 Gain changing command" setting is "1", the setting of this parameter is valid.)
1: Valid at less than condition (When "Cd.108 Gain changing command" setting is "0", the setting of this parameter is valid.)
Pr.145 (PB27)
Gain changing condition
Used to set the value of gain changing condition (command frequency, droop pulses, servomotor speed) selected in " Pr.144 Gain changing selection ". The set value unit changes with the changing condition item.
0 to 9999[Kpps, PLS, r/min]
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Pr.146 (PB28)
Gain changing time constant
Used to set the time constant at which the gains will change in response to the conditions set in " Pr.144 Gain changing selection " and " Pr.145 Gain changing condition".
0 to 100[ms]
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Low pass filter selection
0 0
1: is used to set up the setting value. (Hexadecimal)
H0
0000H 30141 30341 30541 30741
Slight vibration suppression control selection
0
PI-PID control switch over selection
1: is used to set up the setting value. (Hexadecimal)
H
0000H 30142 30342 30542 30742
Gain changing selection
0
Gain changing condition
1: is used to set up the setting value. (Hexadecimal)
H
0000H 30144 30344 30544 30744
0 to 9999 10 30145 30345 30545 30745
0 to 100 1 30146 30346 30546 30746
2: The PB corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
Pr.147 (PB29)
Gain changing ratio of load inertia moment to servomotor inertia moment
Used to set the ratio of load inertia moment to servo motor inertia moment when gain changing is valid.
This parameter is made valid when the auto tuning is invalid (" Pr.108 Auto tuning mode" : 3).
0.0 to 300.0[Times]
Pr.148 (PB30)
Gain changing position loop gain
Set the position loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (" Pr.108 Auto tuning mode" : 3).
1 to 2000[rad/s]
Pr.149 (PB31)
Gain changing speed loop gain
Set the speed loop gain when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (" Pr.108 Auto tuning mode" : 3).
20 to 50000[rad/s]
Pr.150 (PB32)
Gain changing speed integral compensation
Set the speed integral compensation when the gain changing is valid.
This parameter is made valid when the auto tuning is invalid (" Pr.108 Auto tuning mode" : 3).
0.1 to 5000.0[ms]
Pr.151 (PB33)
Gain changing vibration suppression control vibration frequency setting
Set the vibration frequency for vibration suppression control when the gain changing is valid.
This parameter is made valid when " Pr.120 Vibration suppression control filter tuning mode" setting is "2: Manual mode" and " Pr.144 Gain changing selection " setting is "1: "Cd.108 Gain changing command" (setting value) is valid".
Note): When using the vibration suppression control gain changing, always execute the changing after the servomotor has stopped.
0.1 to 100.0[Hz]
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Pr.152 (PB34)
Gain changing vibration suppression control resonance frequency setting
Set the resonance frequency for vibration suppression control when the gain changing is valid.
This parameter is made valid when " Pr.120 Vibration suppression control filter tuning mode" setting is "2: Manual mode" and " Pr.144 Gain changing selection " setting is "1: "Cd.108 Gain changing command" (setting value) is valid".
Note): When using the vibration suppression control gain changing, always execute the changing after the servomotor has stopped.
0.1 to 100.0[Hz]
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 to 3000 70 30147 30347 30547 30747
1 to 2000 37 30148 30348 30548 30748
20 to 50000 823 30149 30349 30549 30749
1 to 50000 337 30150 30350 30550 30750
1 to 1000 1000 30151 30351 30551 30751
1 to 1000 1000 30152 30352 30552 30752
2: The PB corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.2.9 Servo parameters (Expansion setting)
Do not set other than the buffer memory addresses of the servo parameters in this section.
Item 2 Setting details
Setting value
Pr.164 (PC01)
3 Error excessive alarm level
Set error excessive alarm level with rotation amount of servomotor.
1 to 200[rev]
Pr.165 (PC02)
Electromagnetic brake sequence output
Used to set the delay time between electronic brake interlock (MBR) and the base drive circuit is shut-off.
0 to 1000[ms]
Pr.166 (PC03)
Encoder output pulses selection
Use to select the, encoder output pulse direction and encoder pulse output setting.
Encoder pulse output phase selection 0: CCW progress to A phases 90 1: CW progress to A phases 90
Encoder output pulse setting selection 0: Output pulse designation
1: Division ratio setting
Pr.167 (PC04)
3 Function selection C-1
Select the encoder cable communication system selection. The following encoder cables are four-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H
0: Two-wire type
1: Four-wire type
Pr.168 (PC05)
3 Function selection C-2 Motor-less operation select.
0: Valid
1: Invalid
Pr.170 (PC07)
Zero speed
Used to set the output range of the zero speed (ZSP).
Zero speed signal detection has hysterics width of 20[r/min].
0 to 10000[r/min]
0: Servomotor speed ( 8V/max. speed)
1: Torque ( 8V/max. torque) (Note-2)
2: Servomotor speed ( + 8V/max. speed)
3: Torque ( + 8V/max. torque) (Note-2)
4: Current command ( 8V/max. current command)
5: Speed command ( 8V/max. speed)
Ex pa
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Pr.172 (PC09)
Analog monitor output 1
Used to set the output signal from analog monitor output 1 of the servo amplifier. (Note-1): Encoder pulse unit. (Note-2): 8V is outputted at the maximum torque. (Note-3): It can be used by absolute position
detection system.
6: Droop pulses ( 10V/1 x 102[PLS]) (Note-1)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
1 to 200 3 30164 30364 30564 30764
0 to 1000 0 30165 30365 30565 30765
Encoder output pulse phases selection
0
Encoder output pulse setting selection
1: is used to set up the setting value. (Hexadecimal)
H
0000H 30166 30366 30566 30766
Encoder cable communication system selection
0
1: is used to set up the setting value. (Hexadecimal)
H0
0000H 30167 30367 30567 30767
0 to 1 0 30168 30368 30568 30768
0 to 10000 50 30170 30370 30570 30770
0 to D 0H 30172 30372 30572 30772
2: The PC corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
7: Droop pulses ( 10V/1 x 103[PLS]) (Note-1)
8: Droop pulses ( 10V/1 x 104[PLS]) (Note-1)
9: Droop pulses ( 10V/1 x 105[PLS]) (Note-1)
A: Feedback position ( 10V/1 x 106[PLS]) (Note-1) (Note-3)
B: Feedback position ( 10V/1 x 107[PLS]) (Note-1)
(Note-3)
C: Feedback position ( 10V/1 x 108[PLS]) (Note-1)
(Note-3)
Pr.172 (PC09)
Analog monitor output 1
Used to set the output signal from analog monitor output 1 of the servo amplifier. (Note-1): Encoder pulse unit. (Note-2): 8V is outputted at the maximum torque. (Note-3): It can be used by absolute position
detection system.
D: Bus voltage ( 8V/400[V])
0: Servomotor speed ( 8V/max. speed)
1: Torque ( 8V/max. torque) (Note-2)
2: Servomotor speed ( + 8V/max. speed)
3: Torque ( + 8V/max. torque) (Note-2)
4: Current command ( 8V/max. current command)
5: Speed command ( 8V/max. speed)
6: Droop pulses ( 10V/1 x 102[PLS]) (Note-1)
7: Droop pulses ( 10V/1 x 103[PLS]) (Note-1)
8: Droop pulses ( 10V/1 x 104[PLS]) (Note-1)
9: Droop pulses ( 10V/1 x 105[PLS]) (Note-1)
A: Feedback position ( 10V/1 x 106[PLS]) (Note-1) (Note-3)
Ex pa
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Pr.173 (PC10)
Analog monitor output 2
Used to set the output signal from analog monitor output 2 of the servo amplifier. (Note-1): Encoder pulse unit. (Note-2): 8V is outputted at the maximum torque. (Note-3): It can be used by absolute position
detection system.
B: Feedback position ( 10V/1 x 107[PLS]) (Note-1)
(Note-3)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 to D 0H 30172 30372 30572 30772
0 to D 1H 30173 30373 30573 30773
2: The PC corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
C: Feedback position ( 10V/1 x 108[PLS]) (Note-1),
(Note-3)
Pr.173 (PC10)
Analog monitor output 2
Used to set the output signal from analog monitor output 2 of the servo amplifier. (Note-1): Encoder pulse unit. (Note-2): 8V is outputted at the maximum torque. (Note-3): It can be used by absolute position
detection system.
D: Bus voltage ( 8V/400V)
Pr.174 (PC11)
Analog monitor 1 offset Used to set the offset voltage of the analog monitor 1 (MO1) output.
-999 to 999[mV]
Pr.175 (PC12)
Analog monitor 2 offset Used to set the offset voltage of the analog monitor 2 (MO2) output.
-999 to 999[mV] Ex pa
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Pr.180 (PC17)
3 Function selection C-4
Home position setting condition in the absolute position detection system can be selected.
Used to set this parameter for the absolute position encoder.
0: Need to pass motor Z phase after the power supply is switched on.
1: Not need to pass motor Z phase after the power supply is switched on.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 to D 1H 30173 30373 30573 30773
-999 to 999 0 30174 30374 30574 30774
-999 to 999 0 30175 30375 30575 30775
0 to 1 0 30180 30380 30580 30780
2: The PC corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.2.10 Servo parameters (Input/output setting)
Do not set other than the buffer memory addresses of the servo parameters in this section.
Item 2 Setting details
Setting value
00: Always OFF 01: Maker setting (Note-3) 02: RD (Servo ON) 03: ALM (Servo alarm) 04: INP (In-position) (Note-1) 05: MBR (Electromagnetic brake
interlock) 06: DB (Dynamic brake) 07: TLC (Limiting torque) 08: WNG (Servo warning) 09: BWNG (Battery warning) 0A: Always OFF (Note-2) 0B: Maker setting (Note-3) 0C: ZSP (Zero speed) 0D: Maker setting (Note-3) 0E: Maker setting (Note-3) 0F: CDPS (Variable gain
selection) 10: Maker setting (Note-3) 11: ABSV (Absolute position
erasing) (Note-1)
Pr.202 (PD07)
3
Output signal device selection 1(CN3-13)
Used to select the output signal (CN3-13 pin) of the servo amplifier. (Note-1): It becomes to always OFF in speed control
mode. (Note-2): It becomes SA (Speed reached) in speed
control mode. (Note-3): For maker setting do not changed this value
by any means.
12 to 1F, 20 to 3F: Maker setting (Note-3)
00: Always OFF 01: Maker setting (Note-3) 02: RD (Servo ON) 03: ALM (Servo alarm) 04: INP (In-position) (Note-1) 05: MBR (Electromagnetic brake
interlock) 06: DB (Dynamic brake) 07: TLC (Limiting torque) 08: WNG (Servo warning) 09: BWNG (Battery warning) 0A: Always OFF (Note-2) 0B: Maker setting (Note-3) 0C: ZSP (Zero speed) 0D: Maker setting (Note-3) 0E: Maker setting (Note-3)
In pu
t/o ut
pu t s
et tin
g
Pr.203 (PD08)
3
Output signal device selection 2(CN3-9)
Used to select the output signal (CN3-9 pin) of the servo amplifier. (Note-1): It becomes to always OFF in speed control
mode. (Note-2): It becomes SA (Speed reached) in speed
control mode. (Note-3): For maker setting do not changed this value
by any means.
0F: CDPS (Variable gain selection)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Output signal device selection 1
0 H
1: is used to set up the setting value. (Hexadecimal)
0
0005H 30202 30402 30602 30802
Output signal device selection 2
0 H
1: is used to set up the setting value. (Hexadecimal)
0
0004H 30203 30403 30603 30803
2: The PD corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Item 2 Setting details
Setting value
10: Maker setting (Note-3)
11: ABSV (Absolute position erasing) (Note-1)
Pr.203 (PD08)
3
Output signal device selection 2(CN3-9)
Used to select the output signal (CN3-9 pin) of the servo amplifier. (Note-1): It becomes to always OFF in speed control
mode. (Note-2): It becomes SA (Speed reached) in speed
control mode. (Note-3): For maker setting do not changed this value
by any means.
12 to 1F, 20 to 3F: Maker setting (Note-3)
00: Always OFF 01: Maker setting (Note-3) 02: RD (Servo ON) 03: ALM (Servo alarm) 04: INP (In-position) (Note-1) 05: MBR (Electromagnetic brake
interlock) 06: DB (Dynamic brake) 07: TLC (Limiting torque) 08: WNG (Servo warning) 09: BWNG (Battery warning) 0A: Always OFF (Note-2) 0B: Maker setting (Note-3) 0C: ZSP (Zero speed) 0D: Maker setting (Note-3) 0E: Maker setting (Note-3) 0F: CDPS (Variable gain
selection) 10: Maker setting (Note-3) 11: ABSV (Absolute position
erasing) (Note-1)
In pu
t/o ut
pu t s
et tin
g
Pr.204 (PD09)
3
Output signal device selection 3(CN3-15)
Used to select the output signal (CN3-15 pin) of the servo amplifier. (Note-1): It becomes to always OFF in speed control
mode. (Note-2): It becomes SA (Speed reached) in speed
control mode. (Note-3): For maker setting do not changed this value
by any means.
12 to 1F, 20 to 3F: Maker setting (Note-3)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting Value, setting range
Value set with peripheral device
Setting value buffer memory address
Servo amplifier setting invalid ( : Valid, : Invalid)
MR-J3-B
Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Output signal device selection 2
0 H
1: is used to set up the setting value. (Hexadecimal)
0
0004H 30203 30403 30603 30803
Output signal device selection 3
0 H
1: is used to set up the setting value. (Hexadecimal)
0
0003H 30204 30404 30604 30804
2: The PD corresponds with servo parameter No. of the servo amplifier. 3: Set the parameter value and switch power off once (The parameter is transferred to servo amplifier from QD75MH), then switch it
on again to make that parameter setting valid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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 QD75MH buffer memory has the following type of configuration.
u q Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u f [ @ 600
u q Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u f [ @ 599
u q Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u q Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F ^ C Da.8
MR [ h Da.9
2
Ax is
1
Positioning identifier Da.1 to Da.5
Positioning address/ movement amount
Da.6
Arc address Da.7
Command speed Da.8
Dwell time Da.9
M code Da.10
Positioning data No. 1
2000
2001
2002
2004 2005
2006 2007
2008 2009
2010
2011
2012
2014 2015
2016 2017
2018 2019
2020
2021
2022
2024 2025
2026 2027
2028 2029
7980
7981
7982
7984 7985
7986 7987
7988 7989
7990
7991
7992
7994 7995
7996 7997
7998 7999
u q Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u f [ @ 600
u q Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u f [ @ 599
u q Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u q Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C
MR [ h Da.9
Ax is
2
Positioning identifier Da.1 to Da.5
Arc address Da.7
Command speed Da.8
Dwell time Da.9
M code Da.10
8000
8001
8002
8004 8005
8006 8007
8008 8009
8010
8011
8012
8014 8015
8016 8017
8018 8019
8020
8021
8022
8024 8025
8026 8027
8028 8029
13980
13981
13982
13984 13985
13986 13987
13988 13989
13990
13991
13992
13994 13995
13996 13997
13998 13999
b15 b12 b0b4b8
Control system Da.1Da.2
Deceleration time No.
Da.3
Da.4
Operation pattern
Acceleration time No.
Configuration of positioning identifier
Up to 600 positioning data items can be set (stored) for each axis in the buffer memory address shown on the left. This data is controlled as positioning data No. 1 to 600 for each axis.
One positioning data item is configured of the items shown in the bold box.
Buffer memory
Da.5 Axis to be interpolated
3
2Positioning data No. 1 3
Positioning address/ movement amount
Da.6
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
u q
Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u q
Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u q
Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u q
Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C
MR [ h Da.9
Ax is
3
Positioning identifier
Da.1 to Da.5
Arc address Da.7
Command speed Da.8
Dwell time Da.9
M code Da.10
Positioning data No. 1
14000
14001
14002
14004 14005
14006 14007
14008 14009
14010
14011
14012
14014 14015
14016 14017
14018 14019
14020
14021
14022
14024 14025
14026 14027
14028 14029
19980
19981
19982
19984 19985
19986 19987
19988 19989
19990
19991
19992
19994 19995
19996 19997
19998 19999
Buffer memory address
2 3
600599
u q
Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u q
Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u q
Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C Da.8
MR [ h Da.9
u q
Da.1@ @ Da.4
P
u A h X Da.5
~ A h X Da.6
w x Da.7
h E F C
MR [ h Da.9
Positioning identifier
Da.1 to Da.5
Arc address Da.7
Command speed Da.8
Dwell time Da.9
M code Da.10
20000
20001
20002
20004 20005
20006 20007
20008 20009
20010
20011
20012
20014 20015
20016 20017
20018 20019
20020
20021
20022
20024 20025
20026 20027
20028 20029
25980
25981
25982
25984 25985
25986 25987
25988 25989
25990
25991
25992
25994 25995
25996 25997
25998 25999
Positioning data No. 1 2 3
600599
Ax is
4
Buffer memory address
Positioning address/ movement amount
Da.6
Positioning address/ movement amount
Da.6
The descriptions that follow relate to the positioning data set items Da.1 to Da.10 .
(The buffer memory addresses shown are those of the "positioning data No. 1" for the axes 1 to 4.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value Setting value buffer memory
address Item Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4 00: Positioning complete 00 01: Continuous positioning control 01
Da.1 Operation pattern 11: Continuous path control 11
ABS1 : 1-axis linear control (ABS) 01H INC1 : 1-axis linear control (INC) 02H FEED1 : 1-axis fixed-feed control 03H VF1 : 1-axis speed control (forward run) 04H VR1 : 1-axis speed control (reverse run) 05H VPF : Speed-position switching control (forward
run) 06H
VPR : Speed-position switching control (reverse run) 07H
PVF : Position-speed switching control (forward run) 08H
PVR : Position-speed switching control (reverse run) 09H
ABS2 : 2-axis linear interpolation control (ABS) 0AH INC2 : 2-axis linear interpolation control (INC) 0BH FEED2 : Fixed-feed control by 2-axis linear
interpolation 0CH
ABS
(
: Circular interpolation control with sub point specified (ABS) 0DH
INC
( : Circular interpolation control with sub point specified (INC) 0EH
ABS . : Circular interpolation control with center point specified (ABS, CW) 0FH
ABS . : Circular interpolation control with center point specified (ABS, CCW) 10H
INC . : Circular interpolation control with center point specified (INC, CW) 11H
INC . : Circular interpolation control with center point specified (INC, CCW) 12H
VF2 : 2-axis speed control (forward run) 13H VR2 : 2-axis speed control (reverse run) 14H ABS3 : 3-axis linear interpolation control (ABS) 15H INC3 : 3-axis linear interpolation control (INC) 16H FEED3 : Fixed-feed control by 3-axis linear
interpolation control 17H
VF3 : 3-axis speed control (forward run) 18H VR3 : 3-axis speed control (reverse run) 19H ABS4 : 4-axis linear interpolation control (ABS) 1AH INC4 : 4-axis linear interpolation control (INC) 1BH FEED4 : Fixed-feed control by 4-axis linear
interpolation control 1CH
VF4 : 4-axis speed control (forward run) 1DH VR4 : 4-axis speed control (reverse run) 1EH NOP : NOP instruction 80H POS : Current value changing 81H JUMP : JUMP instruction 82H LOOP : Declares the beginning of LOOP to LEND
section 83H
Da.2 Control system
LEND : Declares the end of LOOP to LEND section 84H
0: Pr.9 Acceleration time 0 00 1: Pr.25 Acceleration time 1 01 2: Pr.26 Acceleration time 2 10
Da.3 Acceleration time No.
3: Pr.27 Acceleration time 3 11 0: Pr.10 Deceleration time 0 00 1: Pr.28 Deceleration time 1 01 2: Pr.29 Deceleration time 2 10
Da.4 Deceleration time No.
3: Pr.30 Deceleration time 3 11 0: Axis1 00 1: Axis 2 01 2: Axis 3 10
Po si
tio ni
ng id
en tif
ie r
Da.5 Axis to be interpolated
3: Axis 4 11
Setting value
Control system
Operation pattern
Acceleration time
Deceleration time
H
b15 b12 b8 b4 b0
Convert into hexadecimal
Axis to be interpolated (in 2-axis interpolation only)
0000H 2000 8000 14000 20000
5 - 93
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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)
Positioning continued
Continuous positioning with one start signal Continuous positioning control
Continuous path positioning with speed change Continuous path control
......................................................................
.....
..........
1) Positioning complete..................... Set to execute positioning to the designated address, and then complete positioning.
2) Continuous positioning control ..... Positioning is carried out successively in order of data Nos. with one start signal. The operation halts at each position indicated by a positioning data.
3) Continuous path control................ Positioning is carried out successively in order of data Nos. with one start signal. The operation does not stop at each positioning data.
Da.2 Control system
Set the "control system" for carrying out positioning control. Note) When "JUMP instruction" is set for the control system, the " Da.9
Dwell time" and " Da.10 M code" setting details will differ.
In case you selected "LOOP" as the control system, the " Da.10
M code" should be set differently from other cases. Refer to Chapter 9 "Major positioning control" for details on the control
systems. If "degree" is set for " Pr.1 Unit setting", circular interpolation control
cannot be carried out. (The "Circular interpolation not possible error" will occur when executed (error code: 535).)
Da.3 Acceleration time No.
Set which of "acceleration time 0 to 3" to use for the acceleration time during positioning. 0 : Use the value set in " Pr.9 Acceleration time 0".
1 : Use the value set in " Pr.25 Acceleration time 1".
2 : Use the value set in " Pr.26 Acceleration time 2".
3 : Use the value set in " Pr.27 Acceleration time 3".
5 - 94
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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. 0 : Selects the axis 1 as the target axis (partner axis). 1 : Selects the axis 2 as the target axis (partner axis). 2 : Selects the axis 3 as the target axis (partner axis). 3 : Selects the axis 4 as the target axis (partner axis). Note) Do not specify the own axis number or any number except the above.
(If you do, the "Illegal interpolation description command error" will occur during the program execution (error code: 521).)
This item does not need to be set in case 3 or 4-axis interpolation is selected.
Setting value, setting range Setting value buffer memory address Item
Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Da.6
Positioning address/ movement amount
The setting value range differs according to the " Da.2 Control system". Here, the value within the following range of [Table 1] range is set.
[Table 1] on right page
0 2006 2007
8006 8007
14006 14007
20006 20007
Da.6 Positioning address/movement amount
Set the address to be used as the target value for positioning control. The setting value range differs according to the " Da.2 Control system". ((1) to (4))
(1) Absolute (ABS) system, current value changing
The setting value (positioning address) for the ABS system and current value changing is set with an absolute address (address from OP).
-1000 30001000
Stop position (positioning start address)
Movement amount : 2000
Movement amount : 2000
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
(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. When movement amount is positive: Moves in the positive direction (address increment direction) When movement amount is negative: Moves in the negative direction (address decrement direction)
Stop position (positioning start position)
(Movement amount) -30000
(Movement amount) 30000
Moves in negative direction
Moves in positive direction
[Table 1]
When " Pr.1 Unit Setting" is "mm" 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.)
Da.2 setting value Value set with peripheral device (m)
Value set with PLC program 1 (10-1m)
ABS Linear 1 : 01H ABS Linear 2 : 0AH ABS Linear 3 : 15H ABS Linear 4 : 1AH Current value changing : 81H
Set the address -214748364.8 to 214748364.7
Set the address -2147483648 to 2147483647
INC Linear 1 : 02H INC Linear 2 : 0BH INC Linear 3 : 16H INC Linear 4 : 1BH Fixed-feed 1 : 03H Fixed-feed 2 : 0CH Fixed-feed 3 : 17H Fixed-feed 4 : 1CH
Set the movement amount -214748364.8 to 214748364.7
Set the movement amount -2147483648 to 2147483647
Forward run speed/position : 06H Reverse run speed/position : 07H Forward run position/speed : 08H Reverse run position/speed : 09H
Set the movement amount 0 to 214748364.7
Set the movement amount 0 to 2147483647
ABS circular sub : 0DH ABS circular right : 0FH ABS circular left : 10H
Set the address -214748364.8 to 214748364.7
Set the address -2147483648 to 2147483647
INC circular sub : 0EH INC circular right : 11H INC circular left : 12H
Set the movement amount -214748364.8 to 214748364.7
Set the movement amount -2147483648 to 2147483647
1: Set an integer because the PLC program cannot handle fractions. (The value will be converted properly within the system.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
(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. (The unit is "degree" only)
Speed
Position control
Movement amount setting (INC mode)
Time
Speed-position switching
Speed control Target address setting (ABS mode)
(4) Position-speed switching control Set the amount of movement before the switching from position control to
speed control.
When " Pr.1 Unit Setting" is "degree" 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.)
Da.2 setting value Value set with peripheral device (degree)
Value set with PLC program 1 (10-5 degree)
ABS Linear 1 : 01H ABS Linear 2 : 0AH ABS Linear 3 : 15H ABS Linear 4 : 1AH Current value changing : 81H
Set the address 0 to 359.99999
Set the address 0 to 35999999
INC Linear 1 : 02H INC Linear 2 : 0BH INC Linear 3 : 16H INC Linear 4 : 1BH Fixed-feed 1 : 03H Fixed-feed 2 : 0CH Fixed-feed 3 : 17H Fixed-feed 4 : 1CH
Set the movement amount -21474.83648 to 21474.83647
Set the movement amount -2147483648 to 2147483647
Forward run speed/position : 06H Reverse run speed/position : 07H
In INC mode Set the movement amount 0 to 21474.83647 In ABS mode Set the address 0 to 359.99999
In INC mode Set the movement amount 0 to 2147483647 In ABS mode Set the address 0 to 35999999
Forward run position/speed : 08H Reverse run position/speed : 09H
Set the movement amount 0 to 21474.83647
Set the movement amount 0 to 2147483647
1: Set an integer because the PLC program cannot handle fractions. (The value will be converted properly within the system.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
When " Pr.1 Unit Setting" is "PLS" 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.)
Da.2 setting value Value set with peripheral device (PLS) Value set with PLC program 1 (PLS)
ABS Linear 1 : 01H ABS Linear 2 : 0AH ABS Linear 3 : 15H ABS Linear 4 : 1AH Current value changing : 81H
Set the address -2147483648 to 2147483647
Set the address -2147483648 to 2147483647
INC Linear 1 : 02H INC Linear 2 : 0BH INC Linear 3 : 16H INC Linear 4 : 1BH Fixed-feed 1 : 03H Fixed-feed 2 : 0CH Fixed-feed 3 : 17H Fixed-feed 4 : 1CH
Set the movement amount -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647
Forward run speed/position : 06H Reverse run speed/position : 07H Forward run position/speed : 08H Reverse run position/speed : 09H
Set the movement amount 0 to 2147483647
Set the movement amount 0 to 2147483647
ABS circular sub : 0DH ABS circular right : 0FH ABS circular left : 10H
Set the address -2147483648 to 2147483647
Set the address -2147483648 to 2147483647
INC circular sub : 0EH INC circular right : 11H INC circular left : 12H
Set the movement amount -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647
1: Set an integer because the PLC program cannot handle fractions. (The value will be converted properly within the system.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.)
Da.2 setting value Value set with peripheral device (inch)
Value set with PLC program 1 (10-5 inch)
ABS Linear 1 : 01H ABS Linear 2 : 0AH ABS Linear 3 : 15H ABS Linear 4 : 1AH Current value changing : 81H
Set the address -21474.83648 to 21474.83647
Set the address -2147483648 to 2147483647
INC Linear 1 : 02H INC Linear 2 : 0BH INC Linear 3 : 16H INC Linear 4 : 1BH Fixed-feed 1 : 03H Fixed-feed 2 : 0CH Fixed-feed 3 : 17H Fixed-feed 4 : 1CH
Set the movement amount -21474.83648 to 21474.83647
Set the movement amount -2147483648 to 2147483647
Forward run speed/position : 06H Reverse run speed/position : 07H Forward run position/speed : 08H Reverse run position/speed : 09H
Set the movement amount 0 to 21474.83647
Set the movement amount 0 to 2147483647
ABS circular sub : 0DH ABS circular right : 0FH ABS circular left : 10H
Set the address -21474.83648 to 21474.83647
Set the address -2147483648 to 2147483647
INC circular sub : 0EH INC circular right : 11H INC circular left : 12H
Set the movement amount -21474.83648 to 21474.83647
Set the movement amount -2147483648 to 2147483647
1: Set an integer because the PLC program cannot handle fractions. (The value will be converted properly within the system.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
5 - 100
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value, setting range Setting value buffer memory
address Item Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
Da.7
Arc address
The setting value range differs according to the " Da.2 Control system". Here, the value within the [Table 1] range is set.
[Table 1] on right page
0 2008 2009
8008 8009
14008 14009
20008 20009
Da.7 Arc address
The arc address is data required only when carrying out circular interpolation control. (1) When carrying out circular interpolation with sub point designation, set the sub
point (passing point) address as the arc address. (2) When carrying out circular interpolation with center point designation, set the
center point address of the arc as the arc address.
End point address (Address set with Da.6 )
Sub point (Address set with Da.7 )
Start point address (Address before starting positioning) Start point address (Address before starting positioning)
Center point address (Address set with Da.7 )
End point address (Address set with Da.6 )
<(1) Circular interpolation with sub
point designation> <(2) Circular interpolation with center
point designation>
When not carrying out circular interpolation control, the value set in " Da.7 Arc address" will be invalid.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
[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.)
Da.2 setting value Value set with peripheral device (m)
Value set with PLC program 1 (10-1m)
ABS circular sub : 0DH ABS circular right : 0FH ABS circular left : 10H
Set the address -214748364.8 to 214748364.7
Set the address -2147483648 to 2147483647
INC circular sub : 0EH INC circular right : 11H INC circular left : 12H
Set the movement amount -214748364.8 to 214748364.7
Set the movement amount -2147483648 to 2147483647
1: Set an integer because the PLC program cannot handle fractions. (The value will be converted properly within the system.)
When " Pr.1 Unit Setting" is "degree" No control system requires the setting of the arc address by "degree".
When " Pr.1 Unit Setting" is "PLS" 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.)
Da.2 setting value Value set with peripheral device (PLS) Value set with PLC program 1 (PLS)
ABS circular sub : 0DH ABS circular right : 0FH ABS circular left : 10H
Set the address -2147483648 to 2147483647
Set the address -2147483648 to 2147483647
INC circular sub : 0EH INC circular right : 11H INC circular left : 12H
Set the movement amount -2147483648 to 2147483647
Set the movement amount -2147483648 to 2147483647
1: Set an integer because the PLC program cannot handle fractions. (The value will be converted properly within the system.)
When " Pr.1 Unit Setting" is "inch" 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.)
Da.2 setting value Value set with peripheral device (inch)
Value set with PLC program 1 (10-5 inch)
ABS circular sub : 0DH ABS circular right : 0FH ABS circular left : 10H
Set the address -21474.83648 to 21474.83647
Set the address -2147483648 to 2147483647
INC circular sub : 0EH INC circular right : 11H INC circular left : 12H
Set the movement amount -21474.83648 to 21474.83647
Set the movement amount -2147483648 to 2147483647
1: Set an integer because the PLC program cannot handle fractions. (The value will be converted properly within the system.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value, setting range Setting value buffer memory
address Item Value set with peripheral device Value set with PLC program
Default value
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.
[Table 1] on right page
Da.8
Command speed
-1: Current speed (Speed set for previous positioning data No.)
-1
0 2004 2005
8004 8005
14004 14005
20004 20005
Dwell time Da.9
Dwell time/ JUMP destination positioning data No.
JUMP destination positioning data No.
The setting value range differs according to the " Da.2 Control system". Here, the value within the [Table 2] range is set.
[Table 2] on right page
0 2002 8002 14002 20002
M code
Condition data No.
Da.10
M code No. of LOOP to LEND repetitions
The setting value range differs according to the" Da.2 Control system". Here, the value within the [Table 3] range is set.
[Table 3] on right page
0 2001 8001 14001 20001
Da.8 Command speed
Set the command speed for positioning. (1) If the set command speed exceeds " Pr.8 Speed limit value", positioning will
be carried out at the speed limit value. (2) If "-1" is set for the command speed, the current speed (speed set for previous
positioning data No.) will be used for positioning control. Use the current speed for uniform speed control, etc. If "-1" is set for continuing positioning data, and the speed is changed, the following speed will also change. (Note that when starting positioning, if the "-1" speed is set for the positioning data that carries out positioning control first, the error "Command speed is not set"(error code: 503) will occur, and the positioning will not start. Refer to Section 15.2 "List of errors" for details on the errors.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.2 Control system"
............... Set the "condition data No." for JUMP. 0 : Unconditional JUMP to the positioning data specified
by Da.9 . 1 to 10 : JUMP performed according to the condition data No.
specified (a number between 1 and 10). Make sure that you specify the number of LOOP to LEND repetitions by a number other than "0". The "Control system LOOP setting error" will occur if you specify "0". (error code: 545)
The condition data specifies the condition for the JUMP instruction to be executed. (A JUMP will take place when the condition is satisfied.)
[Table 1]
Pr.1 setting value Value set with peripheral device
(unit) Value set with PLC 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 2000000.000 (degree/min) 1
1 to 2000000000 (10-3degree/min) 2
3 : PLS 1 to 50000000 (PLS/s) 1 to 50000000 (PLS/s) 1: The command speed setting range is 0.001 to 2000000.000[degree/min], but it will be decupled
and become 0.01 to 20000000.00[degree/min] by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
2: The command speed setting range is 1 to 2000000000(10-3degree/min), but it will be decupled and become 1 to 2000000000 (10-2degree/min) by setting " Pr.83 Speed control 10 x multiplier setting for degree axis" to valid.
[Table 2]
Da.2 setting value Setting item Value set with peripheral
device Value set with PLC
program JUMP instruction: 82H Positioning data No. 1 to 600 1 to 600 Other than JUMP instruction Dwell time 0 to 65535 (ms) 0 to 65535 (ms)
[Table 3]
Da.2 setting value Setting item Value set with peripheral
device Value set with PLC
program JUMP instruction: 82H Condition data No. 0 to 10 0 to 10 Other than JUMP instruction M code 0 to 65535 0 to 65535 LOOP: 83H Repetition count 1 to 65535 1 to 65535
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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. When the "dwell time" is set, the setting details of the "dwell time" will be as follows according to " Da.1 Operation pattern".
ON
V
t
V
t
V
t
1) When " Da.1 Operation pattern" in "00: Positioning complete"
Set the time from when the positioning ends to when the "positioning complete signal" turns ON as the "dwell time".
Positioning control
Positioning complete signal OFF
2) When " Da.1 Operation pattern" is "01: Continuous positioning control"
Set the time from when positioning control ends to when the next positioning control starts as the "dwell time".
Next positioning control
3) When " Da.1 Operation pattern" is "11: Continuous path control"
The setting value is irrelevant to the control. (The "dwell time" is 0ms.)
No dwell time (0ms)
Positioning control
Positioning control
Dwell time Da.9
Dwell time Da.9
Next positioning control
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
5 - 106
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.
Setting item Buffer memory address
26049
26099
u n f [
26001
26051
b15 b0b7b8
Da.11 Shape Da.12 Start data No.
26000
b15 b0b7b8
Da.13 Special start instruction
Da.14 Parameter
26050
Buffer memory addressBuffer memory
address
Setting item
Setting item
1st point 2nd point
50th point
Ax is
1 (S
ta rt
bl oc
k 0)
27049
27099
27001
27051
u n f [
b15 b0b7b8
Da.11 Shape Da.12 Start data No.
27000
b15 b0b7b8
Da.13 Special start instruction
Da.14 Parameter
27050
Setting item Buffer memory address
Buffer memory addressBuffer memory
address
Setting item
Setting item
1st point 2nd point
50th point
Ax is
2 (S
ta rt
bl oc
k 0)
Up to 50 block start data points can be set (stored) for each axis in the buffer memory addresses shown on the left. Items in a single unit of block start data are shown included in a bold frame. Each axis has five start blocks (block Nos. 0 to 4).
For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4, refer to Appendix 7 "List of buffer memory addresses".
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item Buffer memory address
28049
28099
u n f [
28001
28051
b15 b0b7b8
Da.11 Shape Da.12 Start data No.
28000
b15 b0b7b8
Da.13 Special start instruction
Da.14 Parameter
28050
Buffer memory addressBuffer memory
address
Setting item
Setting item
1st point 2nd point
50th point Ax
is 3
(S ta
rt bl
oc k
0)
29049
29099
29001
29051
u n f [
b15 b0b7b8
Da.11 Shape Da.12 Start data No.
29000
b15 b0b7b8
Da.13 Special start instruction
Da.14 Parameter
29050
Setting item Buffer memory address
Buffer memory addressBuffer memory
address
Setting item
Setting item
1st point 2nd point
50th point
Ax is
4 (S
ta rt
bl oc
k 0)
The pages that follow explain the block start data setting items ( Da.11 to Da.14 ).
(The buffer memory addresses shown are those of the "1st point block start data (block No. 7000)" for the axes 1 to 4.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.". With the QD75MH, up to 50 "block start data" points and up to 10 "condition data" items can be assigned to each "block No.".
Block No. Axis Block start data Condition Buffer memory
GX Configurator-
QP Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7000
Axis 4
Start block 0
Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7001
Axis 4
Start block 1
Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7002
Axis 4
Start block 2
Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7003
Axis 4
Start block 3
Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7004
Axis 4
Start block 4
Condition data (1 to 10)
Supports the settings
Supports the settings
: Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos.
7000 to 7004 and perform the Pre-reading start function, "Outside start No. range error (error code: 543)" will occur. (For details, refer to Section 12.7.8 "Pre-reading start function".)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value Setting value buffer memory
address Item Value set with peripheral
device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 : End 0
Da.11
Shape
1 : Continue 1
Da.12
Start data No.
Positioning data No.: 1 to 600 (01H to 258H)
01H to
258H
b15 b0b3b7b11 0 0 0
Start data No.
Shape
0000H 26000 27000 28000 29000
0 : Block start (normal start) 00H
1 : Condition start 01H
2 : Wait start 02H
3 : Simultaneous start 03H
4 : FOR loop 04H
5 : FOR condition 05H
Da.13
Special start instruction
6 : NEXT start 06H
Da.14
Parameter
Condition data No.: 1 to 10 (01H to 0AH)
No. of repetitions: 0 to 255 (00H to FFH)
00H to
FFH
b15 b11 b7 b0b3
Special start instruction
Parameter
0000H 26050 27050 28050 29050
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.
Set the "positioning data No." designated with the "block start data".
Da.13 Special start instruction
Set the "special start instruction " for using "high-level positioning control". (Set how to start the positioning data set in " Da.12 Start data No.".)
Setting value Setting details
00H : Block start (Normal start) Execute the random block positioning data in the set order with one start.
01H : Condition start Carry out the condition judgment set in "condition data" for the designated positioning data, and when the conditions are established, execute the "block start data". If not established, ignore that "block start data", and then execute the next point's "block start data".
02H : Wait start Carry out the condition judgment set in "condition data" for the designated positioning data, and when the conditions are established, execute the "block start data". If not established, stop the control (wait) until the conditions are established.
03H : Simultaneous start
Simultaneous execute (output pulses at same timing) the positioning data with the No. designated for the axis designated in the "condition data". Up to four axes can start simultaneously.
04H : Repeated start (FOR loop)
Repeat the program from the block start data with the "FOR loop" to the block start data with "NEXT" for the designated No. of times.
05H : Repeated start (FOR condition)
Repeat the program from the block start data with the "FOR condition" to the block start data with "NEXT" until the conditions set in the "condition data" are established.
06H : NEXT start Set the end of the repetition when "05H: Repetition start (FOR loop)" or "06H: Repetition start (FOR condition)" is set.
Refer to Chapter 10 "High-level Positioning Control" for details on the control.
Da.14 Parameter
Set the value as required for " Da.13 Special start instruction ".
Da.13 Special start instruction Setting value Setting details
Block start (Normal start) Not used. (There is no need to set.) Condition start Wait start Simultaneous start
1 to 10 Set the condition data No. (Data No. of "condition data" is set up for the condition judgment.)
Repeated start (FOR loop) 0 to 255 Set the No. of repetitions.
Repeated start (FOR condition) 1 to 10 Set the condition data No. (Data No. of "condition data" is set up for the condition judgment.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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
Setting item
26190
26191 26192 26193 26194 26195 26196 26197 26198 26199
No.2
Setting item
26110
26111 26112 26113 26114 26115 26116 26117 26118 26119
Buffer memory address
Buffer memory address
No.1
Setting item
26100
Da.17 Address
Open
Da.18 Parameter 1
Da.19 Parameter 2
b15 b0b7b8b11b12
Da.16 Condition operator
Da.15 Condition target
26101 26102 26103 26104 26105 26106 26107 26108 26109
Buffer memory address
Ax is
1 (s
ta rt
bl oc
k 0)
Open
Up to 10 block start data points can be set (stored) for each axis in the buffer memory addresses shown on the left. Items in a single unit of condition data are shown included in a bold frame. Each axis has five start blocks (block Nos. 0 to 4).
For information on the organization of the buffer memory addresses assigned to the start blocks 1 to 4, refer to Appendix 7 "List of buffer memory addresses".
Condition data No.
No.10
Setting item No.2
27190
27191 27192 27193 27194 27195 27196 27197 27198 27199
27110
27111 27112 27113 27114 27115 27116 27117 27118 27119
Setting item No.1
Setting item
27100
Da.17 Address Open
Open
Da.18 Parameter 1
Da.19 Parameter 2
b15 b0b7b8b11b12
Da.16 Condition operator
Da.15 Condition target
27101 27102 27103 27104 27105 27106 27107 27108 27109
Buffer memory address
Ax is
2 (s
ta rt
bl oc
k 0)
Buffer memory address
Buffer memory addressCondition data No.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
No.10
Setting item No.2
28190
28191 28192 28193 28194 28195 28196 28197 28198 28199
28110
28111 28112 28113 28114 28115 28116 28117 28118 28119
Setting item No.1
Setting item
28100
Da.17 Address Open
Da.18 Parameter 1
Da.19 Parameter 2
b15 b0b7b8b11b12
Da.16 Condition operator
Da.15 Condition target
28101 28102 28103 28104 28105 28106 28107 28108 28109
Buffer memory address
Ax is
3 (s
ta rt
bl oc
k 0)
Buffer memory address
Buffer memory address
Open
Condition data No.
No.10
Setting item No.2
29190
29191 29192 29193 29194 29195 29196 29197 29198 29199
29110
29111 29112 29113 29114 29115 29116 29117 29118 29119
Setting item No.1
Setting item
29100
Da.17 Address Open
Da.18 Parameter 1
Da.19 Parameter 2
b15 b0b7b8b11b12
Da.16 Condition operator
Da.15 Conditiion target
29101 29102 29103 29104 29105 29106 29107 29108 29109
Buffer memory address
Ax is
4 (s
ta rt
bl oc
k 0)
Buffer memory address
Buffer memory address
Open
Condition data No.
The pages that follow explain the condition data setting items ( Da.15 to Da.19 ).
(The buffer memory addresses shown are those of the "condition data No. 1 (block No. 7000)" for the axes 1 to 4.)
5 - 114
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
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.". With the QD75MH, up to 50 "block start data" points and up to 10 "condition data" items can be assigned to each "block No.".
Block No. Axis Block start data Condition Buffer memory
GX Configurator-
QP Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7000
Axis 4
Start block 0
Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7001
Axis 4
Start block 1
Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7002
Axis 4
Start block 2
Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7003
Axis 4
Start block 3
Condition data (1 to 10) Axis 1 Condition data (1 to 10) Axis 2 Condition data (1 to 10) Axis 3 Condition data (1 to 10)
7004
Axis 4
Start block 4
Condition data (1 to 10)
Supports the settings
Supports the settings
: Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos. 7000 to 7004 and perform the Pre-reading start function, "Outside start No. range error (error code: 543)" will occur. (For details, refer to Section "12.7.8 Pre-reading start function".)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value Setting value buffer memory
address Item Value set with peripheral device Value set with PLC program
Default value
Axis 1 Axis 2 Axis 3 Axis 4 01 : Device X 01H
02 : Device Y 02H
03 : Buffer memory (1-word) 03H
04 : Buffer memory (2-word) 04H
Da.15
Condition target
05 : Positioning data No. 05H 01 : =P1 01H 02 : P1 02H 03 : P1 03H 04 : P1 04H 05 : P1 P2 05H 06 : P1, P2 06H 07 : DEV=ON 07H 08 : DEV=OFF 08H 10: Axis 1 selected 10H 20: Axis 2 selected 20H 30: Axes 1 and 2 selected 30H 40: Axis 3 selected 40H 50: Axes 1 and 3 selected 50H 60: Axes 2 and 3 selected 60H 70: Axes 1, 2, and 3 selected 70H 80: Axis 4 selected 80H 90: Axes 1 and 4 selected 90H A0: Axes 2 and 4 selected A0H B0: Axes 1, 2, and 4 selected B0H C0: Axes 3 and 4 selected C0H D0: Axes 1, 3, and 4 selected D0H
C on
di tio
n id
en tif
ie r
Da.16
Condition operator
E0: Axes 2, 3, and 4 selected E0H
b15 b0b7b8
Condition operator
Condition target
0000H 26100 27100 28100 29100
Da.17
Address Buffer memory address b0b15b16b31
26103 26102 Example)
(High-order) (Low-order)
Buffer memory address
0000H 26102 26103
27102 27103
28102 28103
29102 29103
Da.18
Parameter 1 Value b0b15b16b31
26105 26104 Example)
(High-order) (Low-order)
Value
0000H 26104 26105
27104 27105
28104 28105
29104 29105
Da.19
Parameter 2 Value b0b15b16b31
26107 26106 Example)
(High-order) (Low-order)
Value
0000H 26106 26107
27106 27107
28106 28107
29106 29107
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Da.15 Condition target
Set the condition target as required for each control. Setting value Setting details
01H : Device X 02H : Device Y
Set the input/output signal ON/OFF as the conditions.
03H : Buffer memory (1-word)
04H : Buffer memory (2-word)
Set the value stored in the buffer memory as the condition. 03H: The target buffer memory is "1-word (16 bits)" 04H: The target buffer memory is "2-word (32 bits)"
05H : Positioning data No. Select only for "simultaneous start".
Da.16 Condition operator Set the condition operator as required for the " Da.15 Condition target".
Da.15 Condition target Setting value Setting details
07H : DEV=ON 01H: Device X 02H: Device Y 08H : DEV=OFF
The state (ON/OFF) of an I/O signal is defined as the condition. Select ON or OFF as the trigger.
01H : =P1 02H : P1 03H : P1 04H : P1 05H : P1P2
03H: Buffer memory (1-word) 04H: Buffer memory (2-word)
06H : P1, P2
Select how to use the value () in the buffer memory as a part of the condition.
10H : Axis 1 selected 20H : Axis 2 selected 30H : Axes 1 and 2 selected 40H : Axis 3 selected 50H : Axes 1 and 3 selected 60H : Axes 2 and 3 selected 70H : Axes 1, 2, and 3 selected 80H : Axis 4 selected 90H : Axes 1 and 4 selected A0H : Axes 2 and 4 selected B0H : Axes 1, 2, and 4 selected C0H : Axes 3 and 4 selected D0H : Axes 1, 3, and 4 selected
05H: Positioning data No.
E0H : Axes 2, 3, and 4 selected
If "simultaneous start" is specified, select the axis (or axes) that should start simultaneously.
Da.17 Address Set the address as required for the " Da.15 Condition target".
Da.15 Condition target Setting value Setting details
01H : Device X 02H : Device Y
Not used. (There is no need to set.)
03H : Buffer memory (1-word)
04H : Buffer memory (2-word) Value
(Buffer memory address) Set the target "buffer memory address". (For 2 word, set the low-order buffer memory address.)
05H : Positioning data No. Not used. (There is no need to set.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Da.18 Parameter 1
Set the parameters as required for the " Da.16 Condition operator".
Da.16 Condition operator Setting value Setting details
01H : =P1 02H : P1 03H : P1 04H : P1 05H : P1P2 06H : P1, P2
Value
The value of P1 should be equal to or smaller than the value of P2. (P1P2) If P1 is greater than P2 (P1>P2), the "condition data error" (error code 533) will occur.
07H : DEV=ON 08H : DEV=OFF
Value (bit No.)
Set the device bit No. X: 0H to 1H, 4H to 17H Y: 0, 4H to 17H
10H : Axis 1 selected
E0H : Axes 2, 3, and 4 selected
Value (positioning data No.)
Set the positioning data No. for starting axis 1 and/or axis 2. Low-order 16-bit
: Axis 1 positioning data No. 1 to 600 (01H to 258H) High-order 16-bit
: Axis 2 positioning data No. 1 to 600 (01H to 258H)
Da.19 Parameter 2
Set the parameters as required for the " Da.16 Condition operator".
Da.16 Condition operator Setting value Setting details
01H : =P1 02H : P1 03H : P1 04H : P1
Not used. (No need to be set.)
05H : P1P2
06H : P1, P2 Value
The value of P2 should be equal to or greater than the value of P1. (P1P2) If P1 is greater than P2 (P1>P2), the "condition data error" (error code 533) will occur.
07H : DEV=ON 08H : DEV=OFF 10H : Axis 1 selected 20H : Axis 2 selected 30H : Axes 1 and 2 selected
Not used. (No need to be set.)
40H : Axis 3 selected 50H : Axes 1 and 3 selected 60H : Axes 2 and 3 selected 70H : Axes 1, 2, and 3 selected 80H : Axis 4 selected 90H : Axes 1 and 4 selected A0H : Axes 2 and 4 selected B0H : Axes 1, 2, and 4 selected C0H : Axes 3 and 4 selected D0H : Axes 1, 3, and 4 selected E0H : Axes 2, 3, and 4 selected
Value (positioning data No.)
Set the positioning data No. for starting axis 3 and/or axis 4. Low-order 16-bit
: Axis 3 positioning data No. 1 to 600 (01H to 258H) High-order 16-bit
: Axis 4 positioning data No. 1 to 600 (01H to 258H)
5 - 118
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.6 List of monitor data
5.6.1 System monitor data
Storage item Storage details
Md.1 In test mode flag Whether the mode is the test mode from the peripheral device or not is stored.
When not in test mode : OFF When in test mode : ON
5 - 119
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Reading the monitor value Default value
Storage buffer memory address
(common for axis 1 to axis 4)
Monitoring is carried out with a decimal.
Storage value 0: Not in test mode 1: In test mode
Monitor value
0 1200
(Unless noted in particular, the monitor value is saved as binary data.)
5 - 120
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details Reading the monitor value
Md.3
Start information
[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.
[Reading the monitor value] Monitoring is carried out with a hexadecimal display.
Not used
0 0 0 0 0 b15 b12 b8 b4 b0
Buffer memory
Monitor value
PLC CPU Stored contents Storage value
00 01 10
External signal Peripheral device
Start origin
Restart flag OFF
0 1Restart flag ON
Restart flag
3
Axis 1 Axis 2 Axis 3 Axis 4
Start axis
1 2
4
Stored contents Storage value
Stored contents Storage value
Md.4 Start No.
The starting No. is stored.
Monitoring is carried out with a hexadecimal display.
Simultaneous start 2 3 2 C 9004
JOG operation 2 3 3 2 9010
Machine OPR 2 3 3 3 9011Manual pulse generator 2 3 2 9 9001
Fast OPR 2 3 2 A 9002 Current value changing 2 3 2 B 9003
b15 b12 b8 b4 b0
A B C D
BA C D
Buffer memory
Monitor value
DCBA
Positioning operation
Stored contents Storage value Reference
(Decimal)
Start No.
A
0 0 0 to
B C D
1 001
1 B 5 8 0 2 5 8
7000 1 B 5 9 7001 1 B 5 A 7002 1 B 5 B 7003 1 B 5 C 7004
600
Md.5
Start Hour
The starting time is stored.
Monitoring is carried out with a hexadecimal display.
Not used
0 b15 b12
0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 b8 b4 b0
0 1 50
Buffer memory (stored with BCD code)
0 0 0 to 2 00 to 23 (hour)
0 to 3
Monitor value
00 1 5
St ar
tin g
hi st
or y
(U p
to 1
6 re
co rd
s ca
n be
s to
re d)
Md.6
Start Minute: second
The starting time is stored.
Monitoring is carried out with a hexadecimal display.
0 to 5 00 to 59 (second)
0 b15 b12
1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 b8 b4 b0
9 0 74
Buffer memory (stored with BCD code)
0 to 5 0 to 9 00 to 59 (minute)
0 to 9
Monitor value
94 0 7
Note: If a start signal is issued against an operating axis, a record relating to this event may be output before a record relating to an earlier start signal is output.
5 - 121
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Default value Storage buffer memory address (common to axes 1 to 4)
0000H
0000H
0000
0000
1287
15
1288
1289
1290
1291
14
1282
1283
1284
1285
1286
13
1277
1278
1279
1280
1281
12
1272
1273
1274
1275
1276
11
1267
1268
1269
1270
1271
10
1262
1263
1264
1265
1266
9
1257
1258
1259
1260
1261
8
1252
1253
1254
1255
1256
7
1247
1248
1249
1250
1251
6
1242
1243
1244
1245
1246
5
1237
1238
1239
1240
1241
4
1232
1233
1234
1235
1236
3
1227
1228
1229
1230
1231
2
1222
1223
1224
1225
1226
1
1217
1218
1219
1220
1221
Pointer No. 0
Pointer No.
Item Buffer memory address
1212
1213
1214
1215
1216
S ta
rti ng
h is
to ry
Md.3
Start information
Md.4
Start No.
1292 Md.8
Start history pointer
Md.5
Start hour
Md.6
Start min: sec
Md.7
Error judgement
Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records.
Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No. Example: Pointer No. 0 = Buffer memory addresses 1212 to 1216 Pointer No. 1 = Buffer memory addresses 1217 to 1221 Pointer No. 2 = Buffer memory addresses 1222 to 1226
Pointer No. 15 = Buffer memory addresses 1287 to 1291 Each history record is assigned a pointer No. in the range between 0 and 15. If the pointer No. 15 has been assigned to a new record, the next record will be assigned the pointer number 0. (A new record replaces an older record when a pointer No. is reassigned.)
5 - 122
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details Reading the monitor value
Md.7
Error judgment
[Storage details] This area stores the following results of the error judgment performed upon starting:
BUSY start warning flag Error flag Error No.
[Reading the monitor value] Monitoring is carried out with a hexadecimal display.
b15 b12 b8 b4 b0
A B C D
Ba C D
Buffer memory
Monitor value
DCBA
Error flag OFF Stored contents Storage value
0 1Error flag ON
Error flag Error No. Convert the hexadecimal value "a, B, C, D" into a decimal value and match it with "15.2 List of errors".
BUSY start warning OFF
Stored contents Storage value
0
1 BUSY start warning ON
BUSY start warning flag
St ar
tin g
hi st
or y
(U p
to 1
6 re
co rd
s ca
n be
s to
re d)
Md.8 Start history pointer
Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records.
Monitoring is carried out with a decimal display.
Monitor value Storage value (Pointer number)
0 to 15
5 - 123
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Default value Storage buffer memory address (common to axes 1 to 4)
0000H
1287
15
1288
1289
1290
1291
14
1282
1283
1284
1285
1286
13
1277
1278
1279
1280
1281
12
1272
1273
1274
1275
1276
11
1267
1268
1269
1270
1271
10
1262
1263
1264
1265
1266
9
1257
1258
1259
1260
1261
8
1252
1253
1254
1255
1256
7
1247
1248
1249
1250
1251
6
1242
1243
1244
1245
1246
5
1237
1238
1239
1240
1241
4
1232
1233
1234
1235
1236
3
1227
1228
1229
1230
1231
2
1222
1223
1224
1225
1226
1
1217
1218
1219
1220
1221
Pointer No. 0
Pointer No.
Item Buffer memory address
1212
1213
1214
1215
1216
S ta
rti ng
h is
tro y
Md.3
Start information
Md.4
Start No.
1292 Md.8
Start history pointer
Md.5
Start hour
Md.6
Start min: sec
Md.7
Error judgement
Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing starting history records.
Each group of buffer memory addresses storing a complete starting history record is assigned a pointer No. Example: Pointer No. 0 = Buffer memory addresses 1212 to 1216 Pointer No. 1 = Buffer memory addresses 1217 to 1221 Pointer No. 2 = Buffer memory addresses 1222 to 1226
Pointer No. 15 = Buffer memory addresses 1287 to 1291 Each history record is assigned a pointer No. in the range between 0 and 15. If the pointer No. 15 has been assigned to a new record, the next record will be assigned the pointer number 0. (A new record replaces an older record when a pointer No. is reassigned.)
0 1292
5 - 124
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details Reading the monitor value
Md.9
Axis in which the error occurred
Stores a number (Axis No.) that indicates the axis that encountered an error.
Monitoring is carried out with a decimal display.
Monitor value
Storage value 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis 4
Md.10 Axis error No.
Stores an axis error No.
Monitoring is carried out with a decimal display.
Monitor value Error No. For details on the error Nos. (Error codes), refer to Section 15.2 "List of errors".
Md.11
Axis error occurrence (Hour)
Stores the time at which an axis error was detected.
Monitoring is carried out with a hexadecimal display.
0 b15 b12
0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 b8 b4 b0
0 1 50
Buffer memory (stored with BCD code)
0 to 2 0 to 3 00 to 23 (hour)
Monitor value
00 1 5 Not used
Md.12
Axis error occurrence (Minute: second)
Stores the time at which an axis error was detected.
Monitoring is carried out with a hexadecimal display.
0 b15 b12
1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 b8 b4 b0
9 0 74
Buffer memory (stored with BCD code)
0 to 5 0 to 9 00 to 59 (minute) 00 to 59 (second)
0 to 9
Monitor value
94 0 7 0 to 5
Er ro
r h is
to ry
(U p
to 1
6 re
co rd
s ca
n be
s to
re d)
Md.13
Error history pointer
Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing records.
Monitoring is carried out with a decimal display.
Monitor value Storage value (Pointer number)
0 to 15
5 - 125
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Default value Storage buffer memory address (common to axes 1 to 4)
0
0
0000
0000
15
1353
1354
1355
1356
14
1349
1350
1351
1352
13
1345
1346
1347
1348
12
1341
1342
1343
1344
11
1337
1338
1339
1340
10
1333
1334
1335
1336
9
1329
1330
1331
1332
8
1325
1326
1327
1328
7
1321
1322
1323
1324
6
1317
1318
1319
1320
5
1313
1314
1315
1316
4
1309
1310
1311
1312
3
1305
1306
1307
1308
2
1301
1302
1303
1304
1
1297
1298
1299
1300
Pointer No. 0
Pointer No.
Item Buffer memory address
1293
1294
1295
1296
Er ro
r h is
to ry
Md.9 Axis in which the error occured
Md.10
Axis error No.
1357 Md.13
Error history pointer
Md.11 Axis error occurrence hour
Md.12
Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing error history records.
Each group of buffer memory addresses storing a complete error history record is assigned a pointer No. Example: Pointer No. 0 = Buffer memory addresses 1293 to 1296 Pointer No. 1 = Buffer memory addresses 1297 to 1300 Pointer No. 2 = Buffer memory addresses 1301 to 1304
Pointer No. 15 = Buffer memory addresses 1353 to 1356 Each history record is assigned a pointer No. in the range between 0 and 15. If the pointer No. 15 has been assigned to a new record, the next record will be assigned the pointer number 0. (A new record replaces an older record when a pointer No. is reassigned.)
Axis error occurrence min: sec
0 1357
5 - 126
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details Reading the monitor value
Md.14
Axis in which the warning occurred
Stores a number (Axis No.) that indicates the axis that encountered a warning.
Monitoring is carried out with a decimal display.
Monitor value
Storage value 1: Axis 1 2: Axis 2 3: Axis 3 4: Axis 4
Md.15 Axis warning No.
Stores an axis warning No.
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".
Md.16
Axis warning occurrence (Hour)
Stores the time at which an axis warning was detected.
Monitoring is carried out with a hexadecimal display.
0 b15 b12
0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 b8 b4 b0
0 1 50
Buffer memory (stored with BCD code)
0 to 2 0 to 3 00 to 23 (hour)
Monitor value
00 1 5 Not used
Md.17
Axis warning occurrence (Minute: second)
Stores the time at which an axis warning was detected.
Monitoring is carried out with a hexadecimal display.
0 b15 b12
1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 b8 b4 b0
9 0 74
Buffer memory (stored with BCD code)
0 to 5 0 to 9 00 to 59 (minute) 00 to 59 (second)
0 to 9
Monitor value
94 0 7 0 to 5
W ar
ni ng
h is
to ry
(U p
to 1
6 re
co rd
s ca
n be
s to
re d)
Md.18 Warning history pointer
Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing records.
Monitoring is carried out with a decimal display.
Monitor value
Storage value (Pointer number)
0 to 15
Md.19 No. of write accesses to flash ROM
Stores the number of write accesses to the flash ROM after the power is switched ON. The count is cleared to "0" when the number of write accesses reach 26 and an error reset operation is performed.
Monitoring is carried out with a decimal display.
Monitor value Storage value
0 to 25
Md.50 Forced stop input
This area stores the states (ON/OFF) of forced stop input.
Monitoring is carried out with a decimal display.
Monitor value Storage value
0 : Forced stop input ON (Forced stop) 1 : Forced stop input OFF (Forced stop release)
5 - 127
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Default value Storage buffer memory address (common to axes 1 to 4)
0
0
0000
0000
15
1418
1419
1420
1421
14
1414
1415
1416
1417
13
1410
1411
1412
1413
12
1406
1407
1408
1409
11
1402
1403
1404
1405
10
1398
1399
1400
1401
9
1394
1395
1396
1397
8
1390
1391
1392
1393
7
1386
1387
1388
1389
6
1382
1383
1384
1385
5
1378
1379
1380
1381
4
1374
1375
1376
1377
3
1370
1371
1372
1373
2
1366
1367
1368
1369
1
1362
1363
1364
1365
Pointer No. 0
Pointer No.
Item Buffer memory address
1358
1359
1360
1361
W ar
ni ng
h is
to ry
Md.14 Axis in which the warning occured
Md.15
Axis warning No.
1422 Md.18 Warning history pointer
Md.16 Axis warning occurrence hour
Md.17
Indicates a pointer No. that is next to the Pointer No. assigned to the latest of the existing warning history records.
Each group of buffer memory addresses storing a complete warning history record is assigned a pointer No. Example: Pointer No. 0 = Buffer memory addresses 1358 to 1361 Pointer No. 1 = Buffer memory addresses 1362 to 1365 Pointer No. 2 = Buffer memory addresses 1366 to 1369
Pointer No. 15 = Buffer memory addresses 1418 to 1421 Each history record is assigned a pointer No. in the range between 0 and 15. If the pointer No. 15 has been assigned to a new record, the next record will be assigned the pointer number 0. (A new record replaces an older record when a pointer No. is reassigned.)
Axis warning occurrence min: sec
0 1422
0 1424 1425
0 1431
5 - 128
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.6.2 Axis monitor data
Storage item Storage details
Md.20 Current feed value
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 359.99999 degrees.
Update timing : 1.7ms The OP address is stored when the machine OPR is completed. When the current value is changed with the current value changing function, the
changed value is stored.
Md.21 Machine feed value
The address of the current position according to the machine coordinates will be stored. (Different from the actual motor position during operation) Note that the current value changing function will not change the machine feed value. Under the speed control mode, the machine feed value is constantly updated always, irrespective of the parameter setting. The value will not be cleared to "0" at the beginning of fixed-feed control. Even if "degree" is selected as the unit, the addresses will not have a ring structure for values between 0 and 359.99999 degrees.
Machine coordinates: Characteristic coordinates determined with machine Update timing: 56.8ms
Md.22 Feedrate
The speed of the operating workpiece is stored. (May be different from the actual motor speed during operation)
During interpolation operation, the speed is stored in the following manner. Reference axis : Composite speed or reference axis speed
(Set with Pr.20 ) Interpolation axis : 0
Update timing: 56.8ms POINT
In case of the single axis operation, Md.22 Feedrate and Md.28 Axis feedrate are identical. In the composite mode of the interpolation operation, Md.22 Feedrate is a speed in a composite direction and Md.28 Axis feedrate is that in each axial direction.
Md.23 Axis error No.
When an axis error is detected, the error code corresponding to the error details is stored.
The latest error code is always stored. (When a new axis error occurs, the error code is overwritten.)
When " Cd.5 Axis error reset" (axis control data) turns ON, the axis error No. is cleared (set to 0).
5 - 129
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer memory address
Reading the monitor value Default value
Axis 1 Axis 2 Axis 3 Axis 4
0000H 800 801
900 901
1000 1001
1100 1101
0000H 802 803
902 903
1002 1003
1102 1103
Monitoring is carried out with a hexadecimal.
A B C D
A B C D
E F G H
E
R
F G H
b15 b12 b4 b0b8
E F G H
b31 b28 b20 b16b24
A B C D
Monitor value
Low-order buffer memory Example) 800
High-order buffer memory Example) 801
Sorting
Decimal integer value
Converted from hexadecimal to decimal
-1 m
-5 inch
-5 degree
0 PLS
n Unit
n -2 mm/min -3 inch/min -3 degree/min 0 PLS/s
Unit
Unit conversion table
Unit conversion
Actual value
(High-order buffer memory) (Low-order buffer memory)
R 10n
)Md.20 )Md.21
Unit conversion table ))Md.22
Current feed valueMd.20
Machine feed valueMd.21
FeedrateMd.22
When " Pr.83 Speed control 10 x multipler setting for degree axis" is valied : "-2"
0000H 804 805
904 905
1004 1005
1104 1105
Monitoring is carried out with a decimal.
Monitor value Error code
Refer to Section 15.2 "List of errors" for details on the error Nos. (error codes).
0 806 906 1006 1106
5 - 130
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.24 Axis warning No.
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".
Md.25 Valid M code
This area stores an M code that is currently active (i.e. set to the positioning data relating to the current operation).
Update timing: turning ON of the M code ON signal When the PLC READY signal (Y0) goes OFF, the value is set to "0".
Md.26 Axis operation status This area stores the axis operation status.
Md.27 Current speed
The " Da.8 Command speed" used by the positioning data currently being executed is stored. (Stores "0" under the speed control.)
If " Da.8 Command speed" is set to "-1", this area stores the command speed set by the positioning data used one step earlier.
If " Da.8 Command speed" is set to a value other than "-1", this area stores the command speed set by the current positioning data.
When speed change function is executed, this area stores " Cd.14 New speed value". (For details of change speed function, refer to section 12.5.1.)
5 - 131
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Reading the monitor value Default value
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 warn- ings".
0 807 907 1007 1107
Monitoring is carried out with a decimal display.
Monitor value M code No.
(0 to 65535)
0 808 908 1008 1108
Monitoring is carried out with a decimal display.
Monitor value
Axis operation status -2: Step standby -1: Error 0: Standby 1: Stopped 2: Interpolation 3: JOG operation 4: Manual pulse generator operation 5: Analyzing 6: Special start standby 7: OPR 8: Position control 9: Speed control 10: Speed control in speed-position switching control 11: Position control in speed-position switching control 12: Position control in position-speed switching control 13: Speed control in position-speed switching control 20: Servo amplifer has not been connected/ servo amplifier power OFF 21: Servo OFF
0 809 909 1009 1109
Monitoring is carried out with a decimal display.
R
Monitor value Decimal integer
value Unit conversion table
Actual value
Unit conversion R 10n
))Md.27
Current speedMd.27
-2 mm/min -3 inch/min -3 degree/min
0 PLS/s
n Unit
When " Pr.83 Speed control 10 x multipler setting for degree axis" is valied : "-2"
0 810 811
910 911
1010 1011
1110 1111
5 - 132
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.28 Axis feedrate
The speed which is actually output as a command at that time in each axis is stored. (May be different from the actual motor speed) "0" is stored when the axis is at a stop. Update timing: 56.8ms
POINT Refer to Md.22 Feedrate
Md.29 Speed-position switching control positioning amount
The value set as the movement amount for the position control to end after changing to position control with the speed-position switching control (INC mode) is stored.
Md.30 External input signal
The ON/OFF state of the external input/output signal is stored. The following items are stored.
Upper limit signal Lower limit signal Stop signal External command signal/switching signal Near-point dog signal
This area stores the states of the external input signal (QD75MH/servo amplifier) selected by " Pr.80 External input signal selection".
5 - 133
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Reading the monitor value Default value
Axis 1 Axis 2 Axis 3 Axis 4
0000H 812 813
912 913
1012 1013
1112 1113
Monitoring is carried out with a hexadecimal.
A B C D
A B C D
E F G H
E
R
F G H
b15 b12 b4 b0b8
E F G H
b31 b28 b20 b16b24
A B C D
Monitor value
Low-order buffer memory Example) 812
High-order buffer memory Example) 813
Sorting
Decimal integer value
Converted from hexadecimal to decimal
-1 m
-5 inch
-5 degree
0 PLS
n Unit
n -2 mm/min -3 inch/min -3 degree/min 0 PLS/s
Unit
Unit conversion table
Unit conversion
Actual value
(High-order buffer memory) (Low-order buffer memory)
R 10n
Unit conversion table ))Md.29Axis feedrateMd.28
))Md.28
Speed-position switching control positioning amount
Md.29
When " Pr.83 Speed control 10 x multipler setting for degree axis" is valied : "-2"
0000H 814 815
914 915
1014 1015
1114 1115
Monitoring is carried out with a hexadecimal.
b15 b0b4b8b12
0
0
0
0
0
0
0
0
0
0: OFF 1: ON
0
b0
b1 b2
b3
b4
b5
b6 b7
b8
Monitor value
Buffer memory
Not used D efault va lueStored items Meaning
Not used
Not used
Near-point dog signal
Stop signal
Upper limit signal
Lower limit signal
External command signal/ switching signal
0
Not used
Not used
0000H 816 916 1016 1116
5 - 134
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.31 Status
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. During the speed-position or position-speed switching control, this signal comes ON only when the speed control is in effect. During the speed- position switching control, this signal goes OFF when the speed-position switching signal executes a switching over from speed control to position control. During the position- speed switching control, this signal comes ON when the position-speed switching signal executes a switching over from position control to speed control.
Speed-position switching latch flag: This signal is used during the speed-position switching control (INC mode) for interlocking the movement amount change function. During the speed-position switching control (INC mode), this signal comes ON when position control takes over. This signal goes OFF when the next positioning data is processed, and during JOG operation or manual pulse generator operation.
Command in-position flag: This signal is ON when the remaining distance is equal to or less than the command in- position range (set by a detailed parameter). This signal remains OFF with data that specify the continuous path control (P11) as the operation pattern. The state of this signal is monitored every 3.5 ms except when the monitoring is canceled under the speed control or while the speed control is in effect during the speed-position or position-speed switching control. While operations are performed with interpolation, this signal comes ON only in respect of the starting axis. (This signal goes OFF in respect of all axes upon starting.)
OPR request flag: This signal comes ON when the power is switched ON, when the absolute system has not been set, when the machine OPR has not been executed at the absolute position system, when a machine OPR operation starts. This signal goes OFF when a machine OPR operation completes. (For details of OPR request flag, refer to the remark of section 8.1.1.)
OPR complete flag: This signal comes ON when a machine OPR operation completes normally. This signal goes OFF when the operation start.
Position-speed switching latch flag: This signal is used during the position-speed switching control for interlocking the command speed change function. During the position-speed switching control, this signal comes ON when speed control takes over. This signal goes OFF when the next positioning data is processed, and during JOG operation or manual pulse generator operation.
Axis warning detection flag: This signal comes On when an axis warning is reported and goes OFF when the axis error reset signal comes ON.
Speed change 0 flag: This signal comes ON when a speed change request that specifies 0 as the new speed value is issued. This signal comes ON when a speed change request that specifies a new speed value other than 0 is issued.
Md.32 Target value
This area stores the target value ( Da.6 Positioning address/movement amount) for a positioning operation.
At the beginning of positioning control: Stores the value of " Da.6 Positioning address/movement amount".
At other times : Stores "0".
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Reading the monitor value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Monitoring is carried out with a hexadecimal display.
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 b15 b0b4b8b12
0
0
0
0
0
0
0
0
0: OFF 1: ON
b0
b1
b2
b3
b4
b5
b9
b10
Monitor value
Buffer memory
Not used Default valueStored items Meaning
Not used
In speed control flag
Speed-position switching latch flag
Command in-position flag
OPR request flag OPR complete flag
Axis warning detection
Speed change 0 flag
Position-speed switching latch flag
0
0000H 817 917 1017 1117
Monitoring is carried out with a decimal display.
R
Monitor value Decimal integer
value Unit conversion table
Actual value
Unit conversion R 10n
))Md.32
Target valueMd.32
-1 m
-5 inch -5 degree
0 PLS
n Unit
0 818 819
918 919
1018 1019
1118 1119
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.33 Target speed
During operation with positioning data : 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.
During JOG operation : The actual target speed, considering the JOG speed limit value for the JOG speed, is stored.
During manual pulse generator operation : "0" is stored.
POINT The target speed is when an override is made to the command speed.
When the speed limit value is overridden, the target speed is restricted to the speed limit value. The target speed changes every time data is switched, but does not change in an acceleration/deceleration state inside each piece of data (changes with the speed change because the target speed changes.)
Md.34 Movement amount after near-point dog ON
"0" is stored when machine OPR starts. After machine OPR starts, the movement amount from the near-point dog ON to
the machine OPR completion is stored. (Movement amount: Movement amount to machine OPR completion using near- point dog ON as "0".)
"0" is always stored when not using the near-point dog.
Md.35 Torque limit stored value
The" Pr.17 Torque limit setting value", " Cd.101 Torque output setting value" or
" Cd.22 New torque value", " Pr.54 OPR torque limit value" is stored.
During positioning start, JOG operation start, manual pulse generator operation ...The" Pr.17 Torque limit setting value" or " Cd.101 Torque output setting
value" is stored. When value is changed to" Cd.22 New torque value" during operation
...The" Cd.22 New torque value" is stored. When OPR
...The" Pr.17 Torque limit setting value" or " Cd.101 Torque output setting value" is stored. But " Pr.54 OPR torque limit value" is stored after the" Pr.47 Creep speed" completion.
5 - 137
MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Reading the monitor value Default value
Axis 1 Axis 2 Axis 3 Axis 4
0000H 820 821
920 921
1020 1021
1120 1121
Monitoring is carried out with a hexadecimal display.
A B C D
A B C D
E F G H
E
R
F G H
b15 b12 b4 b0b8
E F G H
b31 b28 b20 b16b24
A B C D
Monitor value
Low-order buffer memory Example) 820
High-order buffer memory Example) 821
Sorting
Decimal integer value
Converted from hexadecimal to decimal
-1 m
-5 inch -5 degree
0 PLS
n Unit
n -2 mm/min -3 inch/min -3 degree/min 0 PLS/s
Unit
Unit conversion table
Unit conversion
Actual value
(High-order buffer memory) (Low-order buffer memory)
R 10n
Unit conversion table Target speedMd.33
))Md.33
)Md.34 Movement amount after near-point dog ON
Md.34 )
When " Pr.83 Speed control 10 x multipler setting for degree axis" is valied : "-2"
0000H 824 825
924 925
1024 1025
1124 1125
Monitoring is carried out with a decimal display.
Monitor value
Storage value 1 to 1000 (%)
300 826 926 1026 1126
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.36 Special start data instruction code setting value
The " instruction code" used with special start and indicated by the start data pointer currently being executed is stored.
Md.37 Special start data instruction parameter setting value
The "instruction parameter" used with special start and indicated by the start data pointer currently being executed is stored. The stored value differs according to the value set for Md.36 .
Md.38 Start positioning data No. setting value
The "positioning data No." indicated by the start data pointer currently being executed is stored.
Md.39 In speed limit flag
If the speed exceeds the " Pr.8 Speed limit value" due to a speed change or override, the speed limit functions, and the in speed limit flag turns ON.
When the speed drops to less than " Pr.8 Speed limit value", or when the axis stops, the in speed limit flag turns OFF.
Md.40 In speed change processing flag
The speed change process flag turns ON when the speed is changed during positioning control.
After the speed change process is completed or when deceleration starts with the stop signal during the speed change process, the in speed change process flag turns OFF.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Reading the monitor value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Monitoring is carried out with a decimal display.
00: Block start (Normal start) 01: Condition start 02: Wait start 03: Simultaneous start 04: FOR loop 05: FOR condition 06: NEXT
Storage value Monitor value
0 827 927 1027 1127
Monitoring is carried out with a decimal display.
Storage value
Monitor value
setting valueMd.36
00 06
01 02 03 05
04
1 to 10
0 to 255
Stored contents Storage value
None None
Condition data No.
No. of repetitions
0 828 928 1028 1128
Monitoring is carried out with a decimal display.
Storage value 1 to 600
Monitor value
0 829 929 1029 1129
Monitoring is carried out with a decimal display.
Storage value Monitor value 0: Not in speed limit (OFF)
1: In speed limit (ON)
0 830 930 1030 1130
Monitoring is carried out with a decimal display.
Storage value Monitor value 0: Not in speed change (OFF)
1: In speed change (ON)
0 831 931 1031 1131
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.41 Special start repetition counter
This area stores the remaining number of repetitions during "repetitions" specific 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.
Md.42 Control system repetition counter
This area stores the remaining number of repetitions during "repetitions" specific to control system.
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.
Md.43 Start data pointer being executed
This area stores a point No. (1 to 50) attached to the start data currently being executed.
This area stores "0" after completion of a positioning operation.
Md.44 Positioning data No. being executed
This area stores a positioning data No. attached to the positioning data currently being executed.
Md.45 Block No. being executed When the operation is controlled by "block start data", this area stores a block
number (7000 to 7004) attached to the block currently being executed. At other times, this area stores "0".
Md.46 Last executed positioning data No.
This area stores the positioning data No. attached to the positioning data that was executed last time.
The value is retained until a new positioning operation is executed.
Md.47 Positioning data being executed
The addresses shown to the right store details of the positioning data currently being executed (positioning data No. given by Md.44 ).
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Reading the monitor value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Monitoring is carried out with a decimal display.
Monitor value Storage value 0 to 255
0 832 932 1032 1132
Monitoring is carried out with a hexadecimal display.
Monitor value Storage value 0 to FFFF
0000H 833 933 1033 1133
Monitoring is carried out with a decimal display.
Monitor value Storage value
1 to 50
0 834 934 1034 1134
Monitoring is carried out with a decimal display.
Monitor value Storage value 1 to 600
0 835 935 1035 1135
Monitoring is carried out with a decimal display.
Monitor value Storage value
1 to 50
0 836 936 1036 1136
Monitoring is carried out with a decimal display.
Monitor value Storage value 1 to 600
0 837 937 1037 1137
Information is stored in the following addresses:
Stored item
Positioning identifier
M code
Dwell time
Open
Command speed
Arc address
Da.1 to Da.5
Da.9
Da.8
Da.6
Da.7
Positioning address
Stored address (Monitor value) Reference Axis1 Axis2 Axis3
847 947 1047 846 946 1046 845 945 1045 844 944 1044 843 943 1043 842 942 1042 841 941 1041
840 940 1040
839 939 1039
838 938 1038
Da.10
Axis4
1138
1139
1140
1141 1142 1143 1144 1145 1146 1147
0 838 to
847
938 to
947
1038 to
1047
1138 to
1147
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.48 Deceleration start flag
"1" is stored when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is "Positioning complete".
"0" is stored at the next operation start or manual pulse generator operation enable.
POINT
This parameter is possible to monitor when " Cd.41 Deceleration start flag valid " is valid.
Md.100 OPR re-travel value
This area stores the travel distance during the OPR travel to the zero point that was executed last time. For setting units
Update timing: 1.7ms Example) mm (Buffer memory 0.1) m
Md.101 Real current value
This area stores the present value (feed present value deviation counter droop pulses).
Update timing: 1.7ms Example) mm (Buffer memory 0.1) m
Md.102 Deviation counter value
This area stores the difference between the feed present and the actual present value. (Buffer memory details) PLS
Update timing: 1.7ms
Md.103 Motor rotation speed This area stores the present rotation speed of the servomotor.
(Buffer memory 0.1) rpm Update timing: 1.7ms
Md.104 Motor current value This area stores the present motor current value of the motor.
(Buffer memory 0.1) % Update timing: 1.7ms
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Reading the monitor value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Monitoring is carried out with a decimal display.
Storage value Monitor value 0: Status other than below
1: Status from deceleration start to next operation start or manual pulse generator operation enable
0 899 999 1099 1199
0000H 848 849
948 949
1048 1049
1148 1149
0000H 850 851
950 951
1050 1051
1150 1151
0000H 852 853
952 953
1052 1053
1152 1153
Monitoring is carried out with a hexadecimal display.
0 PLS
-1 rpm
A B C D
A B C D
E F G H
E
R
F G H
b15 b12 b4 b0b8
E F G H
b31 b28 b20 b16b24
A B C D
Monitor value
Low-order buffer memory Example) 800
High-order buffer memory Example) 801
Sorting
Decimal integer value
Converted from hexadecimal to decimal
-1 m
-5 inch
-5 degree
0 PLS
n Unit
Unit conversion table
Unit conversion
Actual value
(High-order buffer memory) (Low-order buffer memory)
R 10n
)Md.100 )Md.101
Unit conversion table ))Md.102
Md.100 OPR re-travel value
Md.101 Real current value
Md.102 Divation counter value Md.103 Motor rotation speed
Unit conversion table ))Md.103
n Unit
n Unit
0000H 854 855
954 955
1054 1055
1154 1155
Monitoring is carried out with a decimal display.
R
Md.104 Motor currentvalue
-1 %
Decimal integer value
Converted from hexadecimal to decimal
Unit conversion
Actual value
R 10n
Unit conversion table ))Md.104
n Unit
0 856 956 1056 1156
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.106 Servo amplifier Software No. This area stores the Software No. of the servo amplifier used. This area is update when the control power of the servo amplifier is turned on.
Md.107 Parameter error No. When a servo parameter error occurs, the area that corresponds to the parameter
number affected by the error comes ON.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Reading the monitor value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Monitoring is carried out with a decimal display.
Monitor value
Softwear No.
Example) -B35W200 A0 Address Monitor
value Stored value
864 422D - B 865 3533 3 5 866 3257 W 2 867 3030 0 0 868 4120 SPACE A 869 2030 0 SPACE
The monitor value is character code (JIS 8 unit code).
864 to
869
964 to
969
1064 to
1069
1164 to
1169
Monitoring is carried out with a decimal display.
Storage value
Monitor value
Storage value
Storage value
PB37 102 103 104
095
097 096
098 099 100 101
074
080
053 052
047 048 049 050 051
054 055 056 057 058 059 060
PB16 PB45 PC01
PB17
PA07007
001
PA01 002 PA02 003 PA03 004 PA04 005 PA05 006 PA06
008 PA08 009 PA09 010 PA10 011 PA11 012 PA12 013 PA13 014 PA14 015 PA15
022
016 017 018 019 020 021
023 024 025 026 027 028 029 030
PB04
PA16 PA17 PA18 PB01 PB02 PB03
PB05 PB06 PB07 PB08 PB09 PB10 PB11 PB12
PB27
PB19037
031 PB13 032 PB14 033 PB15 034 035 036 PB18
038 PB20 039 PB21 040 PB22 041 PB23 042 PB24 043 PB25 044 PB26 045
PB34
046 PB28 PB29 PB30 PB31 PB32 PB33
PB35 PB36
PB38 PB39 PB40 PB41 PB42
061 PB43 062 PB44 063
PC11
PC03066
064 065 PC02
067 PC04 068 PC05 069 PC06 070 PC07 071 PC08 072 PC09 073 PC10
PD02
075 PC12
PC17
PD01
PD03 PD04 PD05 PD06 PD07 PD08 PD09
127 PD32
PC32
Parameter No.
Parameter No.
Parameter No.
Storage value
0 870 970 1070 1170
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage item Storage details
Md.108 Servo status
This area stores the servo status. Zero point pass
Turns ON if the zero point of the encoder has been passed even once. Zero speed
Turns ON when the motor speed is lower than the servo parameter zero speed. READY ON
Indicates the ready ON/OFF. Servo ON
Indicates the servo ON/OFF. Servo alarm
Turn ON during the servo alarm. In-position
The dwell pulse turns ON within the servo parameter in-position. Torque limit
Turns ON when the servo amplifier is having the torque restricted. Absolute position lost
Turns ON when the servo amplifier is lost the absolute position. Servo warning
Turn ON during the servo warning. Update timing : 1.7ms
Md.109 Regenerative load ratio
The rate of regenerative power to the allowable regenerative power is indicated as a percentage.
When the regenerative option is used, the rate to the allowable regenerative power of the option is indicated. (Buffer memory) %
Update timing: 1.7 ms
Md.110 Effective load torque
The continuous effective load torque is indicated. The average value of the load rates for the past 15 seconds to the rated torque is
stored as a percentage, rated torque being 100%. (Buffer memory) %
Update timing: 1.7 ms
Md.111 Peak torque ratio
The maximum torque is indicated. (Holding value) The peak values for the past 15 seconds are indicated, rated torque being 100%.
(Buffer memory) % Update timing: 1.7 ms
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Reading the monitor value Default value
Axis 1 Axis 2 Axis 3 Axis 4 Monitoring is carried out with a decimal display.
b15 b12 b8 b4 b0
b0 b3
0: OFF 1: ON
Zero point pass Zero speed
Stored items Meaning
0000H 876 976 1076 1176
Monitoring is carried out with a decimal display.
b15 b12 b8 b4 b0
b0 b1 b7 b12 b13 b14 b15
0: OFF 1: ON
READY ON Servo ON
In-position Torque limit
Servo alarm
Servo warning
Stored items Meaning
Absolute position lost
POINT
When the forced stop of QD75MH and servo amplifier occurs, the servo warning is turned ON. When the forced stop is reset, the servo warning is turned OFF.
0000H 877 977 1077 1177
Monitoring is carried out with a decimal display.
Monitor value
Regenerative load ratio
0 878 978 1078 1178
Monitoring is carried out with a decimal display.
Monitor value
Effective load torque
0 879 979 1079 1179
Monitoring is carried out with a decimal display.
Monitor value
Peek torque ratio
0 880 980 1080 1180
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.7 List of control data
5.7.1 System control data
Setting item Setting details
Cd.1 Flash ROM write request
Requests writing of data (parameters, positioning data, and block start data) from the buffer memory to the flash ROM. POINT
(1) Do not turn the power OFF or reset the PLC CPU while writing to the flash ROM. If the power is turned OFF or the PLC CPU is reset to forcibly end the process, the data backed up in the flash ROM will be lost.
(2) Do not write the data to the buffer memory before writing to the flash ROM is completed.
(3) The number of writes to the flash ROM with the PLC program is 25 max. while the power is turned ON. Writing to the flash ROM beyond 25 times will cause an error (error code: 805). Refer to Section 15.2 "List of errors" for details.
(4) Monitoring is the number of writes to the flash ROM by the " Md.19 No. of write accesses to 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.
Initialized setting data
Parameters ( Pr.1 to Pr.57 , Pr.80 to Pr.84 , Pr.100 to Pr.204) Positioning data (No. 1 to 600)
Block start data (No. 7000 to 7004)
Cd.2 Parameter initialization request
Cd.41 Deceleration start flag valid
Set whether " Md.48 Deceleration start flag" is made valid or invalid.
POINT The " Cd.41 Deceleration start flag valid" become valid when the PLC READY signal [Y0] turns from OFF to ON.
Cd.42 Stop command processing for deceleration stop selection
Set the stop command processing for deceleration stop function (deceleration curve re-processing/deceleration curve continuation).
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting value Default value Storage buffer
memory address (common to axes 1
to 4)
Set with a decimal.
Setting value
K 1
Flash ROM write request 1: Requests write access to flash ROM.
The QD75MH resets the value to "0" automatically when the write access completes. (This indicates the completion of write operation.)
0 1900
Set with a decimal.
Setting value
K
Parameter initialization request 1: Requests parameter initialization.
The QD75MH resets the value to "0" automatically when the initialization completes. (This indicates the completion of parameter initialization.)
1
0 1901
Set with a decimal.
Setting value
K
Deceleration start flag valid 0: Deceleration start flag invalid 1: Deceleration start flag valid
0 1905
Set with a decimal.
Setting value
K
Stop command processing for deceleration stop selection 0: Deceleration curve re-processing 1: Deceleration curve continuation
0 1907
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
5.7.2 Axis control data
Setting item Setting details
Cd.3 Positioning start No. Set the positioning start No.
(Only 1 to 600 for the Pre-reading start function. For details, refer to Section 12.7.8 "Pre-reading start function".)
Cd.4 Positioning starting point No. 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.)
Cd.5 Axis error reset
Clears the axis error detection, axis error No., axis warning detection and axis warning No.
When the QD75MH axis operation state is "in error occurrence", the error is cleared and the QD75MH is returned to the "waiting" state.
Cd.6 Restart command When positioning is stopped for any reason (when axis operation state is
"stopped"), set "1" in Cd.6 . Positioning will be carried out again from the stopped position to the end point of the stopped positioning data.
Cd.7 M code OFF request The M code ON signal turns OFF.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.
Setting value
Positioning data No. 1 to 600 7000 to7004 9001 9002 9003 9004
K
: Positioning data No. : Block start designation : Machine OPR : Fast-OPR : Current value changing : Simultaneous starting of multiple axes
0 1500 1600 1700 1800
Set with a decimal. Setting value
K Positioning starting point No.
The value is set to "0" by the QD75MH automatically when the continuous operation is interrupted.
1 to 50
0 1501 1601 1701 1801
Set with a decimal.
K 1 Error reset request
Setting value
After the axis error reset is completed, "0" is stored by the QD75MH automatically. (Indicates that the axis error reset is completed.)
1: Axis error is reset.
0 1502 1602 1702 1802
Set with a decimal.
K
1 Restart command
Setting value
After restart acceptance is completed, "0" is stored by the QD75MH automatically. (Indicates that the restart acceptance is completed.)
1: Restarts
0 1503 1603 1703 1803
Set with a decimal.
K
1 M code OFF request
Setting value
After the M code ON signal turns OFF, "0" is stored by the QD75MH automatically. (Indicates that the OFF request is completed.)
1: M code ON signal turns OFF
0 1504 1604 1704 1804
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item Setting details
Cd.8 External command valid 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:
Pr.1
mm (10-1 m)
inch (10-5 inch)
degree (10-5 degree)
PLS (PLS)
Setting range -2147483648
to +2147483647
-2147483648 to
+2147483647 0 to 35999999
-2147483648 to
+2147483647
Cd.9 New current value
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.
Setting value
External command valid 0: Invalidates an external command. 1: Validates an external command.
K
0 1505 1605 1705 1805
Set with a decimal.
Actual value
Conversion into an integer value
Cd.9 New current value
10n Unit conversion table ( Cd.9 )
n -1 m -5 inch -5 degree 0 PLS
Unit
RSetting value (Decimal)
0 1506 1507
1606 1607
1706 1707
1806 1807
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item Setting details
When changing the acceleration time during a speed change, use this data item
to specify a new acceleration time.
Cd.10 setting range (unit)
0 to 8388608 (ms)
Cd.10 New acceleration time value
When changing the deceleration time during a speed change, use this data item
to specify a new deceleration time.
Cd.11 setting range (unit)
0 to 8388608 (ms)
Cd.11 New deceleration time value
Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection
Enables or disables modifications to the acceleration/deceleration time during a speed change.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 1508 1509
1608 1609
1708 1709
1808 1809
Set with a decimal.
Cd.10 New acceleration time value
Cd.11 New deceleration time value Setting value
Example: When the " Cd. 10 New acceleration
time value" is set as "60000 ms", the
buffer memory stores "60000".
0 1510 1511
1610 1611
1710 1711
1810 1811
Set with a decimal.
Setting value
K Acceleration/deceleration time change during speed change, enable/disable selection 1 : Enables modifications to acceleration/deceleration time Other than 1: Disables modifications to acceleration/deceleration time
0 1512 1612 1712 1812
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item Setting details
Cd.13 Positioning operation speed override
To use the positioning operation speed override function, use this data item to 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.
When changing the speed, use this data item to specify a new speed. The operation halts if you specify "0". Set a value within the following range:
Pr.1
mm (10-2 mm/min)
inch (10-3 inch/min)
degree (10-3 degree/min)
PLS (PLS/s)
Setting range 0 to 2000000000
0 to 2000000000
0 to 2000000000 0 to 50000000
Cd.14 New speed value : When " Pr.83 Speed control 10 x multiplier setting for degree axis" is valid, this will be the setting range 0 to 2000000000 (10-2degree/min).
Cd.15 Speed change request After setting the " Cd.14 New speed value", set this data item to "1" to execute
the speed change (through validating the new speed value).
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.
Setting value
Override value (%) 1 to 300
K
100 1513 1613 1713 1813
Set with a decimal.
Actual value
Conversion into an integer value
Cd.14 New speed value
10n Unit conversion table ( Cd.14 )
n -2 mm/min -3 inch/min -3 degree/min 0 PLS/s
Unit
RSetting value (Decimal)
Example: When the " Cd. 14 New speed value" is set as "20000.00mm /min", the buffer memory stores "2000000".
When " Pr.83 Speed control 10 x multipler setting for degree axis" is valied : "-2"
0 1514 1515
1614 1615
1714 1715
1814 1815
Set with a decimal.
Setting value
Speed change request 1: Executes speed change.
K
The QD75MH resets the value to "0" automatically when the speed change request has been processed. (This indicates the completion of speed change request.)
1
0 1516 1616 1716 1816
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item 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:
Pr.1
mm (10-1 m)
inch (10-5 inch)
degree (10-5 degree)
PLS (PLS)
Setting range 0 to 65535 0 to 65535 0 to 65535 0 to 65535
Cd.16 Inching movement amount
Use this data item to set the JOG speed. Set a value within the following range:
Pr.1
mm (10-2 mm/min)
inch (10-3 inch/min)
Degree (10-3 degree/min)
PLS (PLS/s)
Setting range 0 to 2000000000
0 to 2000000000
0 to 2000000000 0 to 50000000
Cd.17 JOG speed
: When " Pr.83 Speed control 10 x multiplier setting for degree axis" is valid, this will be the setting range 0 to 2000000000 (10-2degree/min).
Cd.18 Interruption request during continuous operation
To interrupt a continuous operation, set "1" to this data item. After processing the interruption request ("1"), the QD75MHutomatically resets the
value to "0".
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.
Actual value
Conversion into an integer value
Cd.16 Inching movement amount
10n Unit conversion table ( Cd.16 )
n -1 m -5 inch -5 degree 0 PLS
Unit
RSetting value (Decimal)
Example: When the " Cd. 16 Inching movement amount" is set as "1.0 m", the buffer memory stores "10".
0 1517 1617 1717 1817
Set with a decimal.
Actual value
Conversion into an integer value
Cd.17 JOG speed
10n Unit conversion table ( Cd.17 )
n -2 mm/min -3 inch/min -3 degree/min 0 PLS/s
Unit
RSetting value (Decimal)
Example: When the " Cd. 17 JOG speed" is set as "20000.00mm /min", the buffer memory stores "2000000".
When " Pr.83 Speed control 10 x multipler setting for degree axis" is valied : "-2"
0 1518 1519
1618 1619
1718 1719
1818 1819
Set with a decimal.
Setting value
Interruption request continuous operation 1: Interrupts continuous operation control or continuous path control.
K
The QD75MH resets the value to "0" automatically when the continuous control interruption request is processed. (This indicates the completion of continuous operation interruption request.)
1
0 1520 1620 1720 1820
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item Setting details
Cd.19 OPR request flag OFF request
The PLC program can use this data item to forcibly turn the OPR request flag from ON to OFF. POINT This parameter is made valid when the increment system is valid.
Cd.20 Manual pulse generator 1 pulse input magnification
This data item determines the factor by which the number of pulses from the manual pulse generator is magnified.
Value "0" : read as "1". Value "1001" or less: read as "1000".
Cd.21 Manual pulse generator enable flag
This data item enables or disables operations using a manual pulse generator.
Cd.22 New torque value
When changing the " Md.35 Torque limit stored value", use this data item to specify a new torque limit stored value.
Set a value within the allowable range of the " Pr.17 Torque limit setting value".
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.
Setting value
K
OPR request flag OFF request 1: Turns the "OPR request flag" from ON to OFF.
The QD75MH resets the value to "0" automatically when the OPR request flag is turned OFF. (This indicates the completion of OPR request flag OFF request.)
1
0 1521 1621 1721 1821
Set with a decimal.
Setting value K
Manul pulse generator 1 pulse input magnification
1 to 1000
1 1522 1523
1622 1623
1722 1723
1822 1823
Set with a decimal.
Setting value
Manual pulse generator enable flag 0: Disable manual pulse generator operation. 1: Enable manual pulse generator operation.
K
0 1524 1624 1724 1824
Set with a decimal.
Setting value K Torque change value 1 to Pr.17 Torque limit setting value
0 1525 1625 1725 1825
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item Setting details
During the speed control stage of the speed-position switching control (INC
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.
The new movement amount has to be set during the speed control stage of the speed-position switching control (INC mode).
The value is reset to "0" when the next operation starts. Set a value within the following range:
Pr.1
mm (10-1 m)
inch (10-5 inch)
degree (10-5 degree)
PLS (PLS)
Setting range 0 to 2147483647
0 to 2147483647
0 to 2147483647
0 to 2147483647
Cd.23 Speed-position switching control movement amount change register
Cd.24 Speed-position switching enable flag
Set whether the external control signal (external command signal [CHG]: "speed- position, position-speed switching request" is selected) is enabled or not.
During the position control stage of the position-speed switching control, it is
possible to change the specification of the speed during the speed control stage. For that, use this data item to specify a new speed.
The new speed has to be set during the position control stage of the position- speed switching control.
The value is reset to "0" when the next operation starts. Set a value within the following range:
Pr.1
mm (10-2 mm/min)
inch (10-3 inch/min)
degree (10-3 degree/min)
PLS (PLS/s)
Setting range 0 to 2000000000
0 to 2000000000
0 to 2000000000 0 to 50000000
Cd.25 Position-speed switching control speed change register
: When " Pr.83 Speed control 10 x multiplier setting for degree axis" is valid, this will be the setting range 0 to 2000000000 (10-2degree/min).
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.
10n
Actual value
n -1 m -5 inch
-5 degree 0 PLS
Unit
R
Setting value (Decimal)
Conversion into an integer value
Unit conversion table ( Cd.23 )
Speed-position switching control movement amount change register
Cd.23
Example: If " Cd. 23 Speed-position switching control movement amount change register" is set as "20000.0 m", the buffer memory stores "200000".
0 1526 1527
1626 1627
1726 1727
1826 1827
Set with a decimal.
Setting value
K
Speed-position switching enable flag 0: Speed control will not be taken over by position control even when the external command signal comes ON. 1: Speed control will be taken over by position control when the external command signal comes ON.
0 1528 1628 1728 1828
Set with a decimal.
10n
Actual value
n -2 mm/min -3 inch/min
-3 degree/min 0 PLS/s
Unit
R
Setting value (Decimal)
Conversion into an integer value
Unit conversion table ( Cd.25 )
Position-speed switching control speed change register
Cd.25
Example: If " Cd. 25 Position-speed switching control speed change register" is set as "2000.00 mm/min", the buffer memory stores "200000".
When " Pr.83 Speed control 10 x multipler setting for degree axis" is valied : "-2"
0 1530 1531
1630 1631
1730 1731
1830 1831
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item Setting details
Cd.26 Position-speed switching control enable flag
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
mm (10-1 m)
inch (10-5 inch)
degree (10-5 degree)
PLS (PLS)
ABS -2147483648
to +2147483647
-2147483648 to
+2147483647 0 to 35999999
-2147483648 to
+2147483647
INC -2147483648
to +2147483647
-2147483648 to
+2147483647
-2147483648 to
+2147483647
-2147483648 to
+2147483647
Cd.27 Target position change value (New address)
When changing the target position during a positioning operation, use this data
item to specify a new speed. The speed will not change if "0" is set. Set a value within the following range:
Pr.1
mm (10-2 mm/min)
inch (10-3 inch/min)
Degree (10-3 degree/min)
PLS (PLS/s)
Setting range 0 to 2000000000
0 to 2000000000
0 to 2000000000 0 to 50000000
Cd.28 Target position change value (New speed)
: When " Pr.83 Speed control 10 x multiplier setting for degree axis" is valid, this will be the setting range 0 to 2000000000 (10-2degree/min).
Cd.29 Target position change request flag
Requests a change in the target position during a positioning operation.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
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.
0 1532 1632 1732 1832
0 1534 1535
1634 1635
1734 1735
1834 1835
Set with a decimal.
Actual value
R
Setting value (Decimal)
10n
n -1 m
-5 inch
-5 degree
0 PLS
Unit
n -2 mm/min
-3 inch/min
-3 degree/min
0 PLS/s
Unit
Conversion into an integer value Unit conversion table ( Cd.27 )
Unit conversion table ( Cd.28 )
Cd. 27 Target position change value (address) Cd. 28 Target position change value (speed)
Example: If " Cd. 28 Target position change value (speed) is set as "10000.00 mm/min", the buffer memory stores "1000000".
When " Pr.83 Speed control 10 x multipler setting for degree axis" is valied : "-2"
0 1536 1537
1636 1637
1736 1737
1836 1837
Set with a decimal.
Setting value
K
Target position change request flag 1: Requests a change in the target position
The QD75MH resets the value to "0" automatically when the new target position value has been written. (This indicates the completion of write operation.)
1
0 1538 1638 1738 1838
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item 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.)
Cd.32 Simultaneous starting axis start data No. (axis 3 start data No.)
Cd.33 Simultaneous starting axis start data No. (axis 4 start data No.)
Use these data items to specify a start data No. for each axis that has to start simultaneously.
Set "0" to any axis that should not start simultaneously.
Cd.34 Step mode To perform a step operation, use this data item to specify the units by which the
stepping should be performed.
Cd.35 Step valid flag This data item validates or invalidates step operations.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
0 1540 1640 1740 1840
0 1541 1641 1741 1841
0 1542 1642 1742 1842
Set with a decimal.
Setting value K
Cd.30 to Cd.33
1 to 600
Simultaneous starting axis start data No.:
0 1543 1643 1743 1843
Set with a decimal.
Setting value
Step mode 0: Stepping by deceleration units 1: Stepping by data No. units
K
0 1544 1644 1744 1844
Set with a decimal.
Setting value
Step valid flag 0: Invalidates step operations 1: Validates step operations
K
0 1545 1645 1745 1845
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item Setting details
Cd.36 Step start information 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. If a value between 1 and 600 is set, a teaching operation is done. The value is cleared to "0" when the QD75MH is nitialized, when a teaching
operation completes, and when a illegal value (601 or higher) is entered.
Cd.40 ABS direction in degrees This data item specifies the ABS moving direction carrying out the position control
when "degree" is selected as the unit.
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.
Setting value
Step start information 1: Continues step opration 2: Restarts operation
K
The QD75MH resets the value to "0" automatically when processing of the step start request completes.
0 1546 1646 1746 1846
Set with a decimal.
Setting value
Skip request 1:
K
The QD75MH resets the value to "0" automatically when processing of the skip request completes.
1
Issues a skip request to have the machine decelerate, stop, and then start the next positioning operation.
0 1547 1647 1747 1847
Set with a decimal.
Setting value
Teaching data selection
K
0: Takes the current feed value as a positioning address. 1: Takes the current feed value as an arc data.
0 1548 1648 1748 1848
Set with a decimal.
Setting value K Teaching positioning data No. 1 to 600
0 1549 1649 1749 1849
Set with a decimal.
Setting value
ABS direction in degrees
K
0: Takes a shortcut. (Specified direction ignored.) 1: ABS circular right 2: ABS circular left
0 1550 1650 1750 1850
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Setting item Setting details
Cd.100 Servo OFF command
Turns OFF each axis servo.
POINT When you want to turn ON the servo for two to four axes with only the servo for
one axis turned OFF, write "1" to storage buffer memory address 1551 and then turn ON all axis servo ON (Y1) signal.
Cd.101 Torque output setting value
Sets the torque output value. POINT
If the " Cd.101 Torque output setting value" is "0", the " Pr.17 Torque limit setting value" will be its value.
If a value beside "0" is set in the " Cd.101 Torque output setting value", the torque generated by the servomotor will be limited by that value.
The " Pr.17 Torque limit setting value" of the servo adjustment parameter torque output setting value becomes effective at the PLC ready signal rising edge.
The " Cd.101 Torque output setting value" (refer to the start) axis control data can be changed at all times. Therefore in the " Cd.101 Torque output setting value" is used when you must change.
(Refer to Section 12.5.4 "Torque change function".)
Cd.108 Gain changing command
The command required to carry out "gain changing" of the servo amplifier from QD75MH.
POINT If the setting is other than "0" and "1", operation is performed in the "gain
changing" with the setting regard as "0". (Refer to the servo amplifier instruction manual.)
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
Storage buffer
memory address
Setting value Default value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.
Setting value
Servo OFF command 0: Servo ON 1: Servo OFF
K
When all axis servo ON is valid.
0 1551 1651 1751 1851
Set with a decimal.
Setting value K
Torque output setting 0 to 1000
0 1552 1652 1752 1852
Set with a decimal.
Setting value
Gain changing command 0: Gain changing command OFF 1: Gain changing command ON
K
0 1559 1659 1759 1859
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MELSEC-Q 5 DATA USED FOR POSITIONING CONTROL
MEMO
6 - 1
6
Chapter 6 PLC Program Used for Positioning Control
The programs required to carry out positioning control with the QD75MH are explained in this chapter.
The PLC 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., must be set in the QD75MH according to the control to be executed, and program for setting the control data or a program for starting the various control must be created.)
The first half of this chapter explains the program configuration of general control, and the latter half explains the program details. Create the required program while referring to the various control details explained in Section 2, and to Chapter 5 "Data used for positioning control".
6.1 Precautions for creating program ...............................................................................6- 2 6.2 List of devices used.....................................................................................................6- 5 6.3 Creating a program .....................................................................................................6- 15 6.3.1 General configuration of program .................................................................6- 15 6.3.2 Positioning control operation program ..........................................................6- 16 6.4 Positioning program examples................................................................................... 6- 20 6.5 Program details .......................................................................................................... 6- 52 6.5.1 Initialization program..................................................................................... 6- 52 6.5.2 Start details setting program......................................................................... 6- 53 6.5.3 Start program ................................................................................................ 6- 55 6.5.4 Continuous operation interrupt program ...................................................... 6- 64 6.5.5 Restart program............................................................................................ 6- 66 6.5.6 Stop program ................................................................................................ 6- 69
6 - 2
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
6.1 Precautions for creating program
The common precautions to be taken when writing data from the PLC CPU to the QD75MH 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.
(1) Reading/writing the data
Setting the data explained in this chapter (various parameters, positioning data, block start data) should be set using GX Configurator-QP. When set with the PLC program, many PLC programs and devices must be used. This will not only complicate the program, but will also increase the scan time. When rewriting the positioning data during continuous path control or continuous positioning control, rewrite the data four positioning data items before the actual execution. If the positioning data is not rewritten before the positioning data four items earlier is executed, the process will be carried out as if the data was not rewritten.
(2) Restrictions to speed change execution interval Provide an interval of 100ms or more when changing the speed with the QD75MH.
(3) Process during overrun Overrun is prevented by the setting of the upper and lower stroke limits with the detail parameter 1. However, this applies only when the QD75MH is operating correctly. It is recommended to create an external circuit including a boundary limit switch to ensure the whole system safety as follows: the external circuit powers OFF the motor when the boundary limit switch operates.
6 - 3
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
(4) System configuration
Unless particularly designated, the PLC 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.
X40 to X4F Extenal devices
Q35B
po w
er s
up pl
y m
od ul
e
Q 25 H C P U
Q D 75 M H 4
Q X 41
Q X 40
Servo amplifier
M
X20 to X3F
Servomotor
00 to 1F
X20 to
X3F
X40 to
X4F
(5) Control unit In the program, the unit of "0 (mm), 2 (degree)" is set for the basic parameter 1.
(6) Communication with QD75MH
There are two methods for communication with QD75MH using the PLC program: a method using an "intelligent function device" and a method using a FROM/TO command. In the PLC program in this chapter and subsequent, the program example using the "intelligent function device" is shown without using an FROM/TO command for communication with QD75MH. When using the FROM/TO command for communication with QD75MH, change the circuit incorporating the "intelligent function device" as follows. (a) When the circuit uses the "intelligent function device" on the destination (D)
side of a MOV command, change the command to a TO command.
MOVP K1 G1505
Intelligent function device
X21
TOP K1 X21
K1505H0 K1
U0\
Designated value at U0
Designated value
at G1505
Number of write data (1)
0
0
6 - 4
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
(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.
MOVP G826 G1
X15
FROMP D100 X15
K826H0 K1
U6\
TOP D100K1H6 K1
X0C
X0C U0\
Set the same device.
0
0
(c) When the circuit uses the "intelligent function device" for a COMPARISON command, change the command to a FROM command and a COMPARISON command.
RST M0
M0
FROMP D102 M0
K1521H0 K1
RST M0
= G1521 K0
= D102 K0
0
0
Data read out
U0\
(d) When the circuit uses the "intelligent function device" for a WAND command, change the command to a FROM command and a WAND command.
H8 D0
M2
FROMP D101 M2
K817H0 K1
0
0
G817WANDP U0\
H8 D0D101WANDP Data read out
REMARK
Refer to QCPU User's Manual (Function Explanation, Program Fundamentals) for the intelligent function devices. Refer to QCPU (Q mode/QnACPU) Programming Manual (Common Instructions) for detail commands used in those programs shown in this chapter and subsequent.
6 - 5
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
6.2 List of devices used
In the PLC programs shown in this chapter and subsequent, the application of the devices used are as follows. The I/O numbers for QD75MH indicate those when QD75MH 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 QD75MH was installed. In addition, change the external inputs, external outputs, internal relays, data resisters, and timers according to the system used. (1) Inputs/outputs, external inputs/external outputs, and internal relays
of QD75MH Device Device
name Axis 1 Axis 2 Axis 3 Axis 4 Application Details when ON
X0 QD75 READY signal Preparation completed X1 Synchronization flag QD75 buffer memory accessible
X4 X5 X6 X7 M code ON signal M code outputting X8 X9 XA XB Error detection signal Error detected XC XD XE XF BUSY signal BUSY (operating) X10 X11 X12 X13 Start complete signal Start completed
Input
X14 X15 X16 X17 Positioning complete signal Positioning completed Y0 PLC READY signal PLC CPU preparation completed Y1 All axis servo ON signal All axis servo ON signal
Y4 Y5 Y6 Y7 Axis stop signal Requesting stop Y8 YA YC YE Forward run JOG start signal Starting forward run JOG Y9 YB YD YF Reverse run JOG start signal Starting reverse run JOG Y10 Y11 Y12 Y13 Positioning start signal Requesting start
Inputs/ outputs
of QD75 MH
Out- put
Y14 Y15 Y16 Y17 Execution prohibition request Execution prohibition X20 OPR request OFF command Commanding OPR request OFF
X21 External command valid command Commanding external command valid setting
X22 External command invalid command Commanding external command invalid
X23 Machine OPR command Commanding machine OPR X24 Fast OPR command Commanding fast OPR X25 Positioning start command Commanding positioning start
X26 Speed-position switching operation command
Commanding speed-position switching operation
X27 Speed-position switching enable command
Commanding speed-position switching enable command
X28 Speed-position switching prohibit command
Commanding speed-position switching prohibit
X29 Movement amount change command Commanding movement amount change
X2A High-level positioning control start command
Commanding high-level positioning control start
External input
(command)
X2B
Positioning start command (dedicated instruction) Commanding positioning start
6 - 6
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device Device
name Axis 1 Axis 2 Axis 3 Axis 4 Application Details when ON
X2C M code OFF command Commanding M code OFF
X2D JOG operation speed setting command
Commanding JOG operation speed setting
X2E Forward run JOG/inching command Commanding forward run JOG/inching operation
X2F Reverse run JOG/inching command Commanding reverse run JOG/inching operation
X30 Manual pulse generator operation enable command
Commanding manual pulse generator operation enable
X31 Manual pulse generator operation disable command
Commanding manual pulse generator operation disable
X32 Speed change command Commanding speed change X33 Override command Commanding override
X34 Acceleration/deceleration time change command
Commanding acceleration/deceleration time change
X35 Acceleration/deceleration time change disable command
Commanding acceleration/deceleration time change disable
X36 Torque change command Commanding torque change X37 Step operation command Commanding step operation X38 Skip operation command Commanding skip operation X39 Teaching command Commanding teaching
X3A Continuous operation interrupt command
Commanding continuous operation interrupt command
X3B
Restart command Commanding restart X3C Parameter initialization command Commanding parameter initialization X3D Flash ROM write command Commanding flash ROM write
X3E Error reset command Commanding error reset X3F Stop command Commanding stop
X40 Position-speed switching operation command
Position-speed switching operation command
X41 Position-speed switching enable command
Position-speed switching enable command
X42 Position-speed switching prohibit command
Position-speed switching prohibit command
X43 Speed change command Speed change command
X44 Inching movement amount setting command
Inching movement amount setting command
X45 Target position change command Target position change command X46 Step start information command Step start information command X47 Positioning start command k10 Positioning start command k10 X48 Override initialization value command Override initialization value command X49 Servo parameter read Servo parameter read X4A Servo parameter write Servo parameter write X4B PLC READY ON PLC READY ON X4D For unit (degree) For unit (degree) X4E Positioning start command (Y start) Positioning start command being given
External input
(command)
X4F
All axis servo ON command All axis servo ON command
6 - 7
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device Device
name Axis 1 Axis 2 Axis 3 Axis 4 Application 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-JOG/Inching operation flag In-JOG/Inching operation flag
M8 Manual pulse generator operation enable command
Commanding manual pulse generator operation enable
M9 Manual pulse generator operating flag Manual pulse generator operating flag
M10 Manual pulse generator operation disable command
Commanding manual pulse generator operation disable
M11 Speed change command pulse Speed change commanded M12 Speed change command storage Speed change command held M13 Override command Requesting override
M14 Acceleration/deceleration time change command
Requesting acceleration/deceleration time change
M15 Torque change command Requesting torque change M16 Step operation command pulse Step operation commanded M17 Skip command pulse Skip commanded M18 Skip command storage Skip command held M19 Teaching command pulse Teaching commanded M20 Teaching command storage Teaching command held
M21 Continuous operation interrupt command
Requesting continuous operation interrupt
M22 Restart command Requesting restart M23
Restart command storage Restart command held
M24 Parameter initialization command pulse Parameter initialization commanded
M25 Parameter initialization command storage Parameter initialization command held
M26 Flash ROM write command pulse Flash ROM write commanded M27 Flash ROM write command storage Flash ROM write command held
M28 Error reset Error reset completed M29 Stop command pulse Stop commanded
M30 Target position change command pulse Target position change commanded
M31 Target position change command storage Target position change command held
M32 PSTRT1 instruction complete device PSTRT1 instruction completed
Internal relay
M33
PSTRT1 instruction error complete device PSTRT1 instruction error completed
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device Device
name Axis 1 Axis 2 Axis 3 Axis 4 Application 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
M39 PFWRT instruction error complete device PFWRT instruction error completed
M40 Override initialization value Override initialization value M41 Unused M42 Unused
Internal relay
M50
Parameter setting complete device Parameter setting completed
(2) Data resisters and timers
Device Device name Axis 1 Axis 2 Axis 3 Axis 4
Application Details of storage
D0 OPR request flag ( Md.31 Status: b3)
D1 Speed (low-order 16 bits)
D2 Speed (high-order 16 bits) ( Cd.25 Position-speed switching control speed change resister)
D3 Movement amount (low-order 16 bits)
D4 Movement amount (high-order 16 bits)
( Cd.23 Speed-position switching control movement amount change resister)
D5 Inching movement amount ( Cd.16 Inching movement amount)
D6 JOG operation speed (low-order 16 bits)
D7 JOG operation speed (high-order 16 bits)
( Cd.17 JOG operation speed)
D8 Manual pulse generator 1 pulse input magnification (low-order)
D9 Manual pulse generator 1 pulse input magnification (high-order)
( Cd.20 Manual pulse generator 1 pulse input magnification)
D10 Manual pulse generator operation enable
( Cd.21 Manual pulse generator enable flag)
D11 Speed change value (low-order 16 bits) D12 Speed change value (high-order 16 bits)
( Cd.14 New speed value)
D13 Speed change request ( Cd.15 Speed change request)
Data register
D14
Override value ( Cd.13 Positioning operation speed override value)
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device Device
name Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage
D15 Acceleration time setting (low-order 16 bits)
D16 Acceleration time setting (high-order 16 bits)
( Cd.10 New acceleration time value)
D17 Deceleration time setting (low-order 16 bits)
D18 Deceleration time setting (high-order 16 bits)
( Cd.11 New deceleration time value)
D19 Acceleration/deceleration time change enable
( Cd.12 Acceleration/deceleration time change enable/disable selection in speed change)
D20 Step valid flag ( Cd.35 Step valid flag)
D21 Step mode ( Cd.34 Step mode)
D22 Step start information D23 Target position (low-order 16 bits)
D24 Target position (high-order 16 bits) ( Cd.27 New target position value (address))
D25 Target speed (low-order 16 bits)
D26 Target speed (high-order 16 bits) ( Cd.28 New target position value (speed))
D27 Target position change request ( Cd.29 New target position change value flag)
D28 Unused D29 Unused D30 PSTRT1 instruction control data D31 Completion status D32 Start number D33 TEACH1 instruction control data D34 Completion status D35 Teaching data D36 Positioning data No. D37 PINIT instruction control data D38 Completion status D39 PFWRT instruction control data D40 Completion status
D50 Unit setting ( Pr.1 Unit setting)
Data register
D51
Unit magnification ( Pr.4 Unit magnification)
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device Device
name Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage
D52 No. of pulses per rotation (low-order 16 bits)
D53 No. of pulses per rotation (high-order 16 bits)
( Pr.2 No. of pulses per rotation)
D54 Movement amount per rotation (low-order 16 bits)
D55 Movement amount per rotation (high-order 16 bits)
( Pr.3 Movement amount per rotation)
D56 Bias speed at start (low-order 16 bits) D57 Bias speed at start (high-order 16 bits)
( Pr.7 Bias speed at start)
D68 Point 1 (shape, start No.) D69 Point 2 (shape, start No.) D70 Point 3 (shape, start No.) D71 Point 4 (shape, start No.) D72 Point 5 (shape, start No.) D73 Point 1 (special start instruction) D74 Point 2 (special start instruction) D75 Point 3 (special start instruction) D76 Point 4 (special start instruction) D77
Bl oc
k st
ar t d
at a
(B lo
ck 0
)
Point 5 (special start instruction)
( Da.11 Shape)
( Da.12 Start data No.)
( Da.13 Special start instruction)
( Da.14 Parameter)
D78 Torque change value
D79 Error code ( Md.23 Axis error No.)
D80 Servo series (Pr.100 Servo series)
D81 Absolute position system valid/invalid (Pr.103 Absolute position detection system)
D82 Motor capacity (Pr.100 Servo series)
D85 Return home position method ( Pr.43 Bias speed at start)
D100 Positioning identifier D101 M code D102 Dwell time D103 Unused D104 Command speed (low-order 16 bits) D105 Command speed (high-order 16 bits)
Data register
D106
Positioning address (low-order 16 bits)
Data No.1 ( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated) ( Da.6 Positioning address/
movement amount)
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device Device
name Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage
D107 Positioning address (high-order 16 bits)
D108 Circular interpolation address (low-order 16 bits)
D109 Circular interpolation address (high-order 16 bits)
( Da.7 Circular interpolation address) ( Da.8 Command speed) ( Da.9 Dwell time) ( Da.10 M code)
D110 Positioning identifier D111 M code D112 Dwell time D113 Unused D114 Command speed (low-order 16 bits) D115 Command speed (high-order 16 bits) D116 Positioning address (low-order 16 bits) D117 Positioning address (high-order 16 bits)
D118 Circular interpolation address (low-order 16 bits)
D119 Circular interpolation address (high-order 16 bits)
Data No.2 ( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated) ( Da.6 Positioning address/
movement amount) ( Da.7 Circular interpolation address) ( Da.8 Command speed) ( Da.9 Dwell time) ( Da.10 M code)
D120 Positioning identifier D121 M code D122 Dwell time D123 Unused D124 Command speed (low-order 16 bits) D125 Command speed (high-order 16 bits) D126 Positioning address (low-order 16 bits) D127 Positioning address (high-order 16 bits)
D128 Circular interpolation address (low-order 16 bits)
D129 Circular interpolation address (high-order 16 bits)
Data No.3 ( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated) ( Da.6 Positioning address/
movement amount) ( Da.7 Circular interpolation address) ( Da.8 Command speed) ( Da.9 Dwell time) ( Da.10 M code)
D130 Positioning identifier D131 M code D132 Dwell time D133 Unused D134 Command speed (low-order 16 bits) D135 Command speed (high-order 16 bits) D136 Positioning address (low-order 16 bits) D137 Positioning address (high-order 16 bits)
D138 Circular interpolation address (low-order 16 bits)
D139 Circular interpolation address (high-order 16 bits)
Data No.4 ( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated) ( Da.6 Positioning address/
movement amount) ( Da.7 Circular interpolation address) ( Da.8 Command speed) ( Da.9 Dwell time) ( Da.10 M code)
D140 Positioning identifier D141 M code D142 Dwell time
Data register
D143
Unused
Data No.5 ( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.)
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device Device
name Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage
D144 Command speed (low-order 16 bits) D145 Command speed (low-order 16 bits) D146 Positioning address (low-order 16 bits) D147 Positioning address (high-order 16 bits)
D148 Circular interpolation address (low-order 16 bits)
D149 Circular interpolation address (high-order 16 bits)
( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated) ( Da.7 Circular interpolation address) ( Da.8 Command speed) ( Da.9 Dwell time) ( Da.10 M code)
D150 Positioning identifier D151 M code D152 Dwell time D153 Unused D154 Command speed (low-order 16 bits) D155 Command speed (high-order 16 bits) D156 Positioning address (low-order 16 bits) D157 Positioning address (high-order 16 bits)
D158 Circular interpolation address (low-order 16 bits)
D159 Circular interpolation address (high-order 16 bits)
Data No.6 ( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated) ( Da.6 Positioning address/
movement amount) ( Da.7 Circular interpolation address) ( Da.8 Command speed) ( Da.9 Dwell time)
( Da.10 M code)
D190 Positioning identifier D191 M code D192 Dwell time D193 Unused D194 Command speed (low-order 16 bits) D195 Command speed (high-order 16 bits) D196 Positioning address (low-order 16 bits) D197 Positioning address (high-order 16 bits)
D198 Circular interpolation address (low-order 16 bits)
D199 Circular interpolation address (high-order 16 bits)
Data No.10 ( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated) ( Da.6 Positioning address/
movement amount) ( Da.7 Circular interpolation address) ( Da.8 Command speed) ( Da.9 Dwell time)
( Da.10 M code)
D200 Positioning identifier D201 M code D202 Dwell time D203 Unused D204 Command speed (low-order 16 bits) D205 Command speed (high-order 16 bits) D206 Positioning address (low-order 16 bits) D207 Positioning address (high-order 16 bits)
D208 Circular interpolation address (low-order 16 bits)
Data register
D209
Circular interpolation address (high-order 16 bits)
Data No.11 ( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated) ( Da.6 Positioning address/
movement amount) ( Da.7 Circular interpolation address) ( Da.8 Command speed) ( Da.9 Dwell time)
( Da.10 M code)
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device Device
name Axis 1 Axis 2 Axis 3 Axis 4 Application Details of storage
D240 Positioning identifier D241 M code D242 Dwell time D243 Unused D244 Command speed (low-order 16 bits) D245 Command speed (high-order 16 bits) D246 Positioning address (low-order 16 bits) D247 Positioning address (high-order 16 bits)
D248 Circular interpolation address (low-order 16 bits)
D249 Circular interpolation address (high-order 16 bits)
Data No.15 ( Da.1 Operation pattern) ( Da.2 Control system) ( Da.3 Acceleration time No.) ( Da.4 Deceleration time No.) ( Da.5 Axis to be interpolated) ( Da.6 Positioning address/
movement amount) ( Da.7 Circular interpolation address) ( Da.8 Command speed) ( Da.9 Dwell time)
( Da.10 M code)
SD1026 Day, hour data
Data register
SD1026
Minute, second data T0 PLC READY signal OFF confirmation
Timer T1
PLC READY signal OFF confirmation
PLC READY signal OFF
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device name Device Application Details of storage
U0\G806 Error code ( Md.23 Axis error No.)
U0\G809 Axis operation status ( Md.26 Axis operation status)
U0\G817 Status ( Md.31 Status)
U0\G1500 Positioning start No. ( Cd.3 Positioning start No.)
U0\G1502 Axis error reset ( Cd.5 Axis error reset)
U0\G1503 Restart command ( Cd.6 Restart command)
U0\G1504 M code OFF request (Buffer memory) ( Cd.7 M code OFF request)
U0\G1505 External command valid ( Cd.8 External command valid)
U0\G1513 Positioning operation speed override ( Cd.13 Positioning operation speed override)
U0\G1516 Speed change request ( Cd.15 Speed change request)
U0\G1517 Inching movement amount ( Cd.16 Inching movement amount)
U0\G1520 Interruption request during continuous operation
( Cd.18 Interruption request during continuous operation)
U0\G1521 OPR request flag OFF request ( Cd.19 OPR request flag OFF request)
U0\G1524 Manual pulse generator enable flag ( Cd.21 Manual pulse generator enable flag)
U0\G1526 Speed-position switching control movement amount change register
( Cd.23 Speed-position switching control movement amount change register)
U0\G1528 Speed-position switching control enable flag
( Cd.24 Speed-position switching control enable flag)
U0\G1530 Position-speed switching control speed change register
( Cd.25 Position-speed switching control speed change register)
U0\G1532 Position-speed switching control enable flag
( Cd.26 Position-speed switching control enable flag)
U0\G1538 Target position change request flag ( Cd.29 Target position change request flag)
U0\G1545 Step valid flag ( Cd.35 Step valid flag)
Code
U0\G1547 Skip command ( Cd.37 Skip command)
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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.)
6.3.1 General configuration of program
The general configuration of the "positioning control operation program" is shown below.
Parameter and data are...
Set using GX Configurator-QP
Set using the PLC program
Initialization program
Parameter and data setting program
Start details setting program
Start program
JOG operation program
Manual pulse generator operation program
Sub program
Stop program
Completion of program creation
Start of program creation
Inching operation program
Program for carrying out initialization
Program required to carry out "OPR control", "major positioning control" and "high-level positioning control"
Program required to carry out "manual control"
Program required for "sub functions" and "common functions"
Program for stopping control
Servo parameter
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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.)
No.1
No.2
No.3
Start of program creation
Servo parameter No.4
Set using GX Configurator-QP
Set using PLC program (TO command)Parameter and
data are...
Positioning data setting program
Block start data setting program
Parameter and data setting program
Parameter setting program
When not carrying out "OPR control", the OPR parameters
do not need to be set.
Continued on next page
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
No.5
No.6
No.7
No.8 All axis servo ON [Y1] program
OPR uncomplte ?
No.28 Error reset program
Yes
Absolute system ? No
Continued on next page
Carried out OPR request OFF program
External command function valid setting program
PLC READY signal [Y0] ON program
Refer to Section 6.5.1
Refer to Section 6.5.1
Not carried out OPR is...
Initialization program
Required
Required
No
Yes
Continued from previous page
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Continued from previous page
No.9 Positioning start No. setting program
No.12 JOG operation program
No.15 Manual pulse generator operation program
No.10 Positioning start program
No.11 M code OFF program
Refer to Section 6.5.2
Refer to Section 6.5.3
Refer to Section 11.2.4
Refer to Section 11.4.4
Program to reset the start signal and turn the M code ON signal OFF
Start details setting program
Start program
JOG operation program
Manual pulse generator operation program
Continued on next page
No.14
No.13 Inching operation program Refer to Section 11.3.4
Inching operation program
No.14
Program required to carry out "OPR control" "Major positioning control" "High-level positioning control"
Program required to carry out "manual control"
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
No.16
No.29 Stop program
Speed change program
No.17
No.18
No.19
No.20
No.21
No.22
No.23
No.25
No.26
No.27
Override program
Acceleration/deceleration time change program
Torque change program
Step operation program
Skip program
Teaching program
Flash ROM write program
Parameter initialization program
Restart program
Continuous operation interrupt program
Refer to Section 12.5.1
Refer to Section 12.5.3
Refer to Section 12.5.4
Refer to Section 12.7.1
Refer to Section12.7.2
Refer to Section 12.7.4
Refer to Section 6.5.4
Refer to Section 6.5.5
Refer to Section 13.2
Refer to Section 13.3
Refer to Section 12.5.2
Refer to Section 6.5.6
Program required to reset errors
Sub program
Continued from previous page
Stop program
End of program creation
No.24 Target position change program Refer to Section 12.7.5
Program added according to control details. (Create as required.)
Program used to stop control
No.28 Error reset program
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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 PLC program, set them in the QD75MH using the TO command from the PLC CPU. (Carry out the settings while the PLC READY signal [Y0] is OFF.) When setting the parameters or data with GX Configurator-QP, the [No. 1] to [No. 3] program is not necessary.
6 - 21
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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 QD75MH when the power is turned ON, etc.
Data requiring setting Set the following data to use the OPR request flag OFF request.
Buffer memory address Setting item Setting
value Setting details Axis 1 Axis 2 Axis 3 Axis 4
Cd.19 OPR request flag OFF request 1 Set to "1: Turn OPR request flag OFF". 1521 1621 1721 1821
Refer to Section 5.7 "List of control data" for details on the setting details.
Time chart for OPR OFF request
OFF
ON
OFF
0 1 0
ON
OFF (0)
PLC READY signal [Y0]
QD75 READY signal [X0]
OPR request OFF flag [ Md. 31 Status: b3]
Cd. 19 OPR request flag OFF request
Fig. 6.1 Time chart for OPR OFF request
[2] External command function valid setting program This program is used to validate the "external command signal" beforehand when using the external command functions (external start, speed change, speed- position switching, position-speed switching, skip). (Set which function to use beforehand in " Pr.42 External command function selection".) Set the following data to validate the "external command signal".
Buffer memory address Setting item Setting
value Setting details Axis 1 Axis 2 Axis 3 Axis 4
Cd.8 External command valid 1 Set to "1: Validate external command". 1505 1605 1705 1805
Refer to Section 5.7 "List of control data" for details on the setting details.
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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", "speed- position switching control" and "position-speed switching control", add the respectively required PLC program. (Refer to "Chapter 10" for details on starting the " high-level positioning control.)
Procedures for setting the starting details
(1) Set the "positioning start No." corresponding to the control to be started in
" Cd.3 Positioning start No.".
Buffer memory address Setting item Setting
value Setting details Axis 1 Axis 2 Axis 3 Axis 4
Cd.3 Positioning start No.
1 to 600 : Positioning data No. 9001 : Machine OPR 9002 : Fast OPR 9003 : Current value changing 9004 : Simultaneous start 7000 to 7004 : Block No.
(For "high-level positioning control")
1500 1600 1700 1800
Refer to Section 5.7 "List of control data" for details on the setting details.
(2) For "high-level positioning control", set the "positioning start point No." of the
block to be started in " Cd.4 Positioning start point No.".
Buffer memory address Setting item Setting
value Setting details Axis 1 Axis 2 Axis 3 Axis 4
Cd.4 Positioning start point No. 1 to 50 : Point No. of block start data 1501 1601 1701 1801
Refer to Section 5.7 "List of control data" for details on the setting details.
(3) Set the following control data for "speed-position switching control (INC
mode)". (Set " Cd.23 Speed-position switching control movement amount change register as required". Setting is not required in the ABS mode.)
Buffer memory address Setting item Setting
value Setting details Axis 1 Axis 2 Axis 3 Axis 4
Cd.23 Speed-position switching control movement amount change register
Set the new value when the position control's movement amount is to be changed during speed control.
1526 1527
1626 1627
1726 1727
1826 1827
Cd.24 Speed-position switching enable flag 1 When "1" is set, the speed-position switching
signal will be validated. 1528 1628 1728 1828
Refer to Section 5.7 "List of control data" for details on the setting details.
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
(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".)
Buffer memory address Setting item Setting
value Setting details Axis 1 Axis 2 Axis 3 Axis 4
Cd.25 Position-speed switching control speed change resister
Used to set a new value when speed is changed during positioning control.
1530 1531
1630 1631
1730 1731
1830 1831
Cd.26 Position-speed switching enable flag 1 To validate position-speed switching signal, this
is set to 1. 1532 1632 1732 1832
Refer to Section 5.7 "List of control data" for details on the setting details.
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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
PLC CPU
Buffer memory
1500
Input/output signal
1 1)
ON 2)
Y10
Servo amplifier
Control with positioning data No. 1
3)
When starting positioning with the scan after the completion of positioning, insert X10 as an interlock so that positioning is started after Y10 is turned OFF and X10 is turned OFF.
1) Set the "positioning start No." in " Cd.3 Positioning start No." according to the control to be started.
(In the above example, set positioning data No. "1".) 2) Input the positioning start signal [Y10] or the external command signal. 3) The positioning data No. "1" will start.
Fig. 6.2 Procedures for starting control (for axis 1)
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Servo ON conditions Setting of servo parameter
PLC READY signal Y0 ON
All axis servo ON Y1 ON
Starting conditions To start the control, the following conditions must be satisfied. The necessary start conditions must be incorporated in the PLC program so that the control is not started when the conditions are not satisfied.
Device Signal name Signal state
Axis 1 Axis 2 Axis 3 Axis 4
PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75MH preparation completed X0 All axis servo ON ON All axis servo is ON Y1
Synchronization flag ON QD75MH buffer memory Accessible X1
Axis stop signal OFF Axis stop signal is OFF. Y4 Y5 Y6 Y7 M code ON signal OFF M code ON signal is OFF. X4 X5 X6 X7 Error detection signal OFF There is no error X8 X9 XA XB BUSY signal OFF BUSY signal is OFF. XC XD XE XF
Interface signal
Start complete signal OFF Start complete signal is OFF. X10 X11 X12 X13 Forced stop input signal ON There is no forced stop input Stop signal OFF Stop signal is OFF. Upper limit (FLS) ON Within limit range
External signal
Lower limit (RLS) ON Within limit range
: When the synchronous setting of the PLC CPU is made in the nonsynchronous mode, this must be provided as an interlock. When it is made in the synchronous mode, no interlock must be provided in the program because the flag is turned ON when calculation is run on the PLC CPU.
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MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
[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. If the positioning start signal is ON even after positioning is completed, the start complete signal will remain ON.
(3) If the positioning start signal turns ON again while the BUSY signal is ON, the warning "operating start (warning code: 100)" will occur.
(4) The process taken when positioning is completed will differ according to case (a) and (b) below.
(a) When next positioning is not to be carried out If a dwell time is set, the system will wait for the set time to pass, and then
positioning will be completed. When positioning is completed, the BUSY signal will turn OFF and the
positioning complete signal will turn ON. However, when using speed control or when the positioning complete signal ON time is "0", the signal will not turn ON.
When the positioning complete signal ON time is passed, the positioning complete signal will turn OFF.
(b) When next positioning is to be carried out
If a dwell time is set, the system will wait for the set time to pass. When the set dwell time is passed, the next positioning will start.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
V
t
OFF
ON
Positioning start signal [Y10, Y11, Y12, Y13]
Start complete signal [X10, X11, X12, X13]
BUSY signal [XC, XD, XE, XF]
Positioning complete signal [X14, X15, X16, X17]
Positioning
All axis servo ON [Y1]
Dwell time
Fig. 6.3 ON/OFF timing of each signal at start of positioning
6 - 58
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
POINT
The BUSY signal [XC, XD, XE, XF] turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the PLC program. (The ON status of the start complete signal [X10, X11, X12, X13], positioning complete signal [X14, X15, X16, X17] and M code ON signal [X4, X5, X6, X7] can be detected in the PLC program.)
Starting time chart The time chart for starting each control is shown below.
(1) Time chart for starting "machine OPR"
QD75 READY signal
Start complete signal
BUSY signal
Error detection signal
OFF
OFF ON
ON
ON
ON
OFF
OFF
OFF
9001
ON
ON
OFF
OFF
Near-point dog
V
t
OPR request flag [ Md. 31 Status: b3]
Cd. 3 Positioning start No.
Positioning start signal [Y10]
PLC READY signal [Y0]
[X0]
[X10]
[XC]
[X8]
OPR complete flag [ Md. 31 Status: b4]
Zero signal
OFF ON
All axis servo ON [Y1]
OFF
ON
Fig. 6.4 Time chart for starting "machine OPR"
6 - 59
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
(2) Time chart for starting "fast OPR"
OFF
OFF ON
ON
ON
ON
OFF
OFF
OFF
9002
V
t
ON
OFF
Positioning start signal
PLC READY signal
QD75 READY signal
Start complete signal
BUSY signal
Error detection signal
Cd. 3 Positioning start No.
[Y10]
[Y0]
[X0]
[X10]
[XC]
[X8]
OFF ON
All axis servo ON [Y1]
Fig. 6.5 Time chart for starting "fast OPR"
(3) Time chart for starting "major positioning control"
1
V
t
Positioning data No. Dwell time 2(00)
Operation pattern 1(11)
Positioning start signal
PLC READY signal
QD75 READY signal
Start complete signal
BUSY signal
Error detection signal
Cd. 3 Positioning start No.
Positioning complete signal
[Y10]
[Y0]
[X0]
[X10]
[XC]
[X14]
[X8]
All axis servo ON [Y1]
Fig. 6.6 Time chart for starting "major positioning control"
6 - 60
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
(4) Time chart for starting "speed-position switching control"
V
t
Dwell timeOperation pattern(00) Speed control
Speed-position switching signal
Position control
0
1
1
Positioning data No.(1)
Positioning start signal
PLC READY signal
QD75 READY signal
Start complete signal
BUSY signal
Error detection signal
Positioning complete signal
Cd. 3 Positioning start No.
Cd. 24 Speed-position switching enable flag
[Y10]
[Y0]
[X0]
[X10]
[XC]
[X14]
[X8]
(external)
All axis servo ON [Y1]
Fig. 6.7 Time chart for starting "speed-position switching control"
(5) Time chart for starting "position-speed switching control"
Positioning start signal
Sequencer READY signal
QD75 READY complete signal
Start complete signal
BUSY signal
Positioning complete signal
V
t
Error detection signal
Operation pattern (00) Positioning data No. (1)
Position control Speed control
0
1Cd. 3 Positioning start No.
Cd. 26 Position-speed switching enable flag
1
[Y10]
[Y0]
[X0]
[X10]
[XC]
[X14]
[X8]
Stop command
Position-speed switching signal (external)
All axis servo ON [Y1]
Fig. 6.8 Time chart for starting "position-speed switching control"
6 - 61
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Machine OPR operation timing and process time
BUSY signal
Waiting In OPR Waiting
Positioning operation
t1
t4
t2
t3
Md. 26 Axis operation status
OPR request flag [ Md. 31 Status: b3]
Positioning start signal [Y10, Y11, Y12, Y13]
[XC, XD, XE, XF]
Start complete signal [X10, X11, X12, X13]
OPR complete flag [ Md. 31 Status: b4]
Fig. 6.9 Machine OPR operation timing and process time
Normal timing time Unit: ms
t1 t2 t3 t4 0.9 to 1.3 2.7 to 4.9 0 to 0.8 0 to 1.7
The t1 timing time could be delayed depending on the operating conditions of
the other axis.
6 - 62
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
Position control operation timing and process time
t1
t2
t3
t4
t5
t2
t6
Cd. 7 M code OFF request
Waiting Controlling position Waiting
BUSY signal
Positioning operation
Md. 26 Axis operation status
Cd. 7 M code OFF request
Positioning start signal [Y10, Y11, Y12, Y13]
[XC, XD, XE, XF]
M code ON signal (WITH mode) [X4, X5, X6, X7]
Positioning start complete signal [X10, X11, X12, X13]
M code ON signal (AFTER mode)
[X4, X5, X6, X7]
[X14, X15, X16, X17] Positioning complete signal
OPR complete flag [ Md. 31 Status: b4]
Fig. 6.10 Position control operation timing and process time
When the positioning start signal turns ON, if all signals marked with an
asterisk ( ) are already ON, the signals marked with an asterisk ( ) will turn OFF when the positioning start signal turns ON.
Normal timing time Unit: ms t1 t2 t3 t4 t5 t6
1.2 to 2.0 0 to 2.0 0 to 1.7 3.5 to 4.6 0 to 1.0 Follows parameters
The t1 timing time could be delayed depending on the operating conditions of
the other axis.
6 - 63
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
[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 QD75MH. 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. To start positioning control by inputting the external command signal, set the "data required to be set" and then turn ON the external command signal.
Restrictions When starting by inputting the external command signal, the start complete signal [X10, X11, X12, X13] will not turn ON.
Data required to be set To execute positioning start with the external command signal, set parameter ( Pr.42 ) beforehand, and validate the "external command signal" with the "external command signal validity setting program (program No. 5).
Buffer memory address Setting item Setting
value Setting details Axis 1 Axis 2 Axis 3 Axis 4
Pr.42
External command function selection 0 Set to "0: External positioning start". 62 212 362 512
Cd.8 External command valid 1 Set to "1: Validate external command". 1505 1605 1705 1805
Refer to Chapter 5 "Data Used for Positioning Control" for details on the setting details.
Starting time chart
0
V
t
1(00)
External command signal
1
01Cd. 8 External command valid
Dwell timeOperation pattern
Positioning start signal
PLC READY signal
QD75 READY signal
Positioning start complete signal
BUSY signal
Error detection signal
Positioning complete signal
Positioning data No.
Pr. 42 External command function selection
Cd. 3 Positioning start No.
[Y10]
[Y0]
[X0]
[X10]
[XC]
[X14]
[X8]
All axis servo ON [Y1]
Fig. 6.11 Time chart for starting with external start signal
6 - 64
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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. To execute continuous operation interruption, set "1: Continuous operation interrupt request" for " Cd.18
Interrupt request during continuous operation".
[1] Operation during continuous operation interruption
Start
Positioning data No. 10 Positioning data No. 11 Positioning data No. 12
V
t
Stop process when stop command turns ON
Start
Positioning data No. 10 Positioning data No. 11 Positioning data No. 12
V
t
Stop process at continuous operation interrupt request
Cd.18 is set "1"
ON
Stop command
ON[For Stop comand ON]
[For Cd.18 is set "1" ]
Fig. 6.12 Operation during continuous operation interruption
[2] Restrictions (1) When the "continuous operation interrupt request" is executed, the positioning
will end. Thus, after stopping, the operation cannot be "restarted". When " Cd.6 Restart command" is issued, a warning "Restart not possible" (warning code: 104) will occur.
(2) Even if the stop command is turned ON after executing the "continuous operation interrupt request", the "continuous operation interrupt request" cannot be canceled. Thus, if "restart" is executed after stopping by turning the stop command ON, the operation will stop when the positioning data No. where "continuous operation interrupt request" was executed is completed.
6 - 65
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
(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. for continuous positioning control (pattern: 01)
Start
V
t
Stop process when operation cannot stop at positioning data No. 10
Positioninig data No. 10 Positioning data No. 11 Positioning data No. 12
Continuous operation interrupt request
Even when the continuous operation interrupt is requested, the remaining distance is insufficient, and thus, the operation cannot stop at the positioning No. being executed.
(4) When operation is not performed (BUSY signal [XC, XD, XE, XF] is OFF), the interrupt request during continuous operation is not accepted. It is cleared to 0 at a start or restart.
[3] Control data requiring settings
Set the following data to interrupt continuous operation. Buffer memory address
Setting item Setting value Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Cd.18 Interrupt request during continuous operation 1 Set "1: Interrupt request during continuous
operation". 1520 1620 1720 1820
Refer to Section 5.7 "List of control data" for details on the setting details.
6 - 66
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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 2
Axis 1
Stop with stop command
Positioning data No. 11 continues with restart command
Positioning with positioning data No. 11
Positioning with positioning data No. 10
Positioning with positioning data No. 12
Fig. 6.13 Restart operation
[2] Restrictions (1) Restarting can be executed only when the " Md.26 Axis operation status" is
"stopped". If the axis operation is not "stopped", restarting is not possible.
(2) Do not execute restart while the stop command is ON. If restart is executed while stopped, an error "Stop signal ON at start" (error code: 106) will occur, and the " Md.26 Axis operation status" will change to "error occurring". Thus, even if the error is reset, the operation cannot be restarted.
(3) Restarting can be executed even while the positioning start signal is ON. However, make sure that the positioning start signal does not change from OFF to ON while stopped. If the positioning start signal changes from OFF to ON, positioning will start from the positioning data No. of designated point's positioning data No. set in " Cd.3 Positioning start No.".
(4) If positioning is ended with the continuous operation interrupt request, the operation cannot be restarted. If restart is requested, a warning "Restart not possible" (warning code: 104) will occur.
(5) When stopped with interpolation operation, write "1: Restarts" into " Cd.6 Restart command" for the reference axis, and then restart.
(6) If the " Md.26 Axis operation status" is not "stopped" when restarting, a warning "Restart not possible" (warning code: 104) will occur, and the process at that time will be continued.
6 - 67
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
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. Buffer memory address
Setting item Setting value Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Cd.6 Restart command 1 Set "1: Restarts". 1503 1603 1703 1803
Refer to Section 5.7 "List of control data" for details on the setting details.
[4] Restarting conditions The following conditions must be satisfied when restarting. (Assemble the required conditions into the PLC program as an interlock.)
(1) Operation state " Md.26 Axis operation status" is "1: Stopped"
(2) Signal state
Device Signal name Signal state
Axis 1 Axis 2 Axis 3 Axis 4
PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75MH preparation completed X0 All axis servo ON ON All axis servo ON Y1
Synchronization flag ON QD75MH buffer memory Accessible X1
Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Error detection signal OFF There is no error X8 X9 XA XB BUSY signal OFF BUSY signal is OFF XC XD XE XF
Interface signal
Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13 Forced stop input signal ON There is no forced stop input Stop signal OFF Stop signal is OFF Upper limit (FLS) ON Within limit range
External signal
Lower limit (RLS) ON Within limit range
: When the synchronous setting of the PLC CPU is made in the nonsynchronous mode, this must be provided as an interlock. When it is made in the synchronous mode, no interlock must be provided in the program because the flag is turned ON when calculation is run on the PLC CPU.
6 - 68
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
(5) Time chart for restarting
0
V
t
1
Dwell time
8 1 8 0
00
Positioning start signal
Axis stop signal
QD75 READY signal
Start complete signal
BUSY signal
Error detection signal
Cd. 6 Restart command
Positioning complete signal
PLC READY signal
Md. 26 Axis operation status
[Y10]
[Y4]
[Y0]
[X0]
[X10]
[XC]
[X14]
[X8]
All axis servo ON [Y1]
Fig. 6.14 Time chart for restarting
6 - 69
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
6.5.6 Stop program
The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external device 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) When each control is completed normally. (2) When the Servo READY signal is turned OFF. (3) When a PLC CPU error occurs. (4) When the PLC READY signal is turned OFF. (5) When an error occurs in QD75MH. (6) When control is intentionally stopped
(Stop signal from PLC CPU turned ON, stop signal from peripheral devices)
The stop process for the above cases is shown below. (Excluding item (1) above "When each control is completed normally".)
[1] Stop process
Stop process OPR control Manual control
Stop cause Stop axis M code
ON signal after stop
Axis operation
status
( Md.26 )
after stopping
Machine OPR
control
Fast OPR control
Major positioning
control
High-level positioning
control
JOG/ Inching
operation
Manual pulse generator operation
"Forced stop input signal from an external device" OFF
All axes No change Servo OFF
Servo READY OFF Servo amplifier
power supply OFF
Servo amplifier disconnected
Servo alarm During error
Forced stop
Forced stop input to servo amplifier
Each axis
No change
Servo OFF
Servo OFF or free run (The operation stops with dynamic brake)
Fatal stop (Stop group 1)
Hardware stroke limit upper/lower limit error occurrence
Each axis
No change During error
Deceleration stop/sudden stop
(Select with " Pr.37 Sudden stop group 1 sudden stop
selection".)
Deceleration stop
Error occurs in PLC CPU
No change
PLC READY signal OFF
Turns OFF Emergency stop (Stop group 2)
Error in test mode
All axes
No change
During error
Delegation stop/sudden stop
(Select with " Pr.38 Sudden stop group 2 sudden stop
selection".)
Deceleration stop
Axis error detection (Error other than stop group 1 or 2)
Relatively safe stop (Stop group 3)
"Stop" input from peripheral device
Each axis
No change During error
"Stop signal" ON from external device
Intentional stop (Stop group 3)
"Axis stop signal" ON from PLC CPU
Each axis
No change
During stop (during standing by)
Deceleration stop/sudden stop
(Select with " Pr.39 Sudden stop group 3 sudden stop
selection".)
Deceleration stop
6 - 70
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
[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".
(3) Servo OFF or free run (The operation stops with dynamic brake or electromagnetic brake.) The operation does not decelerate. The QD75MH immediately stops the command, but the operation will coast for the droop pulses accumulated in the servo amplifier deviation counter.
Actual deceleration time
Set deceleration time
Positioning speed
Actual sudden stop deceleration time
Pr. 36 Sudden stop deceleration time
Coast for the droop pulses accumulated in the servo amplifier deviation counter.
Positioning speed Positioning speed
Fig. 6.15 Types of stop processes
REMARK
1 "Deceleration stop" and "sudden stop" are selected with the details parameter 2 "stop group 1 to 3 sudden stop selection". (The default setting is "deceleration stop".)
6 - 71
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
[3] Order of priority for stop process
The order of priority for the QD75 stop process is as follows. Deceleration stop < Sudden stop < Servo OFF
(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". (a) Manual control
Independently of the Cd.42 setting, a deceleration curve is re-processed from the speed at stop cause occurrence.
(b) OPR control, positioning control When Cd.42 = 0 (deceleration curve re-processing):
A deceleration curve is re-processed from the speed at stop cause occurrence.
When Cd.42 = 1 (deceleration curve continuation): The current deceleration curve is continued after stop cause occurrence. (For details, refer to Section 12.7.10 "Stop command processing for deceleration stop function".)
(2) If the stop signal designated for sudden stop turns ON or a stop cause occurs during deceleration, the sudden stop process will start from that point. However, if the sudden stop deceleration time is longer than the deceleration time, the deceleration stop process will be continued even if a sudden stop cause occurs during the deceleration stop process.
Positioning speed Deceleration stop process
Stop
Sudden stop cause
Sudden stop deceleration process Deceleration stop process continues Process for sudden stop
Positioning speed Deceleration stop process
Stop
Sudden stop cause
Example
The process when a sudden stop cause occurs during deceleration stop is shown below.
6 - 72
MELSEC-Q 6 PLC PROGRAM USED FOR POSITIONING CONTROL
[4] Inputting the stop signal during deceleration
(1) Even if stop is input during deceleration (including automatic deceleration), the
operation will stop at that deceleration speed. (2) If stop is input during deceleration for OPR, the operation will stop at that
deceleration speed. If input at the creep speed, the operation will stop immediately.
(3) If a stop cause, designated for sudden stop, occurs during deceleration, the sudden stop process will start from that point. The sudden stop process during deceleration is carried out only when the sudden stop time is shorter than the deceleration stop time.
7 - 1
7
Chapter 7 Memory Configuration and Data Process
The QD75MH memory configuration and data transmission are explained in this chapter.
The QD75MH is configured of two memories. By understanding the configuration and roles of two memories, the QD75MH 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.
7.1 Configuration and roles of QD75MH memory.............................................................7- 2 7.1.1 Configuration and roles of QD75MH memory ...............................................7- 2 7.1.2 Buffer memory area configuration..................................................................7- 5 7.2 Data transmission process...........................................................................................7- 8
7 - 2
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
7.1 Configuration and roles of QD75MH memory
7.1.1 Configuration and roles of QD75MH memory
The QD75MH is configured of the following two memories. Area configuration
Memory configuration Role
Pa ra
m et
er a
re a
M on
ito r d
at a
ar ea
C on
tro l d
at a
ar ea
Po si
tio ni
ng d
at a
ar ea
(N
o. 1
to 6
00 )
Bl oc
k st
ar t d
at a
ar ea
(N
o. 70
00 to
7 00
4)
PL C
C PU
m em
o ar
ea
Se rv
o pa
ra m
et er
a re
a
Ba ck
up
Buffer memory
Area that can be directly accessed with PLC program from PLC CPU.
Not pos- sible
Flash ROM
Area for backing up data required for positioning.
Pos- sible
: Setting and storage area provided, Not possible: Data is lost when power is turned OFF : Setting and storage area not provided, Possible: Data is held even when power is turned OFF
7 - 3
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
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.80 to Pr.84 for each axis.)
Monitor data area
Area where positioning system or QD75MH operation state is stored. (Set the items indicated with Md.1 to Md.48 , Md.100 to Md.111 .)
Control data area
Area where data for operating and controlling positioning system is set and stored. (Set the items indicated with Cd.1 to Cd.42 , Cd.100 to Cd.108 .)
Positioning data area (No.1 to 600)
Area where positioning data No.1 to 600 is set and stored. (Set the items indicated with Da.1 to Da.10 for each positioning data.)
Block start data area (No.7000 to 7004)
Area where information required only when carrying out block No. 7000 to 7004 high-level positioning is set and stored. (Set the items indicated with Da.11 to Da.19 .)
PLC CPU memo area
Area where condition judgment values required for special positioning, etc., are set and stored.
Servo parameter area
Area where parameters, such as servo parameters, required for positioning control on servo amplifier are set and stored. (Set the items indicated with Pr.100 to Pr.204 for each axis.)
7 - 4
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
QD75MH
Parameter area
Positioning data area (No.1 to 600)
Block start data area (No. 7000 to 7004)
PLC CPU memo area
Monitor data area
Control data area
Flash ROM Buffer memory
Parameter area
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004) Copy
Data is backed up here.
User accesses here.
Servo parameter area (No.30100 to 30804)
Servo parameter area (No. 30100 to 30804)
7 - 5
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
7.1.2 Buffer memory area configuration
The QD75MH buffer memory is configured of the following types of areas. Buffer memory address
Buffer memory area configuration Axis 1 Axis 2 Axis 3 Axis 4
Writing possibility
Basic parameter area 0 to 15 150 to 165 300 to 315 450 to 465 Detailed parameter area 17 to 69 167 to 219 317 to 369 467 to 519 OPR basic parameter area 70 to 78 220 to 228 370 to 378 520 to 528
Parameter area
OPR detailed parameter area 79 to 89 229 to 239 379 to 389 529 to 539
Possible
System monitor area 1200 to 1499 Monitor data area
Axis monitor area 800 to 899 900 to 999 1000 to 1099 1100 to 1199 Not possible
System control data area 1900 to 1999 Control data area
Axis control data area 1500 to 1599 1600 to 1699 1700 to 1799 1800 to 1899 Possible
Positioning data area (No.1 to 600)
Positioning data area 2000 to 7999 8000 to 13999
14000 to 19999
20000 to 25999
26000 to 26049
27000 to 27049
28000 to 28049
29000 to 29049
Block start data area 26050 to 26099
27050 to 27099
28050 to 28099
29050 to 29099
Block start data area (No.7000)
Condition data area 26100 to 26199
27100 to 27199
28100 to 28199
29100 to 29199
26200 to 26249
27200 to 27249
28200 to 28249
29200 to 29249
Block start data area 26250 to 26299
27250 to 27299
28250 to 28299
29250 to 29299
Block start data area (No.7001)
Condition data area 26300 to 26399
27300 to 27399
28300 to 28399
29300 to 29399
26400 to 26449
27400 to 27449
28400 to 28449
29400 to 29449
Block start data area 26450 to 26499
27450 to 27499
28450 to 28499
29450 to 29499
Block start data area (No.7002)
Condition data area 26500 to 26599
27500 to 27599
28500 to 28599
29500 to 29599
26600 to 26649
27600 to 27649
28600 to 28649
29600 to 29649
Block start data area 26650 to 26699
27650 to 27699
28650 to 28699
29650 to 29699
Block start data area (No.7003)
Condition data area 26700 to 26799
27700 to 27799
28700 to 28799
29700 to 29799
26800 to 26849
27800 to 27849
28800 to 28849
29800 to 29849
Block start data area 26850 to 26899
27850 to 27899
28850 to 28899
29850 to 29899
Block start data area (No.7004)
Condition data area 26900 to 26999
27900 to 27999
28900 to 28999
29900 to 29999
Possible
PLC CPU memo area PLC CPU memo area 30000 to 30099 Possible
7 - 6
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
Buffer memory address
Buffer memory area configuration Axis 1 Axis 2 Axis 3 Axis 4
Writing possibility
Basic setting parameter area 30100 to 30115
30300 to 30315
30500 to 30515
30700 to 30715
Gain filter setting parameter area
30119 to 30152
30319 to 30352
30519 to 30552
30719 to 30752
Expansion setting parameter area
30164 to 30184
30364 to 30384
30564 to 30584
30764 to 30784
Servo parameter area
Input/output setting parameter area
30202 to 30204
30402 to 30404
30602 to 30604
30802 to 30804
Possible
Use of address Nos. skipped above is prohibited. If used, the system may not operate correctly.
POINT When the parameter of the servo amplifier side is changed, it is transmitted to the servo memory area in the buffer memory after the QD75MH is read automatically with parameters. (1) When changing the servo parameters by the auto tuning. (2) When the servo parameter is changing after the MR-configurator is connected directly with the servo
amplifier.
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MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
MEMO
7 - 8
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
7.2 Data transmission process
The data is transmitted between the QD75MH memories with steps (1) to (10) shown below.
The data transmission patterns numbered (1) to (10) on the right page correspond to the numbers (1) to (10) on the left page.
ROM
(3) PLC READY signal [Y0] OFF ON
Pr.10Pr.8 to Pr.25 Pr.42
(5) Servo amplifier read
Servo amplifer
Pr.7Pr.1
Pr.11 Pr.24 Pr.43 Pr.57
Pr.200 Pr.201
(2) Valid upon execution of the TO instruction.
For PLC READY signal ON : Valid
Parameter area (a)
Parameter area (b)
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004)
PLC CPU memo area
Monitor data area
Control data area
Buffer memory
(1) Power supply ON/ PLC CPU reset
(2) TO command(4) FROM command
QD75MH
PLC CPU
Parameter area (a)
Parameter area (b)
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004)
Flash ROM
Servo parameter area (No.30100 to 30804)
Servo parameter area (No.30100 to 30804)
Parameter area (a)
Parameter area (b)
to
to
to to
Pr.84
Pr.80 Pr.83to
7 - 9
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
(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. At this time, when the "parameter area (b) 1", "positioning data (No. 1 to 600)", "block start data (No. 7000 to 7004)", "control data" and "PLC CPU memo area" are written into the buffer memory with the TO command, it is simultaneously valid.
1 Parameter area (b) ...... Parameters validated simultaneously with the writing to the buffer memory with the TO command. ( Pr.8 to Pr.10 , Pr.25 to Pr.42 , Pr.84 )
POINT
When a value other than "0" has been set to the servo parameter "Pr.100 Servo series" inside the flash ROM, the power is turned ON or PLC CPU is reset to transmit the servo parameter inside the flash ROM to the servo amplifier (servo amplifier LED indicates "b "). After that, the TO instruction writes the servo parameter from the PLC CPU to the buffer memory so that the servo parameter in the buffer memory is not transmitted to the servo amplifier even if the PLC READY signal [Y0] is turned OFF then ON. Change the servo parameter with the above method, after setting the servo parameter "Pr.100 Servo series" inside the flash ROM, to "0".
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MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
(3) Validate parameters when PLC READY signal [Y0] changes from
OFF to ON When the PLC READY signal [Y0] changes from OFF to ON, the data stored in the buffer memory's "parameter area (a) 2" is validated.
2: Parameter area (a) ..... Parameters validated when PLC READY signal [Y0] changes from OFF to ON. ( Pr.1 to Pr.7 , Pr.11 to Pr.24 , Pr.43
to Pr.57 , Pr.80 to Pr.83 )
POINT The setting values of the parameters that correspond to parameter area (b) are valid when written into the buffer memory with the TO command. However, the setting values of the parameters that correspond to parameter area (a) are not validated until the PLC READY signal [Y0] changes from OFF to ON.
(4) Accessing with FROM command from PLC CPU ( )
The data is read from the buffer memory to the PLC CPU using the FROM command.
(5) Reading the servo parameter from the servo amplifier ( )
When the parameter of the servo amplifier side is changed, the servo parameter is read automatically from the servo amplifier to the buffer memory.
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MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
MEMO
7 - 12
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
Pheripharal devices
(6) Flash ROM write (Set "1" in Cd.1 with TO command)
Flash ROM
Servo amplifier
Pr.7Pr.1 to Pr.11 Pr.24
Pr.43 Pr.57
Pr.10Pr.8
Pr.25 Pr.42 Pr.84
Parameter area (a)
Parameter area (b)
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004)
PLC CPU memo area
Monitor data area
Control data area
Buffer memory
(7) Flash ROM request (Write)
QD75MH
PLC CPU
Servo parameter area (No.30100 to 30804)
(7) Flash ROM request (Write)
(6) Flash ROM write
(7) Flash ROM request (Write)
Parameter area (a)
Parameter area (b)
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004)
Servo parameter area (No.30100 to 30804)
Parameter area (a)
Parameter area (b)
to to
to
to
Pr.80 Pr.83to
7 - 13
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
(6) Writing the flash ROM by a PLC CPU request ( )
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)", "block start data (No.
7000 to 7004)" and "servo parameter" 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.)
(7) Writing the flash ROM by a peripheral device request ( )
The following transmission processes are carried out with the [flash ROM request] (write) from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 600)", "block start data (No.
7000 to 7004)" and "servo parameter" in the buffer memory area are transmitted to the flash ROM.
Note) This transmission process is the same as (7) above.
IMPORTANT (1) Do not turn the power OFF or reset the PLC CPU while writing to the flash
ROM. If the power is turned OFF or the PLC CPU is reset to forcibly end the process, the data backed up in the flash ROM will be lost.
(2) Do not write the data to the buffer memory before writing to the flash ROM is completed.
(3) The number of writes to the flash ROM with the PLC program is 25 max. while the power is turned ON. Writing to the flash ROM beyond 25 times will cause an error (error code: 805). Refer to Section 15.2 "List of errors" for details.
(4) Monitoring is the number of writes to the flash ROM by the " Md.19 No. of write accesses to flash ROM".
7 - 14
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
ROM
@
Servo amplifier
(8) Data read
(9) Data write
Pr.7Pr.1 to Pr.11 Pr.24
Pr.43 Pr.57
Pr.10Pr.8 Pr.25 Pr.42 Pr.84
Pheripharal devices
Parameter area (a)
Parameter area (b)
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004)
PLC CPU memo area
Monitor data area
Control data area
Buffer memory
PLC CPU
Servo parameter area (No.30100 to 30804)
Parameter area (a)
Parameter area (b)
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004)
Servo parameter area (No.30100 to 30804)
Parameter area (a)
Parameter area (b)
Flash ROM
(9) Data write
to to
to to
(8) Data read
Pr.80 Pr.83to
QD75MH
7 - 15
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
(8) 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. 2) The "monitor data" in the buffer memory area is transmitted to the peripheral
device via the PLC CPU.
(9) Writing data from peripheral device to buffer memory ( ) The following transmission processes are carried out with the [Write to module] from the peripheral device. 1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No.
7000 to 7004)" in the peripheral device area transmitted to the buffer memory via the PLC CPU.
At this time, when [Flash ROM automatic write] is set with the peripheral device, the transmission processes indicated with the following are carried out.
(7) Flash ROM write
7 - 16
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
(10) Servo parameter transfer
Pr.100 Pr.204Parameter area (a)
Parameter area (b)
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004)
PLC CPU memo area
Monitor data area
Control data area
Buffer memory
Servo parameter area (No.30100 to 30804)
Parameter area (a)
Parameter area (b)
Positioning data area (No.1 to 600)
Block start data area (No.7000 to 7004)
Servo parameter area (No.30100 to 30804)
Flash ROM
QD75MH
Servo amplifier
Servo parameter area to
For MR-J3-B
7 - 17
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
(10) Transmitting servo parameter from the buffer memory area to
servo amplifier ( ) The servo parameter in the buffer memory area is transmitted to the servo amplifier by the following timing. 1) The servo parameter transmitted to the servo amplifier when communications
with servo amplifier start. The servo parameter in the buffer memory area is transmitted to the servo amplifier.
2) The following servo parameter in the buffer memory area carried out to the servo amplifier when the PLC READY signal [Y0] turns from OFF to ON. Pr.108 Auto tuning mode (Basic setting parameters) Pr.109 Auto tuning response (Basic setting parameters) Pr.122 Feed forward gain (Gain filter setting parameters) Pr.124 Ratio of load inertia moment to servo motor inertia moment (Gain
filter setting parameters) Pr.125 Model loop gain (Gain filter setting parameters) Pr.126 Position loop gain (Gain filter setting parameters) Pr.127 Speed loop gain (Gain filter setting parameters) Pr.128 Speed integral compensation (Gain filter setting parameters) Pr.129 Speed differential compensation (Gain filter setting parameters)
About the communication start with servo amplifier
Communication with servo amplifier is valid when following condition is realized together. 1) The power of QD75MH and servo amplifier is turned ON. 2) When the servo parameter "Pr.100 Servo series" inside the buffer memory
area is set to the value other than "0" in QD75MH.
When the power is turned ON or the PLC CPU is reset, the data stored in the flash ROM is transmitted to the buffer memory. Therefore the servo parameter "Pr.100 Servo series" inside the flash ROM is stored to the value other than "0", and communication with servo amplifier is started when the power is turn ON in order of the servo amplifier, QD75MH. After the servo parameter stored in the flash ROM is transmitted to the servo amplifier.
How to transfer the servo parameter setup from PLC program to the
servo amplifier The servo series of servo parameter "Pr.100 Servo series" inside the flash ROM set to "0". (Initial value: "0") The setting values of the parameters that correspond to the servo parameter "Pr.100 Servo series" inside the flash ROM are not started when the power is turned ON or the PLC CPU is reset, after the communication with servo amplifier is not started.
7 - 18
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
How to transfer the servo parameter which wrote it in the flash ROM
to servo amplifier Flash ROM writing carried out after the servo parameter is set up in the buffer memory. After that, when the power is turned ON or the PLC CPU is reset, the servo parameters stored in the flash ROM is transmitted to the buffer memory. When the servo parameter is written in the flash ROM, it is unnecessary to use a setup from the PLC program.
Servo parameter of the buffer memory
The following shows details about the operation timing and details the servo parameter transfer of the buffer memory.
Communication operation status with servo amplifer
Servo parameter of buffer memory
Indefinite value
QD75MH power ON
Buffer memory data setting
Initialization completion of QD75MH (A)
PLC CPU RUN
PLC READY signal [Y0] OFF ON (B)
Value of flash ROM Write value by PLC program
Communication start valid
t
Communication start invalid
Servo parameter setting from PLC program (C)
1
2 2
3
1 : The servo parameter that it is stored into the flash ROM is transfered to the buffer memory by the QD75MH initialization of the data, when the power is turned ON.
2 : Communication with servo amplifer is carried out if the QD75MH initialization of the data is completed after power supply ON.
3 : When the servo parameter is written in the flash ROM, it is unnecessary to use a setup from the PLC program.
Fig. 7.1 Operation timing in the servo parameter transfer of the buffer memory
Operation details (1) Servo parameter transfers when servo amplifier had started and the power
supply of QD75MH is turned ON. (a) When the servo parameter "Pr.100 Servo series" "0" is stored flash ROM.
Communication start timing to the servo amplifier: Initialization completion (Fig. 7.1 A)
Transfer the servo parameter : The data stored (backed up) in the flash ROM.
7 - 19
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
(b) When the servo parameter "Pr.100 Servo series"="0" is stored flash ROM.
Communication start timing to the servo amplifier: The data written from PLC program before the PLC READY signal [Y0] ON (Fig. 7.1 B).
Transfer the servo parameter : The data written from PLC program before the PLC READY signal [Y0] ON (Fig. 7.1 C).
(2) Servo parameter transfers when servo amplifier had started after the PLC
READY signal [Y0] is turned OFF to ON (Fig. 7.1 B) Communication start timing to the servo amplifier: when servo amplifier had
started Transfer the servo parameter : The data written from
PLC program before the PLC READY signal [Y0] ON (Fig. 7.1 C).
7 - 20
MELSEC-Q 7 MEMORY CONFIGURATION AND DATA PROCESS
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
Set the data according to the peripheral device menu.
Write the data set with the peripheral device into the buffer memory.
Completion
Write positioning data into buffer memory using TO command.
User work QD75MH state
Se ct
io n
2
Section 2 Control Details and Setting
Section 2 is configured for the following purposes shown in (1) to (3). (1) Understanding of the operation and restrictions of each control. (2) Carrying out the required settings in each control (3) Dealing with errors
The required settings in each control include parameter setting, positioning data setting, control data setting by a PLC program, etc. Carry out these settings while referring to "Chapter 5 Data used for positioning". Also refer to "Chapter 6 PLC programs used in positioning control" when creating the PLC programs required in each control, and consider the entire control program configuration when creating each program.
Chapter 8 OPR Control ..............................................................................................8- 1 to 8- 16 Chapter 9 Major Positioning Control......................................................................... 9- 1 to 9-116 Chapter 10 High-Level Positioning Control ............................................................. 10- 1 to 10- 26 Chapter 11 Manual Control...................................................................................... 11- 1 to 11- 36 Chapter 12 Control Sub Functions ......................................................................... 12- 1 to 12-106 Chapter 13 Common Functions............................................................................... 13- 1 to 13- 8 Chapter 14 Dedicated instructions........................................................................... 14- 1 to 14- 18 Chapter 15 Troubleshooting ..................................................................................... 15- 1 to 15-60
MEMO
8 - 1
8
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 PLC 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 ................................................................................................8- 2 8.1.1 Two types of OPR control..............................................................................8- 2 8.2 Machine OPR ..............................................................................................................8- 5 8.2.1 Outline of the machine OPR operation .........................................................8- 5 8.2.2 Machine OPR method ...................................................................................8- 6 8.2.3 OPR method (1): Near-point dog method.....................................................8- 7 8.2.4 OPR method (2): Count method 1) ...............................................................8- 9 8.2.5 OPR method (3): Count method 2) .............................................................. 8- 11 8.2.6 OPR method (4): Data set method .............................................................. 8- 13 8.3 Fast OPR .................................................................................................................... 8- 14 8.3.1 Outline of the fast OPR operation ................................................................ 8- 14 8.4 Selection of OPR set condition .................................................................................. 8- 16 8.4.1 Outline of the selection of OPR set condition .............................................. 8- 16
8 - 2
MELSEC-Q 8 OPR CONTROL
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 QD75MH issues a "OPR request" with the power turned ON or others, or after a positioning stop. In the QD75MH, the two types of controls shown below are defined as "OPR control", following the flow of the OPR work. These two types of OPR control can be executed by setting the "OPR parameters" ,setting "Positioning start No. 9001" and "positioning start No. 9002" prepared beforehand in the QD75MH to " Cd.3 Positioning start No.", and turning ON the positioning start signal. The PSTRT start numbers of the dedicated instruction can also be set to 9001 or 9002 to execute the OPR control. (For details, refer to Chapter 14 "Dedicated instructions".) (1) Establish a positioning control OP "Machine OPR" (positioning start No. 9001) (2) Carry out positioning toward the OP "Fast OPR" (positioning start No. 9002).
The "machine OPR" in (1) above must always be carried out before executing the "fast OPR" in (2).
Wiring the near-point dog
When the near point dog is connected, either the external input signal of QD75MH or servo amplifier is selected by " Pr.80
External input signal selection" whether use it. If the external input signal of the servo amplifier is used, it is only used to the near- point dog method of " Pr.43 OPR method". An error "Illegal near-point dog signal" (error code: 220) will occur if the external input signal of the servo amplifier is used to the count method 1) or 2) of OPR method.
QD75MH
DOG
COM 24VDC
MR-J3-B
DI3 (DOG)
DICOM 24VDC
Fig. 8.1 Wiring when using the near-point dog
8 - 3
MELSEC-Q 8 OPR CONTROL
! CAUTION In the case of the absolute position system, use the PLC program to check the OPR request before performing the positioning operation. Failure to observe this could lead to an accident such as a collision.
REMARK
OPR request The "OPR request flag" ( Md.31 Status: b3) must be turned ON in the QD75MH, and a machine OPR must be executed in the following cases. When the power is turned ON (in the case of the absolute position system, however,
the "OPR request flag" is not established.) When the machine OPR has not been executed at the absolute position system When the "absolute position lost" ( Md.108 Status: b4) turns ON in the absolute
position system When the " Pr.114 Rotation direction selection" is changed When the machine OPR starts
The address information stored in the QD75MH cannot be guaranteed while the "OPR request flag" is ON. The "OPR request flag" turns OFF and the "OPR complete flag" ( Md.31 Status: b4) turns ON if the machine OPR is executed and is completed normally.
8 - 4
MELSEC-Q 8 OPR CONTROL
OPR sub functions Refer to Section 3.2.4 "Combination of QD75MH 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 12.2.2
: Combination possible, : Restricted, : Combination not possible
When an OPR is not required Control can be carried out ignoring the "OPR request flag" ( Md.31 Status: b3) in systems that do not require an OPR. In this case, the "OPR parameters ( Pr.43 to Pr.57 )" must all be set to their initial values or a value at which an error does not occur.
OPR from peripheral devices "Machine OPR" and "fast OPR" can be executed from the test mode of the peripheral device. Refer to GX Configurator-QP Operating Manual for details on OPR from the peripheral device.
8 - 5
MELSEC-Q 8 OPR CONTROL
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, OP is established. None of the address information stored in the QD75MH, PLC CPU, or servo is used at this time. The position mechanically established after the machine OPR is regarded as the "OP" to be the starting point for positioning control. The method for establishing an "OP" by a machine OPR differs according to the method set in " Pr.43 OPR method". The following shows the operation when starting a machine OPR.
1) The "machine OPR" is started.
2) The operation starts according to the speed and direction set in the OPR parameters ( Pr.43 to Pr.57 ).
3) The "OP" is established by the method set in " Pr.43 OPR method", and the machine stops. (Refer to sections 8.2.2 to 8.2.8)
4) If "a" is set as " Pr.45 OP address", "a" will be stored as the current position in the
" Md.20 Current feed value" and " Md.21 Machine feed value" which are monitoring the position.
5) The machine OPR is completed.
The " Pr.45 OP address" is a fixed value set by the user.
M OP
Near-point dog
Machine OPR
Fig. 8.2 Example of a machine OPR
8 - 6
MELSEC-Q 8 OPR CONTROL
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 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.43 OPR method Operation details
Near-point dog method
Deceleration starts by the OFF ON of the near-point dog. (Speed is reduced to
" Pr.47 Creep speed".) The operation stops once after the near-point dog turns ON and then OFF. Later the operation restarts and then stops at the first zero signal to complete the OPR.
Count method 1)
The deceleration starts by the OFF ON of the near-point dog, and the machine moves
at the " Pr.47 Creep speed".
The machine stops once after moving the distance set in the " Pr.50 Setting for the
movement amount after near-point dog ON" from the OFF ON position. Later the operation restarts and then stops at the first zero signal to complete the machine OPR.
Count method 2)
The deceleration starts by the OFF ON of the near-point dog, and the machine moves
at the " Pr.47 Creep speed.
The machine moves the distance set in the " Pr.50 Setting for the movement amount
after near-point dog ON" from the near-point dog OFF ON position, and stops at that position. The machine OPR is then regarded as completed.
Data set method The position where the machine OPR has been performed becomes an OP. The current feed value and feed machine value are overwritten to the OP address.
: Near-point dog is use to the external device connector of the QD75MH. The "Illegal near-point dog
signal" (error code : 220) will occur if you used external input signal of the servo amplifier.
REMARK
Creep speed The stopping accuracy is poor when the machine suddenly stops from fast speeds. To improve the machine's stopping accuracy, its must change over to a slow speed before stopping. This speed is set in the " Pr.47 Creep speed".
8 - 7
MELSEC-Q 8 OPR CONTROL
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
1)
The machine OPR is started.
(The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction
designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed. (At this time, the near-point dog must be ON. The workpiece will continue decelerating and stop if the near-point dog is OFF.)
4) After the near-point dog turns OFF, the machine stops. It then restarts and stops at the first zero point.
5) After a "deviation counter clear signal" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns
from OFF to ON and the OPR request flag ( Md.31 status: b3) turns from ON to OFF.
t
Machine OPR start (Positioning start signal)
ON
OFF
OPR speed Deceleration at the near-point dog ON
Creep speed
ON
OFF
OFF
ON
Standing by In OPR Standing by Axis operation status
Inconsistent 0 Movement amount after near-point dog ON
Value of the machine moved is stored. OP address Current feed value Machine feed value
V
Zero signal
Value of 1
Movement amount after near-point dog ON
Near-point dog
ON OFF
One servo motor rotation
1
OPR request flag
OPR complete flag
Md.34
Adjust so the near-point dog OFF position is as close as possible to the center of the zero signal HIGH level. If the near-point dog OFF position overlaps with the zero signal, the machine OPR stop position may deviate by one servomotor rotation.
1) 2) 3) 4) 5)
Pr.46
Pr.47
Md.34
Md.20 Md.21
Md.26
Md.31
Md.31 Status: b3
Status: b4
Inconsistent
A
After the home position return (OPR) has been started, the zero point of the encoder must be passed at least once before point A is reached.
POINT
Fig. 8.3 Near-point dog method machine OPR
8 - 8
MELSEC-Q 8 OPR CONTROL
Precautions during operation (1) An error "Start at home position (OP) fault (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.47 Creep speed".
(3) The near-point dog must be ON during deceleration from the OPR speed " Pr.47 Creep speed".
(4) When the stop signal stops the machine OPR, carry out the machine OPR again. When restart command is turned ON after the stop signal stops the OPR, the error "OPR restart impossible (error code: 209)" will occur.
(5) After the home position return (OPR) has been started, the zero point of the encoder must be passed at least once before point A is reached. However, if selecting "1: It is not necessary to pass through the Z phase after the power on." with " Pr.180 Function selection C-4", it is possible to carried out the home position return (OPR).
The workpiece will continue decelerating and stop if the near-point dog is turned OFF before it has decelerated to the creep speed, thus causing an error "Dog detection timing fault (error code: 203)".
t
V
ON
OFF
ON
OFF
OFF
0
ON Near-point dog OFF
In error
Pr. 46 OPR speed
Pr. 47 Creep speed
In OPRStanding by
Inconsistent
Inconsistent Value the machine moved is stored Address at stop
Machine OPR start (Positioning start signal)
OPR request flag [ Md.31 Status : b3]
OPR complete flag [ Md.31 Status : b4]
Md.26 Axis operation status
Md.34 Movement amount after near-point dog ON
Md.20 Current feed value Md.21 Machine feed value
Fig. 8.4 Operation when the near-point dog is turned OFF before the creep speed is reached
8 - 9
MELSEC-Q 8 OPR CONTROL
8.2.4 OPR method (2): Count method 1)
The following shows an operation outline of the "count method 1)" OPR method. In the "count method 1)" OPR, the following can be performed: Machine OPR on near-point dog Second machine OPR after completion of first machine OPR
Near-point dog is used to the external device connector of the QD75MH. The "Illegal near-point dog signal" (error code : 220) will occur if you used external input signal of the servo amplifier.
Operation chart
1)
The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction
designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected. 3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
4) The machine stops after the workpiece has been moved the amount set in the " Pr.50 Setting for the movement amount after near-point dog ON" after the near-point dog turned ON. It then restarts and stops at the first zero point.
5) After a "deviation counter clear output" is output to the drive unit, the OPR complete flag Md.31 Status: b4) turns from
OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.
t
ON
OFF
ON(1)
OFF(0)
OFF(0)
ON(1)
0
V
ON
Pr. 47 Creep speed
Pr. 46 OPR speed Pr. 50 Setting for the movement amount after near-point dog ON
Md.34 Movement amount after near-point dog ON
Zero signal
Near-point dog OFF
Leave sufficient distance from the zero point position to the near-point dog OFF
OPR start
Standing by In OPRMd.26 Axis operation status
Inconsistent
Value the machine moved is stored OP address
Value of 1.
Standing by
Inconsistent
OPR request flag [ Md.31 Status : b3]
OPR complete flag [ Md.31 Status : b4]
Md.21 Machine feed value
Md.34 Movement amount after near-point dog ON
Md.20 Current feed value
1
Adjust the setting for the movement amount after near-point dog ON to be as near as possible to the center of the zero signal HIGH. If the setting for the movement amount after near-point dog ON falls within the zero signal, there may be produced an error of one servo motor rotation in the OPR stop position.
One servo motor rotation
First zero signal after moving a set to " Pr. 50 Setting for the movement amount after near- point dog ON.
A
POINT After the home position return (OPR) has been started, the zero point of the encoder must be passed at least once before point A is reached.
Fig. 8.5 Count method1) machine OPR
8 - 10
MELSEC-Q 8 OPR CONTROL
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". A deceleration stop will be carried out if the speed is changed during the operation and an error occurs.
(2) The following shows the operation when a machine OPR is started while the near-point dog is ON.
(3) When the stop signal stops the machine OPR, carry out the machine OPR again. When restart command is turned ON after the stop signal stops the OPR, the error "OPR restart impossible (error code: 209)" will occur.
(4) After the home position return (OPR) has been started, the zero point of the encoder must be passed at least once before point A is reached. However, if selecting "1: It is not necessary to pass through the Z phase after the power on." with " Pr.180 Function selection C-4", it is possible to carried out the home position return (OPR).
ON
1) 5)4)
3) 2)
Zero signal
Near-point dog OFF
Pr. 50 Setting for the movement amount after near-point dog ON
[Operation when a machine OPR is started at the near-point dog ON position]
1) A machine OPR is started. 2) The machine moves at the OPR speed in the
opposite direction of an OPR. 3) Deceleration processing is carried out by
" Pr.39 Stop group 3 sudden stop
selection" when the near-point dog OFF is detected.
4) After the machine stops, a machine OPR is carried out in the OPR direction.
5) The machine OPR is completed after the deviation counter clear output is provided on detection of the first zero signal after the travel of the movement amount set to " Pr.50 Setting for the movement amount after near-point dog ON" on detection of the near-point dog signal ON.
Fig. 8.6 Count method 1) machine OPR on the near-point dog ON position
8 - 11
MELSEC-Q 8 OPR CONTROL
8.2.5 OPR method (3): 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.) Near-point dog is use to the external device connector of the QD75MH. The "Illegal near-point dog signal" (error code : 220) will occur if you used input signal of the servo amplifier.
Operation chart
1)
The machine OPR is started. (The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the
direction designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
4) The command from the QD75MH will stop and the machine OPR will be completed when the machine moves the movement amount set in " Pr.50 Setting for the movement amount after near-point dog ON " from the near-point dog ON position.
Md.21 Machine feed value
t
V
ON
OFF
ON(1)
OFF(0)
ON(1)
ON OFF
0
OFF(0)
Pr. 46 OPR speed
Pr. 47 Creep speed
Pr.50 Setting for the movement amount after near-point dog ON
Md.34 Movement amount after near-point dog ON
Leave sufficient distance from the OP position to the near-point dog OFF
Machine OPR start (Positioning start signal)
In OPR
Inconsistent
Value the machine moved is storedInconsistent
Md.34 Movement amount after near-point dog ON
Md.20 Current feed value
OPR request flag [ Md.31 Status : b3]
OPR complete flag [ Md.31 Status : b4]
Md.26 Axis operation status Standing by Standing by
Value of .
OP address
1
1
Near-point dog
Fig. 8.7 Count method 2) machine OPR
8 - 12
MELSEC-Q 8 OPR CONTROL
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.47 Creep speed". A deceleration stop will be carried out if the speed is changed during the operation and an error occurs.
(2) The following shows the operation when a machine OPR is started while the near-point dog is ON.
(3) When the stop signal stops the machine OPR, carry out the machine OPR again. When restart command is turned ON after the stop signal stops the OPR, the error "OPR restart impossible (error code: 209)" will occur.
Pr.50 Setting for the movement amount after near-point dog ON
ON
1) 5) 4)
3) 2)
Near-point dog OFF
[Operation when an OPR is started at the near-point dog ON position]
1) A machine OPR is started. 2) The machine moves at the OPR speed in the
opposite direction of an OPR. 3) Deceleration processing is carried out by
" Pr.39 Stop group 3 sudden stop
selection" when the near-point dog OFF is detected.
4) After the machine stops, a machine OPR is carried out in the OPR direction.
5) The machine OPR is completed after moving the movement amount set in the " Pr.50 Setting for the movement amount after near-point dog ON".
Fig. 8.8 Count method 2) machine OPR on the near-point dog ON position
8 - 13
MELSEC-Q 8 OPR CONTROL
8.2.6 OPR method (4): Data set method
The following shows an operation outline of the "Data set method" OPR method. The " Data set method" method is effective when a "Near-point dog" does not used. It can be used with absolute position system. With the data set method OPR, the position where the machine OPR has been carried out, is registered into the QD75MH as the OP, and the current feed value and feed machine value is overwritten to an OP address. Use the JOG or manual pulse generator operation to move the OP.
Operation chart
OPR start
The address upon execution of the OPR is registered as an OP address.
t
Fig. 8.9 Data set method OPR
Precautions during operation
(1) The zero point must have been passed before the OPR is carried out after the power supply is turned ON. If the OPR is carried out without passing the zero point even once, the "OPR restart zero point not passed error" will occur. When the "Home positioning return (OPR) restart zero point not passed error" occurs, perform the JOG or similar operation so that the servomotor makes more than one revolution after an error reset, before carrying out the machine OPR again. However, if selecting "1: Not need to pass motor Z phase after the power supply is switched on." with " Pr.180 Function selection C-4", it is possible to carried out the home position return (OPR).
(2) When it is not the case of the absolute position system, starting the data set
method OPR will be identical to the function of the current value change.
(3) The OPR data used for the data set method is the "OPR method" and "OP address". The OPR data other than that for the OPR method and OP address is not used for the data set method OPR method, but if a value is set the outside the setting rage, an error will occur when the PLC READY signal (Y0) is turned ON so that the preparation complete (X0) is not turned OFF. With the OPR data other than that for the OPR method and OP address, set an arbitrary value (default value can be allowed) within each data setting range so that an error will not occur upon receiving the PLC READY signal ON.
8 - 14
MELSEC-Q 8 OPR CONTROL
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 QD75MH. The following shows the operation during a basic fast OPR start. 1) The fast OPR is started. 2) Positioning control begins to the " Md.21 Machine feed value", begins at
speed set in the OPR parameters ( Pr.43 to Pr.57 ). 3) The fast OPR is completed.
Machine OP (OP position)
Pr. 46 OPR speed
Fast OPR start (Positioning start signal)
Md.26 Axis operation status In OPRStanding by Standing by
OP
Positioning to the OP
M
Fig. 8.10 Fast OPR
8 - 15
MELSEC-Q 8 OPR CONTROL
Operation timing and processing time of fast OPR The following shows details about the operation timing and time during fast OPR.
t1
t3
t2
In position controlStanding by Standing by
Positioning start signal
BUSY signal
Start complete signal
Positioning operation
Md.26 Axis operation status
[Y10,Y11,Y12,Y13]
[X10,X11,X12,X13]
[XC,XD,XE,XF]
Fig. 8.11 Operation timing and processing time of fast OPR
Normal timing time Unit: ms t1 t2 t3
1.0 to 1.3 3.0 to 4.4 0 to 1.8
The t1 timing time could be delayed by the operation state of other axes.
Operating restrictions When the OPR complete flag ( Md.31 Status: b3) is ON, executing a fast OPR start will result in an "Home positioning return (OPR) request flag ON" error (error code: 207)".
8 - 16
MELSEC-Q 8 OPR CONTROL
8.4 Selection of the OPR setting condition
8.4.1 Outline of the OPR setting condition
If executing the home position return (OPR), it is necessary to make sure that the servomotor has been rotated more than one revolution and passed the Z phase (Motor reference position signal) and that the zeroing pass signal ( Md.108 Servo status : b4) has turned ON. However, if selecting "1: It is not necessary to pass through the Z phase after the power on." with " Pr.180 Function selection C-4", it is possible to turn the zeroing pass point signal (Md.108 Servo status : b4) ON without passing the zero point.
Data setting To select the "OPR setting condition", set the data shown in the following table to the QD75MH using the peripheral device. Servo parameters are set for each axis. The "OPR setting condition" is stored into the following buffer memory addresses.
Buffer memory address
Setting item Setting value Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Pr.180 Function selection C-4 (PC17) 0
0 : Need to pass motor Z phase after the power supply is switched on.
1 : Not need to pass motor Z phase after the power supply is switched on.
30180 30380 30580 30780
Refer to Section 5.2.9 "Servo parameters (Expansion setting)" for information on the storage details.
Precautions during operation
(1) If setting the above servo parameter to "1: It is not necessary to pass through
the Z phase after the power on.", the restriction, "If executing the home position return (OPR), it is necessary to execute OPR after rotating the servomotor more than one revolution and letting it pass through the Z phase (Motor reference position signal).", will be invalid.
(2) Set the parameter value and switch power off once (The parameter is
transferred to servo amplifier from QD75MH), then switch it on again to make that parameter setting valid.
9 - 1
9
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. The major positioning controls include such controls as "positioning control" in which positioning is carried out to a designated position using the address information, "speed control" in which a rotating object is controlled at a constant speed, "speed-position switching control" in which the operation is shifted from "speed control" to "position control" and "position-speed switching control" in which the operation is shifted from "position control" to "speed control".
Carry out the required settings to match each control.
9.1 Outline of major positioning controls...........................................................................9- 2 9.1.1 Data required for major positioning control...................................................9- 4 9.1.2 Operation patterns of major positioning controls ..........................................9- 5 9.1.3 Designating the positioning address ............................................................ 9- 15 9.1.4 Confirming the current value ........................................................................ 9- 16 9.1.5 Control unit "degree" handling...................................................................... 9- 18 9.1.6 Interpolation control ...................................................................................... 9- 21 9.2 Setting the positioning data ....................................................................................... 9- 25 9.2.1 Relation between each control and positioning data................................... 9- 25 9.2.2 1-axis linear control....................................................................................... 9- 27 9.2.3 2-axis linear interpolation control.................................................................. 9- 29 9.2.4 3-axis linear interpolation control.................................................................. 9- 33 9.2.5 4-axis linear interpolation control.................................................................. 9 -39 9.2.6 1-axis fixed-feed control................................................................................ 9- 44 9.2.7 2-axis fixed-feed control (interpolation)........................................................ 9- 46 9.2.8 3-axis fixed-feed control (interpolation)........................................................ 9- 48 9.2.9 4-axis fixed-feed control (interpolation) ....................................................... 9- 52 9.2.10 2-axis circular interpolation control with sub point designation ................... 9- 54 9.2.11 2-axis circular interpolation control with center point designation............... 9- 60 9.2.12 1-axis speed control...................................................................................... 9- 68 9.2.13 2-axis speed control...................................................................................... 9- 71 9.2.14 3-axis speed control...................................................................................... 9- 74 9.2.15 4-axis speed control...................................................................................... 9- 78 9.2.16 Speed-position switching control (INC mode) ............................................. 9- 83 9.2.17 Speed-position switching control (ABS mode) ............................................ 9- 91 9.2.18 Position-speed switching control.................................................................. 9- 99 9.2.19 Current value changing ................................................................................ 9-106 9.2.20 NOP instruction............................................................................................. 9-111 9.2.21 JUMP instruction........................................................................................... 9-112 9.2.22 LOOP ............................................................................................................ 9-114 9.2.23 LEND............................................................................................................. 9-115
9 - 2
MELSEC-Q 9 MAJOR POSITIONING CONTROL
9.1 Outline of major positioning controls
"Major positioning controls" are carried out using the "positioning data" stored in the QD75MH. 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. Control defined as a "major positioning control" carries out the following types of control according to the " Da.2 Control system" setting.
Major positioning control Da.2 Control system
Details
1-axis linear control
ABS Linear 1 INC Linear 1
Positioning of a designated 1 axis is carried out from the start address (current stop position) to the designated position.
2-axis linear interpolation control
ABS Linear 2 INC Linear 2
Using a designated 2 axes, linear interpolation control is carried out from the start address (current stop position) to the designated position.
3-axis linear interpolation control
ABS Linear 3 INC Linear 3
Using a designated 3 axes, linear interpolation control is carried out from the start address (current stop position) to the designated position.
Linear control
4-axis linear interpolation control
ABS Linear 4 INC Linear 4
Using a designated 4 axes, linear interpolation control is carried out from the start address (current stop position) to the designated position.
1-axis fixed- feed control Fixed-feed 1
Positioning of a designated 1 axis is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.)
2-axis fixed- feed control Fixed-feed 2
Using a designated 2 axes, linear interpolation control is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.)
3-axis fixed- feed control Fixed-feed 3
Using a designated 3 axes, linear interpolation control is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.)
Fixed-feed control
4-axis fixed- feed control Fixed-feed 4
Using a designated 4 axes, linear interpolation control is carried out from the start address (current stop position). (The " Md.20 Current feed value" is set to "0" at the start.)
Sub point designation
ABS Circular sub INC Circular sub
Po si
tio n
co nt
ro l
2-axis circular interpolation control Center point
designation
ABS Circular right ABS Circular left INC Circular right INC Circular left
The axis in which the interpolation control system is set is regarded as the reference axis. Positioning is carried out in an arc path to a designated position, while controlling the other axis (interpolation axis) to match the positioning data set in the reference axis.
1-axis speed control
Forward run speed 1 Reverse run speed 1 The speed control of the designated 1 axis is carried out.
2-axis speed control
Forward run speed 2 Reverse run speed 2 The speed control of the designated 2 axes is carried out.
3-axis speed control
Forward run speed 3 Reverse run speed 3 The speed control of the designated 3 axes is carried out.
Speed control
4-axis speed control
Forward run speed 4 Reverse run speed 4 The speed control of the 4 axes is carried out.
9 - 3
MELSEC-Q 9 MAJOR POSITIONING CONTROL
Major positioning control
Da.2 Control system Details
Speed-position switching control
Forward run speed/position Reverse run speed/position
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.
Position-speed switching control
Forward run position/speed Reverse run position/speed
The control is continued as speed control by turning ON the "position-speed switching signal" after first carrying out position control.
NOP instruction NOP instruction
A nonexecutable control system. When this instruction is set, the operation is transferred to the next data operation, and the instruction is not executed.
Current value changing Current value changing
The current feed value ( Md.20 ) is changed to an address set in the positioning data. This can be carried out by either of the following 2 methods. (The machine feed value cannot be changed.) Current value changing using the control system Current value changing using the current value
changing start No. (No. 9003). JUMP instruction JUMP instruction An unconditional or conditional JUMP is carried out to a
designated positioning data No. LOOP LOOP A repeat control is carried out by repeat LOOP to LEND.
Other control
LEND LEND Control is returned to the top of the repeat control by repeat LOOP to LEND. After the repeat operation is completed specified times, the next positioning data is run.
In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis circular interpolation control", "2-axis speed control", "3-axis speed control" and "4-axis speed control", control is carried out so that linear and arc paths are drawn using a motor set in two or more axes directions. This kind of control is called "interpolation control". (Refer to Section 9.1.6 "Interpolation control" for details.)
9 - 4
MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.2 Control system Set the control system defined as a "major positioning control". (Refer to Section "9.1".)
Da.3 Acceleration time No.
Select and set the acceleration time at control start. (Select one of the four values set in Pr.9 , Pr.25 , Pr.26 , and Pr.27 for the acceleration time.)
Da.4 Deceleration time No.
Select and set the deceleration time at control stop. (Select one of the four values set in Pr.10 , Pr.28 , Pr.29 , and Pr.30 for the deceleration time.)
Da.5 Axis to be interpolated
Set an axis to be interpolated (partner axis) during the 2-axis interpolation operation (Refer to Section 9.1.6).
Da.6 Positioning address/ movement amount Set the target value during position control. (Refer to Section "9.1.3".)
Da.7 Arc address Set the sub point or center point address during circular interpolation control.
Da.8 Command speed Set the speed during the control execution.
Da.9 Dwell time Set the time the machine waits from the completion of the executed positioning control and the stopping of the workpiece until the judgment of the QD75MH positioning completion.
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code Set this item when carrying out sub work (clamp and drill stops, tool replacement, etc.) corresponding to the code No. related to the positioning data execution.
The settings and setting requirement for the setting details of Da.1 to Da.10 differ according to the " Da.2 Control system". (Refer to Section 9.2 "Setting the positioning data".)
Major positioning control sub functions Refer to Section 3.2.4 "Combination of QD75MH major functions and sub functions" for details on "sub functions" that can be combined with the major positioning control. Also refer to Chapter 12 "Control sub Functions" for details on each sub function.
Major positioning control from peripheral devices "Major positioning control" can be executed from the peripheral device test mode. Refer to GX Configurator-QP Operating Manual for details on carrying out major positioning control from the peripheral device.
REMARK
600 positioning data (positioning data No. 1 to 600) items can be set per axis.
9 - 5
MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
Positioning complete (1) Independent positioning control
(operation pattern: 00) Positioning continue (2) Continuous positioning control
(operation pattern: 01) (3) Continuous path control (operation pattern: 11)
The following shows examples of operation patterns when "1-axis linear control (ABS linear 1)" is set in positioning data No. 1 to No. 6 of axis 1. Details of each operation pattern are shown on the following pages.
< Operation example when "1-axis linear positioning" is set in the positioning data of axis 1 >
(Direction in which axis 1 addresses increase)
1-axis linear control
(One motor is driven, and positioning is carried out to an addresses designated in one direction.)
V
Positioning data No.1
0
Operation pattern = 11: Continuous path control Positioning to address [A] at command speed [a]
No.2
No.3
No.4
No.5
Address
a
b
NO.1 No.2 No.3 No.4 No.5
Speed is changed without stopping
The machine stops, and then continues the next positioning.
Positioning is terminated
No.6 Control stop
No.1 Start
11
11
01
01
00
Da. 1 Operation pattern
(Positioning data)
(Setting details)
Positioning to address [C] at command speed [a]
Positioning to address [D] at command speed [b]
Positioning to address [E] at command speed [a]
Positioning to address [F] at command speed [a]
Positioning to address [B] at command speed [b] Operation pattern = 11: Continuous path control
Operation pattern = 01: Continuous positioning control
Operation pattern = 00: Independent positioning control (Positioning complete)
Operation pattern = 11: Continuous path control
Operation pattern = 01: Continuous positioning control
A EDCB F
For
t
9 - 6
MELSEC-Q 9 MAJOR POSITIONING CONTROL
POINT
The BUSY signal [XC, XD, XE, XF] turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not be detected in the PLC program.
[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.)
t
Start complete signal
OFF ON
Dwell time
[X10, X11, X12, X13] OFF ON
BUSY signal OFF ON
Positioning complete signal OFF ON
Positioning complete (00)
[Y10, Y11, Y12, Y13] Positioning start signal
[XC, XD, XE, XF]
[X14, X15, X16, X17]
V
Fig. 9.1 Operation during independent positioning control
9 - 7
MELSEC-Q 9 MAJOR POSITIONING CONTROL
[2] Continuous positioning control
(1) The machine always automatically decelerates each time the positioning is
completed. Acceleration is then carried out after the QD75MH 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. Always set operation pattern "00" in the last positioning data to complete the positioning.
If the operation pattern is set to positioning continue ("01" or "11"), the operation will continue until operation pattern "00" is found.
If the operation pattern "00" cannot be found, the operation may be carried out until the positioning data No. 600. If the operation pattern of the positioning data No. 600 is not completed, the operation will be started again from the positioning data No. 1.
t
OFF ON
OFF ON
OFF ON
OFF
Positioning continue (01)
Address (+) direction
Address (-) direction Positioning complete (00)
Dwell time
ON
Positioning continue (01)
Start complete signal
BUSY signal
Positioning complete signal
Positioning start signal [Y10, Y11, Y12, Y13]
[X10, X11, X12, X13]
[XC, XD, XE, XF]
[X14, X15, X16, X17]
Dwell time not designated
V
Fig. 9.2 Operation during continuous positioning control
9 - 8
MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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".
(c) Dwell time will be ignored, even if set. (d) The next positioning No. is executed automatically in operations by
continuous path control (operation pattern "11"). Always complete the positioning by setting operation pattern "00" in the last positioning data. If the operation pattern is set to positioning continue ("01" or "11"), the operation will continue until operation pattern "00" is found. If the operation pattern "00" cannot be found, the operation may be carried out until the positioning data No. 600. If the operation pattern of the positioning data No. 600 is not complete, the operation will be started again from the positioning data No. 1.
(e) The speed switching patterns include the "front-loading speed switching pattern" in which the speed is changed at the end of the current positioning side, and the "standard speed switching pattern" in which the speed is at the start of the next positioning side. (Refer to " Pr.19 Speed switching mode".)
Continuous path control Standard speed switching mode
Front-loading speed switching mode (f) In the continuous path control, the positioning may be completed
before the set address/movement amount and the current data may be switched to the "positioning data that will be run next". This is because a preference is given to the positioning at a command speed. In actuality, the positioning is completed before the set address/movement amount by an amount of remaining distance at speeds less than the command speed. The remaining distance ( ) at speeds less than the command speed is 0 (distance moved in 1.7ms at a speed at the time of completion of the positioning).
9 - 9
MELSEC-Q 9 MAJOR POSITIONING CONTROL
OFF ON
OFF ON
OFF ON
OFF ON
t
Positioning continue (11) Dwell timePositioning continue (11)
Start complete signal
BUSY signal
Positioning complete signal
Positioning start signal
Positioning complete (00) Address (+) direction
Address (-) direction
[Y10, Y11, Y12, Y13]
[X10, X11, X12, X13]
[XC, XD, XE, XF]
[X14, X15, X16, X17]
V
Fig. 9.3 Operation during continuous path control (Standard speed switching mode)
POINT In the continuous path control, a speed variation will not occur using the near-pass function when the positioning data No. is switched (Refer to Section 12.3.3 "Near- pass function").
(2) Deceleration stop conditions during continuous path control
Deceleration stops are not carried out in continuous path control, but the machine will carry out a deceleration stop to speed "0" in the following cases (a) to (d). (a) When the operation pattern of the positioning data currently being
executed is "continuous path control: 11", and the movement direction of the positioning data currently being executed differs from that of the next positioning data. (Only for 1-axis positioning control (Refer to the "Point" in the next page.))
V
Positioning data No.2 Operation pattern : 00
Speed becomes 0
Positioning data No.1 Operation pattern : 11
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
(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. Thus, automatic deceleration to a stop will not be carried out even if the movement direction is changed (See the figures below). Because of this, the interpolation axis may suddenly reverse direction. To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control "01" instead of setting it to continuous path control "11".
[Positioning by interpolation] [Reference axis operation] [Interpolation axis operation]
Interpola- tion axis
Positioning data No.1
Reference axis
Positioning data No.2
Positioning data No.1 Continuous path control
V
Positioning data No.1
t
Positioning data No.2
V
Positioning data No.1
t
Positioning data No.2
(2) When a "0" is set in the " Da.6 Positioning address/movement amount" of the continuous path control positioning data, the command speed of about 2 ms is reduced to 0. When a "0" is set in the " Da.6 Positioning address/movement amount" to increase the number of speed change
points in the future, change the " Da.2 Control system" to the "NOP instruction" to make the control nonexecutable. (Refer to Section 9.2.20 "NOP instruction".)
(3) In the continuous path control positioning data, assure a movement distance so that the execution time with that data is 100 ms or longer, or lower the command speed.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
(3) Speed handling
(a) Continuous path control command speeds are set with each positioning data. The QD75MH 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 positioning data No. if the command speed is set to "1". (The "current speed" will be displayed in the command speed when the positioning data is set with a peripheral device. The current speed is the speed of the positioning control being executed currently.) 1) The speed does not need to be set in each positioning data when
carrying out uniform speed control if "1" is set beforehand in the command speed.
2) If the speed is changed in the previous positioning data when "1" is set in the command speed, the operation can be continued at the new speed.
3) An error "no command speed error (error code: 503)" occurs and positioning cannot be started if "1" is set in the command speed of the first positioning data at start.
[Relation between the command speed and current speed]
The current speed is changed even if the new speed is not reached in P2.
2000
1000
3000
30001000 1000
-1 3000
-1 3000
-1 3000
P1 P2 P3 P4 P5V
3000
Da. 8 Command speed Md. 27 Current speed
t
POINTS (1) In the continuous path control, a speed variation will not occur using the near-pass function when the
positioning data is switched (Refer to Section 12.3.3 "Near-pass function"). (2) The QD75MH holds the command speed set with the positioning data, and the latest value of the
speed set with the speed change request as the " Md.27 Current speed". It controls the operation at the "current speed" when "-1" is set in the command speed. (Depending on the relation between the movement amount and the changed speed, the feedrate may not reach the new speed value, but even then the current speed will be updated.)
(3) When the address for speed change is identified beforehand, generate and execute the positioning data for speed change by the continuous path control to carry out the speed change without requesting the speed change with a PLC program.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
(4) Speed switching (Refer to " Pr.19 Speed switching mode".)
(a) Standard speed switching mode
1) If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the machine will accelerate or decelerate after reaching the positioning point set in the "positioning data currently being executed" and the speed will change over to the speed set in the "positioning data to carry out the next operation".
2) The parameters used in acceleration/deceleration to the command speed set in the "positioning data to carry out the next operation" are those of the positioning data to carry out acceleration/deceleration. Speed switching will not be carried out if the command speeds are the same.
OFF
ON
OFF
ON
OFF
ON
OFF ON
11 11 11 01 00
V Dwell time
t
Speed switching
Da. 1 Operation pattern
Positioning
Start complete signal
BUSY signal
Positioning complete signal
Positioning start signal
[XC, XD, XE, XF]
[X10, X11, X12, X13]
[Y10, Y11, Y12, Y13]
Dwell time
[X14, X15, X16, X17]
Fig. 9.4 Operation for the standard speed switching mode
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. Operation patterns "00", "01", etc.), the machine will immediately stop at the designated positioning address, and a "insufficient movement distance warning (warning code: 513)" will occur.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[When the speed cannot change over in P2]
When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2.
[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.
P1 P2 P3 P4
Positioning address.
(b) Front-loading speed switching mode
1) If the respective command speeds differ in the "positioning data currently being executed" and the "positioning data to carry out the next operation", the speed will change over to the speed set in the "positioning data to carry out the next operation" at the end of the "positioning data currently being executed".
2) The parameters used in acceleration/deceleration to the command speed set in the "positioning data to carry out the next operation" are those of the positioning data to carry out acceleration/deceleration. Speed switching will not be carried out if the command speeds are the same.
OFF
ON
OFF
ON
OFF
ON
OFF
ON
11 11 11 01 00
V Dwell time
t
Da. 1 Operation pattern
Start complete signal
BUSY signal
Positioning complete signal
Positioning start signal
Positioning
[Y10, Y11, Y12, Y13]
[X10, X11, X12, X13]
Dwell time
[XC, XD, XE, XF]
[X14, X15, X16, X17]
Fig. 9.5 Operation for the front-loading speed switching mode
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MELSEC-Q 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. Operation patterns "00", "01", etc.), the machine will immediately stop at the designated positioning address, and a "insufficient movement distance warning (warning code: 513)" will occur.
[When the speed cannot change over to the P2 speed in P1]
When the relation of the speeds is P1 = P4, P2 = P3, P1 < P2.
[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.
P1 P2 P3 P4
Positioning address
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.)
Address 100 Address
150 Address 300
100 A point
150 B point
300 C point
Within the stroke limit range
Address 150
Address 100
Address 100 Address 150
OP (Reference point)
Start point End point
Fig. 9.6 Absolute system positioning
Incremental system The position where the machine is currently stopped is regarded as the start point, and positioning is carried out for a designated movement amount in a designated movement direction.
Movement amount +100
Movement amount -150
Movement amount -100
Movement amount+50
100 150 300
Movement amount-100
A point B point
Within the stroke limit range
C point
Movement amount +100
Movement amount +100
Start point End point
Fig. 9.7 Incremental system positioning
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 QD75MH. 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.
Current feed value
This is the value stored in " Md.20 Current feed value". This value has an address established with a "machine OPR" as a
reference, but the address can be changed by changing the current value to a new value.
This value is updated every 1.7ms.
Machine feed value
This is the value stored in " Md.21 Machine feed value". This value always has an address established with a "machine OPR"
as a reference. The address cannot be changed, even if the current value is changed to a new value.
This value is updated every 56.8ms.
The "current feed value" and "machine feed value" are used in monitoring the current value display, etc.
0 1 toMd. 20 Current feed value
t
V
OP
20000
Current value changed to 20000 with current value changing instruction
0 1 toMd. 21 Machine feed value
Address after the current value is changed is stored
10000
10000
Address does not change even after the current value is changed
Fig. 9.8 Current feed value and machine feed value
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
Restrictions (1) A 1.7ms 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".
Monitoring the current value The "current feed value" and "machine feed value" are stored in the following buffer memory addresses, and can be read using a "DFRO (P) command" from the PLC CPU.
Buffer memory addresses Axis 1 Axis 2 Axis 3 Axis 4
Md.20 Current feed value 800, 801 900, 901 1000, 1001 1100, 1101
Md.21 Machine feed value 802, 803 902, 903 1002, 1003 1102, 1103
Example
Program in which the axis 1 current feed value is read to D104 and D105
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
0 0 0
359.99999 359.99999
[2] Software stroke limit valid/invalid setting With the control unit set to "degree", the software stroke limit upper and lower limit values are 0 to 359.99999. (a) Setting to validate software stroke limit
To validate the software stroke limit, set the software stroke limit lower limit value and the upper limit value in a clockwise direction.
Section A
Section B
315.00000
90.00000
Clockwise direction 0
1) To set the movement range A, set as follows. Software stroke limit lower limit value..................................315.00000 Software stroke limit upper limit value ...................................90.00000
2) To set the movement range B, set as follows. Software stroke limit lower limit value....................................90.00000 Software stroke limit upper limit value .................................315.00000
(b) Setting to invalidate software stroke limit
To invalidate the software stroke limit, set the software stroke limit lower limit value equal to the software stroke limit upper limit value. The control can be carried out irrespective of the setting of the software stroke limit.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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. 2) Positioning is carried out in a counterclockwise direction when the current value is moved from 45 to 315.
315 45315 45
Moved from 315 to 45 Moved from 45 to 315
The shortcut control is invalidated and positioning in a designated direction is carried out by the " Cd.40 ABS direction in degrees". This function can perform only when the software stroke limit is invalid. When the software stroke limit is valid, an error "ABS direction in degrees illegal" (error code: 546) occurs and positioning is not started. To designate the movement direction in the ABS control, a "1" or "2" is written to the " Cd.40 ABS direction setting in the unit of degree" of the buffer memory (initial value: 0). The value written to the " Cd.40 ABS direction in degrees" becomes valid only when the positioning control is started. In the continuous positioning control and continuous path control, the operation is continued with the setting set at the time of start even if the setting is changed during the operation.
Buffer memory address
Name Function Axis 1 Axis 2 Axis 3 Axis 4
Initial value
Cd.40 ABS direction in degrees The ABS movement direction in the unit of degree is designated. 0: Shortcut (direction setting invalid) 1: ABS clockwise 2: ABS counterclockwise
1550 1650 1750 1850 0
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
(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
0345.00000 315.00000
Positioning carried out in the clockwise direction.
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.
POINT Positioning addresses are within a range of 0 to 359.99999. Use the incremental system to carry out positioning of one rotation or more.
2) Incremental system
Positioning is carried out for a designated movement amount in a designated movement direction when in the incremental system of positioning. The movement direction is determined by the sign (+, ) of the movement amount. For a positive (+) movement direction ......Clockwise For a negative () movement direction .....Counterclockwise
POINT
Positioning of 360 or more can be carried out with the incremental system. At this time, set as shown below to invalidate the software stroke limit.
[Software stroke limit upper limit value = Software stroke limit lower limit value]
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
9.1.6 Interpolation control
Meaning of interpolation control In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis speed control", "3-axis speed control", "4-axis speed control", and "2-axis circular interpolation control", control is carried out so that linear and arc paths are drawn using a motor set in two to four axis directions. This kind of control is called "interpolation control". In interpolation control, the axis in which the control system is set is defined as the "reference axis", and the other axis is defined as the "interpolation axis". The QD75MH controls the "reference axis" following the positioning data set in the "reference axis", and controls the "interpolation axis" corresponding to the reference axis control so that a linear or arc path is drawn. The following table shows the reference axis and interpolation axis combinations.
Axis definition Axis set to interpolation control in " Da.2 Control method"
Reference axis Interpolation axis
2-axis linear interpolation control, 2-axis fixed-feed control, 2-axis circular interpolation control, 2-axis speed control
Any of axes 1, 2, 3, and 4
"Axes to be interpolated" set in reference axis
Axis 1 Axis 2, Axis 3 Axis 2 Axis 3, Axis 4 Axis 3 Axis 4, Axis 1
3-axis linear interpolation control, 3-axis fixed-feed control, 3-axis speed control
Axis 4 Axis 1, Axis 2 Axis 1 Axis 2, Axis 3, Axis 4
Axis 2 Axis 3, Axis 4, Axis 1
Axis 3 Axis 4, Axis 1, Axis 2 4-axis linear interpolation control, 4-axis fixed-feed control, 4-axis speed control
Axis 4 Axis 1, Axis 2, Axis 3
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 Interpolation axis setting item
Da.1 Operation pattern
Da.2 Control system
Linear 2, 3, 4, Fixed-feed 2, 3, 4, Circular sub, Circular right, Circular left Forward run speed 2, 3, 4 Reverse run speed 2, 3, 4
Da.3 Acceleration time No.
Da.4 Deceleration time No.
Da.5 Axis to be interpolated. 1
Da.6 Positioning address/ movement amount
Forward run speed 2, 3, and 4. Reverse run speed 2, 3, and 4 not required.
Forward run speed 2, 3, and 4. Reverse run speed 2, 3, and 4 not required.
Da.7 Arc address
(Only during circular sub, circular right, and circular left).
(Only during circular sub, circular right, and circular left).
Da.8 Command speed 2
Only during forward run speed 2, 3, 4 and reverse run speed 2, 3, 4.
Da.9 Dwell time
Sa m
e po
si tio
ni ng
d at
a N
os
Da.10 M code
: Setting always required : Set according to requirements (Set to "" when not used.) : Setting restrictions exist
: Setting not required (Unrelated setting item, so any setting value will be ignored. Use the initial value or a value within the setting range.)
1 : For 2-axis interpolation, the partner axis is set. If the self-axis is set, an error "Illegal interpolation description command (error code: 521)" will occur. For 3- and 4-axis interpolation, the axis setting is not required.
2 : When "Speed control 10 x multiplier setting for degree axis function" is valid, this will be the setting range 0.01 to 20000000.00 (degree/min).
3 : Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. Reference axis : Interpolation while interpolation axis BUSY (error code:
519) Interpolation axis : Control system setting error (error code: 524), start during
operation (warning code: 100).
Interpolation control continuous positioning When carrying out interpolation control in which "continuous positioning control" and "continuous path control" are designated in the operation pattern, the positioning method for all positioning data from the started positioning data to the positioning data in which "positioning complete" is set must be set to interpolation control. The QD75MH may malfunction if a control system other than interpolation control is set.
Speed during interpolation control Either the "composite speed" or "reference axis speed" can be designated as the speed during interpolation control. ( Pr.20 Interpolation speed designation method.) Only the "Reference axis speed" can be designated in the following interpolation control. When a "composite speed" is set and positioning is started, the "Interpolation mode error (error code: 523)" occurs, and the system will not start. 4-axis linear interpolation 2-axis speed control 3-axis speed control 4-axis speed control
Cautions in interpolation control (1) If either of the axes exceeds the " Pr.8 Speed limit value" in the 2- to 4-axes
speed control, the axis which exceeded the speed limit value is controlled by the speed limit value. For the other axes which perform interpolation, the speed can be suppressed by the ratio of a command speed. If the reference axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis linear interpolation control, 2- to 4-axis fixed-feed control or 2-axis circular interpolation control, the reference axis is controlled at the speed limit value. (The speed limit does not function on the interpolation axis side.)
(2) In 2-axis interpolation, you cannot change the combination of interpolated axes midway through operation.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.1 Unit setting" of the reference axis and interpolation axis. (For example, circular interpolation control cannot be executed if the reference axis and interpolation axis units differ.) The following table shows the interpolation control and speed designation limits.
Pr.1 Unit setting 1
" Da.2 Control system" interpolation control
Pr.20 Interpolation speed designation method
Reference axis and interpolation axis units are the same, or a combination of "mm" and "inch".
3
Reference axis and interpolation axis units differ 3
Composite speed Linear 2 (ABS, INC) Fixed-feed 2 Reference axis speed
Composite speed 2 Circular sub (ABS, INC) Circular right (ABS, INC) Circular left (ABS, INC) Reference axis speed
Composite speed Linear 3 (ABS, INC) Fixed-feed 3 Reference axis speed
Composite speed Linear 4 (ABS, INC) Fixed-feed 4 Reference axis speed : Setting possible, : Setting not possible. 1 "mm" and "inch" unit mix possible. 2 "degree" setting not possible. A "Circular interpolation not possible (error code: 535)" will occur and the position
cannot start if circular interpolation control is set when the unit is "degree". The machine will immediately stop if "degree" is set during positioning control.
3 The unit set in the reference axis will be used for the speed unit during control if the units differ or if "mm" and "inch" are combined.
Axis operation status during interpolation control "In interpolation" will be stored in the " Md.26 Axis operation status" during interpolation control. "Standing by" will be stored when the interpolation operation is terminated. Both the reference axis and interpolation axis will carry out a deceleration stop if an error occurs during control, and "error occurring" will be stored in the operation status.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (In this section, it is assumed that the positioning data setting is carried out using GX Configurator-QP.)
Position control Speed control Major positioning control Positioning data setting items
1-axis linear control 2-axis linear interpolation control 3-axis linear interpolation control 4-axis linear interpolation control
1-axis fixed-feed control 2-axis fixed-feed control 3-axis fixed-feed control 4-axis fixed-feed control
2-axis circular interpolation control
1-axis, 2-axis, 3-axis, 4-axis Speed control
Speed- position switching control
Position- speed switching control
Independent positioning control (Positioning complete)
Continuous positioning control
Da.1
Operation
pattern
Continuous path control
Da.2 Control system
Linear 1 Linear 2 Linear 3 Linear 4
Fixed-feed 1 Fixed-feed 2 Fixed-feed 3 Fixed-feed 4
Circular sub Circular right Circular left
Forward run speed 1 Reverse run speed 1 Forward run speed 2 Reverse run speed 2 Forward run speed 3 Reverse run speed 3 Forward run speed 4 Reverse run speed 4
Forward run speed/posi- tion Reverse run speed/posi- tion
Forward run position/speed
Reverse run
position/speed
Da.3 Acceleration time No.
Da.4 Deceleration time No.
Da.5 Axis to be interpolated : 2 -axis : 1, 3, 4-axis
Da.6 Positioning address/movement amount
Da.7 Arc address
Da.8 Command speed
Da.9 Dwell time
Da.10 M code : Always set : Set as required ("" when not set) : Setting not possible (If setting is made, an error (error code: 516) will occur at a start.) : Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error occurs.) : The "ABS (absolute) system" or "INC (incremental) system" can be used for the control system.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
REMARK It is recommended that the "positioning data" be set whenever possible with GX Configurator-QP.
Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase.
Other control Major positioning control
Positioning data setting items
NOP instruction Current value
changing JUMP instruction LOOP instruction LEND instruction
Independent positioning control (Positioning complete)
Continuous positioning control
Da.1 Operation pattern
Continuous path control
Da.2 Control system NOP instruction Current value
changing JUMP instruction LOOP instruction LEND instruction
Da.3 Acceleration time No.
Da.4 Deceleration time No.
Da.5 Axis to be interpolated
Da.6 Positioning address/movement amount
Change destination
address
Da.7 Arc address
Da.8 Command speed
Da.9 Dwell time
JUMP destination-
positioning data No.
Da.10 M code Condition data No. at JUMP
No. of repetition : Always set : Set as required ("" when not set) : Setting not possible (If setting is made, an error (error code: 515) will occur.) : Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error occurs.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.6 Positioning address/movement amount".
0 1000 8000
Positioning control (movement amount 7000)
Start point address (current stop position)
End point address (positioning address)
Example
When the start point address (current stop position) is 1000, and the end point address (positioning address) is 8000, positioning is carried out in the positive direction for a movement amount of 7000 (8000-1000)
Positioning data setting example The following table shows setting examples when "1-axis linear control (ABS linear 1)" 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.
Da.2 Control system ABS linear 1 Set absolute system 1-axis linear control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25
Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Da.5 Axis to be interpolated Setting not required (setting value will be ignored).
Da.6 Positioning address/ movement amount 8000.0m Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit
setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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.
Reverese direction Forward direction
Start point address (current stop position)
Movement direction for a negative movement amount
Movement direction for a positive movement amount
-3000 -2000 5000
Positioning control in the reverse direction (movement amount -7000)
Address after positioning control Start point address (current stop position)
-1000 0 1000 2000 3000 4000 6000
Example
When the start point address is 5000, and the movement amount is -7000, positioning is carried out to the -2000 position.
Positioning data setting example The following table shows setting examples when "1-axis linear control (INC linear 1)" 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.
Da.2 Control system INC linear 1 Set incremental system 1-axis linear control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the
acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Da.5 Axis to be interpolated Setting not required (setting value will be ignored).
Da.6 Positioning address/ movement amount -7000.0m Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit
setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/min Set the speed during movement.
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.)
[1] 2-axis linear interpolation control (ABS linear 2)
Operation chart In absolute system 2-axis linear 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 the address (end point address) set in " Da.6 Positioning address/movement amount".
X1 X2
Y1
Y2
Reverse direction Forward direction (X axis)
Reverse direction
Forward direction (Y axis)
Movement by linear interpolation of the X axis and Y axis
Start point address (X1,Y1) (current stop position)
Y axis movement
X axis movement amount
amount
End point address (X2,Y2) (positioning address)
Example
5000 10000
Axis 2 movement amount (4000-1000=3000)
4000
1000
Axis 2
Axis 1 0
(current stop position) End point address
When the start point address (current stop position) is (1000, 1000) and the end point address (positioning address) is (10000, 4000), positioning is carried out as follows.
Axis 1 movement amount (10000-1000=9000)
Start point address
(positioning address)
1000
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
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 linear interpolation control (ABS linear 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.) Axis
Setting item
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning
data will not be executed.
Da.2 Control system ABS linear 2 Set absolute system 2-axis linear interpolation control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as
the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0"
as the deceleration time at deceleration.
Da.5 Axis to be interpolated 2
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Da.6 Positioning address/ movement amount 10000.0 m 4000.0 m
Set the end point address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min Set the speed during movement to the end point address.
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT When the "reference axis speed" is set during 2-axis linear 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".
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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". The movement direction is determined by the sign of the movement amount.
X1 X2
Y1
Y2
Reverse direction Forward direction (X axis)
Reverse direction
Forward direction (Y axis)
Movement by linear interpolation positioning of the X axis and Y axis
Start point address (X1,Y1) (current stop position)
Y axis movement
X axis movement amount
amount
Example
5000 10000
Axis 2 movement amount (-3000)
4000
1000
Axis 2
Axis 1 0
(current stop position)
Stop address after the positioning control
When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning address (10000, 4000) is carried out as follows.
Axis 1 movement amount (9000)
Start point address
1000
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
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 linear interpolation control (INC linear 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.) Axis
Setting item
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning
data will not be executed.
Da.2 Control system INC linear 2 Set incremental system 2-axis linear interpolation control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as
the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0"
as the deceleration time at deceleration.
Da.5 Axis to be interpolated 2
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Da.6 Positioning address/ movement amount 9000.0 m -3000.0 m
Set the movement amount. (Assuming "mm" is set in
" Pr.1 Unit setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min Set the speed during movement.
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT When the "reference axis speed" is set during 2-axis linear 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".
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.)
[1] 3-axis linear interpolation control (ABS linear 3)
Operation chart In the absolute system 3-axis linear 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 the address (end point address) set in the " Da.6 Positioning address/movement amount".
End point address (X2,Y2,Z2)
(Positioning address) Movement by linear interpolation of the X axis, Y axis and Z axis
Y axis movement amount
Start point address (X1,Y1,Z1) (Current stop position)
Forward direction (X axis)
Forward direction (Z axis)
Reverse direction
Forward direction (Y axis)
X axis movement amount
Z axis movement amount
Reverse direction Reverse direction
End point address (positioning address)
Axis 2 movement amount (8000-2000=6000)
Start point address (current stop position)
Axis 1
Axis 3
Axis 2
8000
Axis 3 movement amount (4000-1000=3000)
4000 2000
1000 10000 4000
Axis 1 movement amount (4000-1000=3000)
Example
When the start point address (current stop positon) is (1000, 2000, 1000) and the end point address (positioning address) is (4000, 8000, 4000), positioning is carried out as follows.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "3-axis linear interpolation control (ABS linear 3)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2 and axis 3.) Axis
Setting item
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Axis 3 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next
positioning data will not be executed.
Da.2 Control system ABS linear 3 Set absolute system 3-axis linear interpolation control.
Da.3 Acceleration time No. 1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated 2
Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2 and 3.
Da.6 Positioning address/ movement amount 4000.0 m 8000.0 m 4000.0 m
Set the end point address. (Assuming "mm" is
set in " Pr.1 Unit setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min Set the speed during movement to the end
point address.
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
POINTS
When the "reference axis speed" is set during 3-axis linear 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".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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". The movement direction depends on the sign (+ or -) of the movement amount.
Z axis movement amount
X axis movement amount
Y axis movement amount
Start point address (X1, Y1, Z1) (current stop position)
Forward direction
Forward direction
Forward direction
Movement by linear interpolation positioning of the X axis, Y axis and Z axis
Z2
Y2
X2
Reverse direction
Reverse direction
Reverse direction
When the axis 1 movement amount is 10000, the axis 2 movement amount is 5000 and the axis 3 movement amount is 6000, positioning is carried out as follows.
Start point address (current stop position)
Axis 1
Axis 3
Stop address after the positioning control
6000
Axis 2
Axis 3 movement amount (6000)
5000 Axis 2 movement amount (5000)
5000 10000
Axis 1 movement amount (10000)
Example
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "3-axis linear interpolation control (INC linear 3)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2 and axis 3.) Axis
Setting item
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Axis 3 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next
positioning data will not be executed.
Da.2 Control system INC linear 3 Set incremental system 3-axis linear interpolation control.
Da.3 Acceleration time No. 1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated
Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2 and 3.
Da.6 Positioning address/ movement amount
10000.0 m 5000.0 m 6000.0 m
Set the movement amount. (Assuming "mm"
is set in " Pr.1 Unit setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min Set the speed during movement.
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
POINTS
When the "reference axis speed" is set during 3-axis linear 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".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.)
[1] 4-axis linear interpolation control (ABS linear 4)
In the absolute system 4-axis linear control, using an address established by a machine OPR in the 4-axis coordinate space, a linear interpolation positioning is carried out from the current stop position (start point address) to the address (end point address) set in the " Da.6 Positioning address/movement amount".
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. When the movement amount for each axis exceeds "1073741824 (=230)"
An "outside linear movement amount range error (error code: 504)" will occur at the positioning start. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Axis 3 (interpolation axis) setting
example
Axis 4 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete
Set "Positioning complete" assuming the next positioning data will not be executed.
Da.2 Control system ABS linear 4 Set absolute system 4-axis linear interpolation control.
Da.3 Acceleration time No. 1
Designate the value set in
" Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0
Designate the value set in
" Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated
Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2, 3 and 4.
Da.6 Positioning address/ movement amount 4000.0 m 8000.0 m 4000.0 m 3000.0 m
Set the end point address. (Assuming "mm" is set in
" Pr.1 Unit setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min
Set the speed during movement to the end point address.
Da.9 Dwell time 500ms
Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section "5.3 List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
POINTS
When the "reference axis speed" is set during 4-axis linear 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".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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". The movement direction depends on the sign (+ or -) of the movement amount.
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. When the movement amount for each axis exceeds "1073741824 (=230)"
An "outside linear movement amount range error (error code: 504)" will occur at the positioning start. (The maximum movement amount that can be set in " Da.6 Positioning address/movement amount" is "1073741824 (=230)".)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.)
Axis
Setting item
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Axis 3 (interpolation axis) setting
example
Axis 4 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete
Set "Positioning complete" assuming the next positioning data will not be executed.
Da.2 Control system INC linear 4 Set incremental system 4-axis linear interpolation control.
Da.3 Acceleration time No. 1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated
Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2, 3 and 4.
Da.6 Positioning address/ movement amount 4000.0 m 8000.0 m 4000.0 m 3000.0 m
Set the movement amount. (Assuming "mm" is set in
" Pr.1 Unit setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min Set the speed during
movement.
Da.9 Dwell time 500ms
Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINTS When the "reference axis speed" is set during 4-axis linear 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".
Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis combinations.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (The remainder of the movement amount with an accuracy below the control accuracy does not affect the regular controls.)
Operation chart In 1-axis fixed-feed control, the address ( Md.20 Current feed value) of the current stop position (start point address) is set to "0". Positioning is then carried out 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 movement amount sign.
0 0 0 0 0
" Md. 20 Current feed value" is set to "0" at the positioning start
Designated movementPositioning start amount
Reverse direction Forward direction
Stop position
Movement direction for a negative movement amount
Movement direction for a positive movement amount
Restrictions (1) An axis error "Continuous path control invalid (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 fixed-feed control.)
(2) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data
when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control invalid (error code: 516)" will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
Positioning data setting example The following table shows setting examples when "1-axis fixed-feed control (fixed- feed 1)" 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.
Da.2 Control system Fixed-feed 1 Set 1-axis fixed-feed control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Da.5 Axis to be interpolated Setting not required (setting value will be ignored).
Da.6 Positioning address/ movement amount 8000.0m Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit
setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/ min Set the speed during movement to the positioning address.
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
* Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (The remainder of the movement amount with an accuracy below the control accuracy does not affect the regular controls.) (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
Operation chart In incremental system 2-axis fixed-feed control, the addresses ( Md.20 Current feed value) of the current stop position (start addresses) of both 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.
" Md. 20 Current feed value" of each axis is set to "0" at the positioning start
(0,0)
(0,0)
(0,0)
X axis
Y axis
Designated movement amount
Designated movement amount
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 fixed- feed control.)
(2) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data
when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control not possible (error code: 516)" will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.) Axis
Setting item
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning
data will not be executed.
Da.2 Control method Fixed-feed 2 Set 2-axis fixed-feed control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0"
as the deceleration time at deceleration.
Da.5 Axis to be interpolated 2
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Da.6 Positioning address/ movement amount 8000.0 m 6000.0 m
Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min
Set the speed during movement. (Designate the composite speed of reference axis speed in " Pr.20 Interpolation speed designation method".)
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
* Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINTS When the "reference axis speed" is set during 2-axis fixed-feed 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".
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (The remainder of the movement amount with an accuracy below the control accuracy does not affect the regular controls.) (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
Designated movement amount
Designated movement amount
Md.20
Designated movement amount
Current feed value" of each axis is set to "0" at the positioning start.
(0,0,0)
(0,0,0)
(0,0,0)
Y axis
X axis
Z axis
"
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 fixed- feed control.)
(2) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data
when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control not possible (error code: 516)" will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "3-axis fixed-feed control (fixed- feed 3)" is set in positioning data No. 1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2 and axis 3.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
Axis
Setting item
Axis 1 (reference
axis) setting example
Axis 2 (interpolatio
n axis) setting
example
Axis 3 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next
positioning data will not be executed.
Da.2 Control method Fixed-feed 3 Set 3-axis fixed-feed control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated
Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2 and 3.
Da.6 Positioning address/ movement amount 10000.0 m 5000.0 m 6000.0 m
Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min Set the speed during movement.
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINTS When the "reference axis speed" is set during 3-axis fixed-feed 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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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (The remainder of the movement amount with an accuracy below the control accuracy does not affect the regular controls.) (Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)
Operation chart In incremental system 4-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.
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 fixed- feed control.)
(2) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data
when "continuous path control" has been set in " Da.1 Operation pattern" of the immediately prior positioning data. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", fixed-feed control cannot be set in positioning data No. 2.) An axis error "Continuous path control not possible (error code: 516)" will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
Positioning data setting example [Reference axis is designated as axis 1.] The following table shows setting examples when "4-axis fixed-feed control (fixed- feed 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
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Axis 3 (interpolation axis) setting
example
Axis 4 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete
Set "Positioning complete" assuming the next positioning data will not be executed.
Da.2 Control method Fixed-feed 4 Set 4-axis fixed-feed control.
Da.3 Acceleration time No. 1
Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated
Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2, 3 and 4.
Da.6 Positioning address/ movement amount 4000.0 m 8000.0 m 4000.0 m 3000.0 m
Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min Set the speed during
movement.
Da.9 Dwell time 500ms
Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10
Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINTS When the "reference axis speed" is set during 4-axis fixed-feed 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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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.)
[1] 2-axis circular interpolation control with sub point designation (ABS
circular sub)
Operation chart In the absolute system, 2-axis circular interpolation control with sub 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.6 Positioning address/movement amount", in an arc path that passes through the sub point address set in " Da.7 Arc address".
The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of a straight line between the start point address (current stop position) and sub point address (arc address), and a straight line between the sub point address (arc address) and end point address (positioning address).
OP
Reverse direction
Forward direction
Arc center point
Movement by circular interpolation
Forward direction
End point address(arc address) (positioning address)
Start point address
(current stop position) Reverse direction
Sub point address
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.20 Interpolation speed designation method"
(2) An error will occur and the positioning start will not be possible in the following cases. The machine will immediately stop if the error is detected during positioning control. When the radius exceeds "536870912 (=229)". (The maximum radius for
which circular interpolation control is possible is "536870912 (=229)" ... An error "Outside radius range (error code: 544)" will occur at positioning
start. When the center point address is outside the range of "2147483648 (231) to
2147483647 (2311)" ... A "Sub point setting error" (error code: 525) will occur at positioning start.
When the start point address is the same as the end point address ... An "End point setting error" (error code: 526) will occur.
When the start point address is the same as the sub point address ... A "Sub point setting error" (error code: 525) will occur.
When the end point address is the same as the sub point address ... A "Sub point setting error" (error code: 525) will occur.
When the start point address, sub point address, and end point address are in a straight line
... A "Sub point setting error" (error code: 525) will occur.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning
data will not be executed.
Da.2 Control system ABS circular sub Set absolute system, 2-axis circular interpolation control
with sub point designation.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as
the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as
the deceleration time at deceleration.
Da.5 Axis to be interpolated 2 Set the axis to be interpolated (partner axis).
If the self-axis is set, an error will occur.
Da.6 Positioning address/ movement amount 8000.0 m 6000.0 m
Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address 4000.0 m 3000.0 m Set the sub point address. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.8 Command speed 6000.00 mm/min
Set the speed when moving to the end point address. (Designate the composite speed in " Pr.20 Interpolation speed designation method".)
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
Set a value in " Da.8 Command speed" so that the speed of each axis does not
exceed the " Pr.8 Speed limit value". (The speed limit does not function for the
speed calculated by the QD75MH during interpolation control.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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". The movement direction depends on the sign (+ or -) of the movement amount. The resulting control path is an arc having as its center the intersection point of perpendicular bisectors of the straight line between the start point address (current stop position) and sub point address (arc address) calculated from the movement amount to the sub point, and a straight line between the sub point address (arc address) and end point address (positioning address) calculated from the movement amount to the end point.
Reverse direction
Reverse direction
Forward direction
Movement by circular interpolation Forward direction
Movement amount to the end point
Movement amount to the sub point
Movement amount to sub point
Movement amount to the end point
Arc center
Sub point address
(arc address)
Start point address
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.20 Interpolation speed designation method"
(2) An error will occur and the positioning start will not be possible in the following cases. The machine will immediately stop if the error is detected during positioning control. When the radius exceeds "536870912 (=229)". (The maximum radius for
which circular interpolation control is possible is "536870912 (=229)" ... An error "Outside radius range (error code: 544)" will occur at positioning
start. When the center point address is outside the range of "2147483648 (231) to
2147483647 (2311)" ... A "Sub point setting error" (error code: 525) will occur at positioning start.
When the start point address is the same as the end point address ... An "End point setting error" (error code: 526) will occur.
When the start point address is the same as the sub point address ... A "Sub point setting error" (error code: 525) will occur.
When the end point address is the same as the sub point address ... A "Sub point setting error" (error code: 525) will occur.
When the start point address, sub point address, and end point address are in a straight line
... A "Sub point setting error" (error code: 525) will occur.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning
data will not be executed.
Da.2 Control system INC circular sub Set incremental system, 2-axis circular interpolation control
with sub point designation.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1"
as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0"
as the deceleration time at deceleration.
Da.5 Axis to be interpolated 2 Set the axis to be interpolated (partner axis).
If the self-axis is set, an error will occur.
Da.6 Positioning address/ movement amount 8000.0 m 6000.0 m Set the movement amount. (Assuming that the " Pr.1
Unit setting" is set to "mm".)
Da.7 Arc address 4000.0 m 3000.0 m Set the sub point address. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.8 Command speed 6000.00 mm/min
Set the speed during movement. (Designate the composite speed in " Pr.20 Interpolation speed designation method".)
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
Set a value in " Da.8 Command speed" so that the speed of each axis does not
exceed the " Pr.8 Speed limit value". (The speed limit does not function for the
speed calculated by the QD75MH during interpolation control.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 9.1.6 "Interpolation control" for details on interpolation control.)
The following table shows the rotation directions, arc center angles that can be controlled, and positioning paths for the different control systems.
Control system Rotation direction Arc center angle that can be controlled Positioning path
ABS circular right
INC circular right
Clockwise
Positioning path
0 < < 360
Center point
Start point (current stop position)
End point (positioning address)
ABS circular left
INC circular left
Counterclockwise
0 < 360 Center point
Positioning path
Start point (current stop position)
End point (positioning address)
0< < 360
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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.41 Allowable circular interpolation error width"
Circular interpolation control to the set end point address is carried out while the error compensation is carried out. (This is called "spiral interpolation".)
Path using spiral interpolation
Center point addressStart point address
Error
Calculated end point address
End point address
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. Thus, when there is a difference (error) between a radius calculated from the start point address and center point address (start point radius) and a radius calculated from the end point address and center point address (end point radius), the composite speed differs from the command speed as follows.
Start point radius > End point radius: As compared with the speed without error, the speed becomes slower as end point address is reached.
Start point radius < End point radius: As compared with the speed without error, the speed becomes faster as end point address is reached.
(2) Calculated error > " Pr.41 Allowable circular interpolation error width"
At the positioning start, an error "Outside circular interpolation error allowable limit" (error code: 506) will occur and the control will not start. The machine will immediately stop if the error is detected during positioning control.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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.6 Positioning address/movement amount", in an arc path having as its center the address (arc address) of the center point set in " Da.7 Arc address".
Radius
Movement by circular interpolation Forward direction
Reverse direction
End point address Start point address (current stop position)
Arc address
Forward direction Reverse direction
(positioning address)
Positioning of a complete round with a radius from the start point address to the arc center point can be carried out by setting the end point address (positioning address) to the same address as the start point address.
Arc center point
Reverese direction
Forward direction
(Arc address)
(current stop position)
Start point address =
Reverese direction Forward direction
End point address
(positioning address)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. Thus, when there is a difference (error) between a radius calculated from the start point address and center point address (start point radius) and a radius calculated from the end point address and center point address (end point radius), the composite speed differs from the command speed as follows.
Start point radius > End point radius: As compared with the speed without error, the speed becomes slower as end point address is reached.
Start point radius < End point radius: As compared with the speed without error, the speed becomes faster as end point address is reached.
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.20 Interpolation speed designation method"
(2) An error will occur and the positioning start will not be possible in the following cases. The machine will immediately stop if the error is detected during positioning control. When the radius exceeds "536870912 (=229)". (The maximum radius for
which circular interpolation control is possible is "536870912 (=229)" ... An error "Outside radius range" (error code: 544)" will occur at
positioning start. When the end point address is outside the range of -231 to 231-1
... An "End point setting error" (error code: 526) When the start point address is the same as the center point address
... A "Center point setting error" (error code: 527) will occur. When the end point address is the same as the center point address
... A "Center point setting error" (error code: 527) will occur. When the center point address is outside the range of -231 to 231-1
... A "Center point setting error" (error code: 527) will occur.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning
data will not be executed.
Da.2 Control system
ABS circular right
ABS circular left
Set absolute system, 2-axis circular interpolation control with center point designation. (Select clockwise or counterclockwise according to the control.)
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1"
as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0"
as the deceleration time at deceleration.
Da.5 Axis to be interpolated 2 Set the axis to be interpolated (partner axis).
If the self-axis is set, an error will occur.
Da.6 Positioning address/ movement amount 8000.0 m 6000.0 m
Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit setting".)
Da.7 Arc address 4000.0 m 3000.0 m Set the arc address. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.8 Command speed 6000.00 mm/min
Set the speed when moving to the end point address. (Designate the composite speed in " Pr.20 Interpolation speed designation method".)
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
Set a value in " Da.8 Command speed" so that the speed of each axis does not
exceed the " Pr.8 Speed limit value". (The speed limit does not function for the
speed calculated by the QD75MH during interpolation control.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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.6 Positioning address/movement amount", in an arc path having as its center the address (arc address) of the center point set in " Da.7 Arc address".
Radius
Movement by circular interpolationForward direction
Reverse direction Forward direction
Movement amount to the end point
Start point address (Current stop position)
Arc center point
(Arc address) Movement amount to the end point
Reverse direction
Positioning of a complete round with a radius of the distance from the start point address to the arc center point can be carried out by setting the movement amount to "0".
Arc center point
Reverese direction
Forward direction
(Arc address)
Reverese direction Forward direction
Movement amount = 0
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. Thus, when there is a difference (error) between a radius calculated from the start point address and center point address (start point radius) and a radius calculated from the end point address and center point address (end point radius), the composite speed differs from the command speed as follows.
Start point radius > End point radius: As compared with the speed without error, the speed becomes slower as end point address is reached.
Start point radius < End point radius: As compared with the speed without error, the speed becomes faster as end point address is reached.
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.20 Interpolation speed designation method"
(2) An error will occur and the positioning start will not be possible in the following cases. The machine will immediately stop if the error is detected during positioning control. When the radius exceeds "536870912 (=229)". (The maximum radius for
which circular interpolation control is possible is "536870912 (=229)" ... An "Outside radius range error (error code: 544)" will occur at positioning
start. When the start point address is the same as the center point address
... A "Center point setting error" (error code: 527) will occur. When the end point address is the same as the center point address
... A "Center point setting error" (error code: 527) will occur. When the center point address is outside the range of -231 to 231-1
... A "Center point setting error" (error code: 527) will occur.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Setting details
Da.1 Operation pattern Positioning complete Set "Positioning complete" assuming the next positioning
data will not be executed.
Da.2 Control system
INC circular right
INC circular left
Set incremental system, 2-axis circular interpolation control with center point designation. (Select clockwise or counterclockwise according to the control.)
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0"
as the deceleration time at deceleration.
Da.5 Axis to be interpolated 2 Set the axis to be interpolated (partner axis).
If the self-axis is set, an error will occur.
Da.6 Positioning address/ movement amount 8000.0 m 6000.0 m Set the movement amount. (Assuming that the " Pr.1
Unit setting" is set to "mm".)
Da.7 Arc address 4000.0 m 3000.0 m Set the center point address. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.8 Command speed 6000.00 mm/min
Set the speed when moving to the end point address. (Designate the composite speed in " Pr.20 Interpolation speed designation method".)
Da.9 Dwell time 500ms Set the time the machine dwells after the positioning stop (pulse output stop) to the output of the positioning complete signal.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
POINT
Set a value in " Da.8 Command speed" so that the speed of each axis does not
exceed the " Pr.8 Speed limit value". (The speed limit does not function for the
speed calculated by the QD75MH during interpolation control.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. The two types of 1-axis speed control are "Forward run: speed 1" in which the control starts in the forward run direction, and "Reverse run: speed 1" in which control starts in the reverse run direction.
Operation chart The following chart shows the operation timing for 1-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.
t
V
BUSY signal OFF
ON
Positioning start signal OFF
ON
Positioning complete signal OFF
Axis stop signal (stop command) [Y4]
OFF
ON
Does not turn ON even when control is stopped by stop command.
OFF
ON
Md.31 Status:b0 In speed control flag
Da. 8 Command speed
[Y10]
[XC]
[X14]
Fig.9.9 1-axis speed control operation timing
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
control" setting Md.20 Current feed value
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. 2: Zero clear current feed value The current feed value is fixed at 0.
V
t
In speed control
Current feed value during speed control start is maintained
(a) Current feed value not updated
t
Current feed value is updated
(b) Current feed value updated (c) Current feed value zero cleared
t
0
In speed control In speed control V V
Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible (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". ("Continuous positioning control" and "continuous path control" cannot be set in speed control.)
(2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set.
(3) An error "No command speed (error code: 503)" will occur if the current speed (-1) is set in " Da.8 command speed".
(4) The software stroke limit check will not carried out if the control unit is set to "degree".
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
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.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Da.5 Axis to be interpolated Setting not required (setting value will be ignored).
Da.6 Positioning address/ movement amount Setting not required (setting value will be ignored).
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/ min Set the speed to be commanded.
Da.9 Dwell time Setting not required (setting value will be ignored).
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data. (" Pr.18 M code ON signal output timing" setting only possible in the WITH mode.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. The two types of 2-axis speed control are "Forward run: speed 2" in which the control starts in the forward run direction, and "Reverse run: speed 2" in which control starts in the reverse run direction. (Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis with the interpolation axis.)
Operation chart The following chart shows the operation timing for 2-axis (axes 1 and 2) 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.
t
V
BUSY signal [XC,XD]
OFF
ON
Positioning start signal [Y10]
OFF
ON
Positioning complete signal [X14,X15]
OFF
Axis stop signal (stop command) (Either Y4 or Y5)
OFF
ON
Does not turn ON even when control is stopped by stop command.
OFF
ON
Md.31 In speed control flag
Da. 8 Referense axis (axis1)
t
V
Command speedDa. 8 Interpolation axis (axis 2)
Command speed
Status: b0
Fig. 9.10 2-axis speed control operation timing
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 control" setting
Md.20 Current feed value
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. 2: Zero clear current feed value The current feed value is fixed at 0.
V
t
In speed control
Current feed value during speed control start is maintained
(a) Current feed value not updated
t
Current feed value is updated
(b) Current feed value updated (c) Current feed value zero cleared
t
0
In speed control In speed control V V
Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible (error code: 516)" will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set. ("Continuous positioning control" and "continuous path control" cannot be set in speed control.)
(2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set.
(3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation method". An "Interpolation mode error (error code: 523)" will occur and the operation cannot start if a composite speed is set.
(4) When either of two 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
Setting item Axis 1 setting Axis 2 setting
Pr.8
Speed limit value 4000.00mm/min 5000.00mm/min
Da.8 Command speed 8000.00mm/min 6000.00mm/min
With the settings shown above, the operation speed in speed control is as follows. Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ). Axis 2: 3000.00 mm/min (Speed is limited at an ratio of an axis 1 command speed to an axis 2 command speed).
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
(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.] The following table shows the setting examples when "2-axis speed control (forward run: speed 2)" is set in the positioning data No. 1 of axis 1 (reference axis).
Axis
Setting item
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) 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 2 Set 2-axis speed control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0"
as the deceleration time at deceleration.
Da.5 Axis to be interpolated 2
Set the axis to be interpolated (partner axis). If the self-axis is set, an error will occur.
Da.6 Positioning address/ movement amount Setting not required (setting value will be ignored).
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min
3000.00 mm/min Set the speed to be commanded.
Da.9 Dwell time Setting not required (setting value will be ignored).
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10
Set this when other sub operation commands are issued in combination with the No. 1 positioning data. (" Pr.18 M code ON signal output timing" setting only possible in the WITH mode.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. The two types of 3-axis speed control are "Forward run: speed 3" in which the control starts in the forward run direction, and "Reverse run: speed 3" in which control starts in the reverse run direction. (Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis with the interpolation axes.)
Operation chart The following chart shows the operation timing for 3-axis (axes 1, 2, and 3) 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.
t
V
BUSY signal [XC,XD,XE]
OFF
ON
Positioning start signal [Y10]
OFF
ON
Positioning complete signal [X14,X15,X16]
OFF
Axis stop signal (stop command) (Either Y4,Y5 or Y6)
OFF
ON
Does not turn ON even when control is stopped by stop command.
Status: b0 OFF
ON
Md.31 In speed control flag
Da. 8 Referense axis (axis 1)
t
V
Da. 8 Interpolation axis (axis 2)
t
V
Command speedDa. 8 Interpolation axis (axis 3)
Command speed
Command speed
Fig. 9.11 3-axis speed control operation timing
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
control" setting Md.20 Current feed value
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. 2: Zero clear current feed value The current feed value is fixed at 0.
V
t
In speed control
Current feed value during speed control start is maintained
(a) Current feed value not updated
t
Current feed value is updated
(b) Current feed value updated (c) Current feed value zero cleared
t
0
In speed control In speed control V V
Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible (error code: 516)" will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set. ("Continuous positioning control" and "continuous path control" cannot be set in speed control.)
(2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set.
(3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation method". An "Interpolation mode error (error code: 523)" will occur and the operation cannot start if a composite speed is set.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
(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
Setting item Axis 1 setting Axis 2 setting Axis 3 setting
Pr.8
Speed limit value 4000.00mm/min 5000.00mm/min 6000.00mm/min
Da.8 Command speed 8000.00mm/min 6000.00mm/min 4000.00mm/min
With the settings shown above, the operation speed in speed control is as follows. Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ). Axis 2: 3000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3
command speeds). Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3
command speeds). (5) An error "No command speed (error code: 503)" will occur 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".
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
Setting item
Axis 1 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Axis 3 (interpolation axis) 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 3 Set 3-axis speed control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0
Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated
Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2 and 3.
Da.6 Positioning address/ movement amount Setting not required (setting value will be
ignored).
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min
3000.00 mm/min
2000.00 mm/min Set the speed to be commanded.
Da.9 Dwell time Setting not required (setting value will be ignored).
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10
Set this when other sub operation commands are issued in combination with the No. 1 positioning data. (" Pr.18 M code ON signal output timing" setting only possible in the WITH mode.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. The two types of 4-axis speed control are "Forward run: speed 4" in which the control starts in the forward run direction, and "Reverse run: speed 4" in which control starts in the reverse run direction. (Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis with the interpolation axes.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
t
V
BUSY signal [XC,XD,XE,XF]
OFF
ON
Positioning start signal [Y10]
OFF
ON
Positioning complete signal [X14,X15,X16,X17]
OFF
Axis stop signal (stop command) (Either Y4,Y5,Y6 or Y7)
OFF
ON
Does not turn ON even when control is stopped by stop command.
Status: b0 OFF
ON
Md.31 In speed control flag
Referense axis (axis 1)
t
V
Interpolation axis (axis 3)
t
V
Command speedDa. 8 Interpolation axis (axis 4)
t
V
Interpolation axis (axis 2)
Command speedDa. 8
Command speedDa. 8
Command speedDa. 8
Fig. 9.12 4-axis speed control operation timing
9 - 80
MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
control" setting Md.20 Current feed value
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. 2: Zero clear current feed value The current feed value is fixed at 0.
V
t
In speed control
Current feed value during speed control start is maintained
(a) Current feed value not updated
t
Current feed value is updated
(b) Current feed value updated (c) Current feed value zero cleared
t
0
In speed control In speed control V V
Restrictions (1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible (error code: 516)" will occur and the operation cannot start if "continuous positioning control" or "continuous path control" is set. ("Continuous positioning control" and "continuous path control" cannot be set in speed control.)
(2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using an M code. The M code will not be output, and the M code ON signal will not turn ON if the AFTER mode is set.
(3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation method". An "Interpolation mode error (error code: 523)" will occur and the operation cannot start if a composite speed is set.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
(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
Setting item
Axis 1 setting
Axis 2 setting
Axis 3 setting
Axis 4 setting
Pr.8
Speed limit value
4000.00mm/ min
5000.00mm/ min
6000.00mm/ min
8000.00mm/ min
Da.8 Command speed
8000.00mm/ min
6000.00mm/ min
4000.00mm/ min
1500.00mm/ min
With the settings shown above, the operation speed in speed control is as follows. Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ). Axis 2: 3000.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4
command speeds). Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4
command speeds). Axis 4: 750.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4
command speeds). (5) An error "No command speed (error code: 503)" will occur 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".
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 (reference
axis) setting example
Axis 2 (interpolation axis) setting
example
Axis 3 (interpolation axis) setting
example
Axis 4 (interpolation axis) 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 4 Set 4-axis speed control.
Da.3 Acceleration time No. 1
Designate the value set in
" Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0
Designate the value set in
" Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated
Setting not required (setting value will be ignored). When axis 1 is used as a reference axis, the interpolation axes are axes 2, 3 and 4.
Da.6 Positioning address/ movement amount Setting not required (setting
value will be ignored).
Da.7 Arc address Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00 mm/min
3000.00 mm/min
2000.00 mm/min
1000.00 mm/min
Set the speed to be commanded.
Da.9 Dwell time Setting not required (setting value will be ignored).
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10
Set this when other sub operation commands are issued in combination with the No. 1 positioning data. (" Pr.18 M code ON signal output timing" setting only possible in the WITH mode.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
"Speed-position switching control (INC mode)" is available in two different types: "forward run: speed/position" which starts the axis in the forward run direction and "reverse run: speed/position" which starts the axis in the reverse run direction. Use the detailed parameter 1 " Pr.81 Speed-position function selection" with regard to the choice for "speed-position switching control (INC mode)".
Buffer memory address Setting item Setting
value Setting details Axis 1 Axis 2 Axis 3 Axis 4
Pr.81
Speed- position function selection
0 Speed-position switching control (INC mode) 34 184 334 484
If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode. For details of the setting, refer to Sections 5.2 "List of parameters".
Switching over from speed control to position control (1) The control is switched over from speed control to position control by the
external signal "speed-position switching signal". (2) Besides setting the positioning data, the " Cd.24 Speed-position switching
enable flag" must also be turned ON to switch over from speed control to position control. (If the " Cd.24 Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control. Only position control will be carried out when the " Cd.24 Speed-position switching enable flag" and speed-position switching signal are ON at the operation start.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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).
t
V
Positioning start signal OFF
ON
BUSY signal OFF
ON
Positioning complete signal OFF ON
Speed-position switching signal
ON
Speed control Position control Dwell time
In speed control flag Md. 31 Status: b0
Cd. 24 Speed-position switching enable flag
Da. 8 Command speed Movement amount set in " Da. 6 Positioning address/movement amount"
OFF
OFF
OFF
ON
ON
[Y10,Y11,Y12,Y13]
[XC,XD,XE,XF]
[X14,X15,X16,X17]
Fig. 9.13 Speed-position switching control (INC mode) operation timing
9 - 85
MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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])
Speed-position switching signal ON
90.00000+270.00000 =360.00000 =Stop at 0.00000 [degree]
0.00000
90.00000
0.00000
90.00000
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
Operation timing and processing time during speed-position switching control (INC mode)
Positioning start signal [Y10,Y11,Y12,Y13]
BUSY signal
M code ON signal [X4,X5,X6,X7](WITH mode)
Standing by In speed control
Start complete signal
Positioning operation
Positioning complete signal
M code ON signal (AFTER mode)
t1
t2
t3
t4
t5
t2
t7
In position control
Speed control
Position control
External speed-position switching command
t6
Speed control carried out until speed-position switching signal turns ON
Position control movement amount is from the input position of the external speed-position switching signal
Md.26 Axis operation status
Cd. 23 Speed-position switching control movement amount change register
OPR complete flag Md.31 Status: b4
Cd.7 M code OFF request
Cd.7 M code OFF request
Standing by
[XC,XD,XE,XF]
[X10,X11,X12,X13]
[X14,X15,X16,X17]
[X4,X5,X6,X7]
Fig. 9.14 Operation timing and processing time during speed-position switching control (INC mode)
Normal timing time Unit: ms t1 t2 t3 t4 t5 t6 t7 1.1 0 to 1.3 0 to 1.8 2.8 to 4.5 0 to 1.3 0.2 Follows parameters
The t1 timing time could be delayed by the operation state of other axes.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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
speed control" setting Md.20 Current feed value
0: Do not update current feed value The current feed value at control start is maintained during speed control, and updated from the switching to position control.
1: Update current feed value The current feed value is updated during speed control and position control.
2: Zero clear current feed value The current feed value is cleared (set to "0") at control start, and updated from the switching to position control.
t
0 Updated from 0
t
V
t
Position control
Maintained Updated
Speed control Position control Speed control Position control Speed control
Updated
(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared
V V
Switching time from speed control to position control There is 1ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag ( Md.31 Status: b1) turns ON.
Speed-position switching signal OFF
ON
OFF
ON
1ms
Speed-position switching latch flag
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
Buffer memory address Setting item Setting value
Setting details Axis 1 Axis 2 Axis 3 Axis 4
Pr.42
External command function selection
2 Set the "2: speed-position and position-speed switching requests".
62 212 362 512
Cd.8
External command valid
1 Set "1: Validate external command". 1505 1605 1705 1805
Refer to Sections 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the setting details.
Changing the position control movement amount In "speed-position switching control (INC mode)", the position control movement amount can be changed during the speed control section.
(1) The position control movement amount can be changed during the speed
control section of speed-position switching control (INC mode). A movement amount change request will be ignored unless issued during the speed control section of the speed-position switching control (INC mode).
(2) The "new movement amount" is stored in " Cd.23 Speed-position switching control movement amount change register" by the PLC program during speed control. When the speed-position switching signal is turned ON, the movement amount for position control is stored in " Cd.23 Speed-position switching control movement amount change register".
(3) The movement amount is stored in the " Md.29 Speed-position switching control positioning amount" of the axis monitor area from the point where the control changes to position control by the input of a speed-position switching signal from an external device.
t
Movement amount
Speed-position switching signal
ON
OFF
Speed control Position control
Position control start Speed-position switching control (INC mode) start
0 P2
OFF
Speed-position switching latch flag ON
P3
P2 becomes the position control movement amount
Cd.23 Speed-position switching control, movement amount change register
Md.31 Status : b1
change possible
Setting after the speed-position switching signal ON is ignored
Fig. 9.15 Position control movement amount change timing
9 - 89
MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 PLC 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.
The movement amount change can be enable/disable with the interlock function in position control using the speed-position switching latch flag (Md.31
Status : b1) of the axis monitor area.
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. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "speed-position switching control" cannot be set in positioning data No. 2.) An axis error (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
(3) An error (error code: 503) will occur if "current speed (-1)" is set in " Da.8 command speed".
(4) The software stroke limit range check during speed control is made only when the following (a) and (b) are satisfied: (a) " Pr.21 Current feed value during speed control" is "1: Update current feed
value". If the movement amount exceeds the software stroke limit range during speed control in case of the setting of other than "1: Update current feed value", an error (error code: 507 or 508) will occur as soon as speed control is changed to position control and the axis will decelerate to a stop.
(b) When " Pr.1 Unit setting" is other than "2: degree"
If the unit is "degree", the software stroke limit range check is not performed. (5) If the value set in " Da.6 Positioning address/movement amount" is negative,
an error (error code: 530) will occur. (6) Deceleration processing is carried out from the point where the speed-position
switching signal is input if the position control movement amount set in " Da.6 Positioning address/movement amount" is smaller than the
deceleration distance from the " Da.8 Command speed". (7) Turn ON the speed-position switching signal in the speed stabilization region
(constant speed status). A warning (warning code: 508) will occur because of large deviation in the droop pulse amount if the signal is turned ON during acceleration. During use of the servo motor, the actual movement amount after switching of speed control to position control is the "preset movement amount + droop pulse amount". If the signal is turned ON during acceleration/deceleration, the stop position will vary due to large variation of the droop pulse amount. Even though " Md.29 Speed-position switching control positioning amount" is the same, the stop position will change due to a change in droop pulse amount when " Da.8 Command speed" is different.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 "speed-position switching control (INC mode)".)
Da.2 Control system Forward run: speed/position Set speed-position switching control by forward run.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated Setting not required. (Setting value is ignored.)
Da.6 Positioning address/ movement amount 10000.0m
INC mode ( Pr.81 = 0) Set the movement amount after the switching to position control. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.7 Arc address Setting not required. (Setting value is ignored.)
Da.8 Command speed 6000.00mm/min Set the speed to be controlled.
Da.9 Dwell time 500ms Set a time from the positioning stop (pulse output stop) by position control until the positioning complete signal is output. When the system is stopped by speed control, ignore the setting value.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. "Speed-position switching control (ABS mode)" is available in two different types: "forward run: speed/position" which starts the axis in the forward run direction and "reverse run: speed/position" which starts the axis in the reverse run direction. "Speed-position switching control (ABS mode)" is valid only when " Pr.1 Unit setting"
is "2: degree".
Pr.1 Unit setting Speed-position function selection
mm inch degree PLS
INC mode ABS mode
: Setting allowed, : Setting disallowed (If setting is made, an error (error code: 935) will occur when the PLC READY signal (Y0) turns ON.)
Use the detailed parameter 1 " Pr.81 Speed-position function selection" to choose "speed-position switching control (ABS mode)".
Buffer memory address Setting item Setting value
Setting details Axis 1 Axis 2 Axis 3 Axis 4
Pr.81
Speed- position function selection
2 Speed-position switching control (ABS mode) 34 184 334 484
If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC mode. For details of the setting, refer to Sections 5.2 "List of parameters".
Switching over from speed control to position control (1) The control is switched over from speed control to position control by the
external signal "speed-position switching signal". (2) Besides setting the positioning data, the " Cd.24 Speed-position switching
enable flag" must also be turned ON to switch over from speed control to position control. (If the " Cd.24 Speed-position switching enable flag" turns ON after the speed-position switching signal turns ON, the control will continue as speed control without switching over to position control. Only position control will be carried out when the " Cd.24 Speed-position switching enable flag" and speed-position switching signal are ON at the operation start.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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).
t
V
Positioning start signal OFF
ON
BUSY signal OFF
ON
Positioning complete signal OFF ON
Speed-position switching signal
ON
Speed control Position control Dwell time
In speed control flag Md. 31 Status: b0
Cd. 24 Speed-position switching enable flag
Da. 8 Command speed
OFF
OFF
OFF
ON
ON
[Y10,Y11,Y12,Y13]
[XC,XD,XE,XF]
[X14,X15,X16,X17]
Address set in " Da. 6 Positioning address/movement amount"
Fig. 9.16 Speed-position switching control (ABS mode) operation timing
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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])
Stop at 270.00000 [degree]
Speed-position switching signal ON0.00000
90.00000
0.00000
90.00000270.00000
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
Operation timing and processing time during speed-position switching control (ABS mode)
Positioning start signal [Y10,Y11,Y12,Y13]
BUSY signal
M code ON signal [X4,X5,X6,X7](WITH mode)
Standing by In speed control
Start complete signal
Positioning operation
Positioning complete signal
M code ON signal (AFTER mode)
t1
t2
t3
t5
t2
t7
In position control
Speed control
Position control
External speed-position switching command
t6
Speed control carried out until speed-position switching signal turns ON
Md.26 Axis operation status
OPR complete flag Md.31 Status: b4
Cd.7 M code OFF request
Cd.7 M code OFF request
Standing by
[XC,XD,XE,XF]
[X10,X11,X12,X13]
[X14,X15,X16,X17]
[X4,X5,X6,X7]
t4
Fig. 9.17 Operation timing and processing time during speed-position switching control (ABS mode)
Normal timing time Unit: ms t1 t2 t3 t4 t5 t6 t7 1.1 0 to 2.0 0 to 1.6 2.8 to 5.1 0 to 1.1 0.2 Follows parameters
The t1 timing time could be delayed by the operation state of other axes.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 speed control" setting
Md.20 Current feed value
1: Update current feed value The current feed value is updated during speed control and position control.
Only "1: Update current value" is valid for the setting of " Pr.21 Current feed value during speed control" in speed-position switching control (ABS mode). An error (error code: 935) will occur if the " Pr.21 Current feed value during speed control" setting is other than 1.
t
Speed Position control Speed control
Updated
Current feed value updated
Switching time from speed control to position control There is 1ms from the time the speed-position switching signal is turned ON to the time the speed-position switching latch flag ( Md.31 Status: b1) turns ON.
Speed-position switching signal OFF
ON
OFF
ON
1ms
Speed-position switching latch flag
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
Buffer memory address Setting item Setting value
Setting details Axis 1 Axis 2 Axis 3 Axis 4
Pr.42
External command function selection
2 Set the "2: speed-position and position-speed switching requests".
62 212 362 512
Cd.8
External command valid
1 Set "1: Validate external command". 1505 1605 1705 1805
Refer to Sections 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "speed-position switching control" cannot be set in positioning data No. 2.) An axis error (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
(3) An error (error code: 503) will occur if "current speed (-1)" is set in " Da.8 command speed".
(4) If the value set in " Da.6 Positioning address/movement amount" is negative, an error (error code: 530) will occur.
(5) Even though the axis control data " Cd.23 Speed-position switching control movement amount change register" was set in speed-position switching control (ABS mode), it would not function. The set value is ignored.
(6) To exercise speed-position switching control (ABS mode), the following conditions must be satisfied: (a) " Pr.1 Unit setting" is "2: degree" (b) The software stroke limit function is invalid (upper limit value = lower limit
value) (c) " Pr.21 Current feed value during speed control" is "1: Update current
feed value" (d) The " Da.6 Positioning address/movement amount" setting range is 0 to
359.99999 (degree) If the value is outside of the range 0 to 359.99999 (degree), an error (error code: 530) will occur at a start.
(e) The " Pr.81 Speed-position function selection" setting is "2: Speed-position switching control (ABS mode)".
(7) If any of the conditions in (6)(a) to (6)(c) is not satisfied in the case of (6)(e), an error (error code: 935) will occur when the PLC READY signal [Y0] turns from OFF to ON.
(8) If the axis reaches the positioning address midway through deceleration after automatic deceleration started at the input of the speed-position switching signal, the axis will not stop immediately at the positioning address. The axis will stop at the positioning address after N revolutions so that automatic deceleration can always be made. (N: Natural number) In this case, make the movement amount after speed-position switching signal input within 21474.83647 (degree). If the movement amount exceeds 21474.83647 (degree), make the movement amount smaller by reducing the command speed or shortening the deceleration time, for example. In the following example, since making deceleration in the path of dotted line will cause the axis to exceed the positioning addresses twice, the axis will decelerate to a stop at the third positioning address.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
Speed-position switching signal
positioning address 360 added 360 added
positioning address positioning address
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 "speed- position switching control (ABS mode)".)
Da.2 Control system Forward run: speed/position Set speed-position switching control by forward run.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the
deceleration time at deceleration.
Da.5 Axis to be interpolated Setting not required. (Setting value is ignored.)
Da.6 Positioning address/ movement amount
270.00000 degree
ABS mode ( Pr.81 = 2) Set the address after the switching to position control. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.7 Arc address Setting not required. (Setting value is ignored.)
Da.8 Command speed 6000.00mm/min Set the speed to be controlled.
Da.9 Dwell time 500ms Set a time from the positioning stop (pulse output stop) by position control until the positioning complete signal is output. When the system is stopped by speed control, ignore the setting value.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. When the position-speed switching signal is input, the position control is carried out by continuously outputting the pulses for the speed set in " Da.8 command speed" until the input of a stop command.
The two types of position-speed switching control are "Forward run: position/speed" in which the control starts in the forward run direction, and "Reverse run: position/speed" in which control starts in the reverse run direction.
Switching over from position control to speed control (1) The control is switched over from position control to speed control by the
external signal "position-speed switching signal". (2) Besides setting the positioning data, the " Cd.26 Position-speed switching
enable flag" must also be turned ON to switch over from position control to speed control. (If the " Cd.26 Position-speed switching enable flag" turns ON after the position-speed switching signal turns ON, the control will continue as position control without switching over to speed control. Only speed control will be carried out when the " Cd.26 Position-speed switching enable flag" and position-speed switching signal are ON at the operation start.)
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
Position-speed switching enable flag
Cd.26
t
V
Positioning start signal [Y10,Y11,Y12,Y13]
OFF
ON
Command speed
BUSY signal [XC,XD,XE,XF]
OFF ON
Positioning complete signal [X14,X15,X16,X17]
OFF
Position-speed switching signal
OFF ON
Position control
Speed control
OFF
ON
OFF ON
In speed control flag Status: b0Md.31
Da. 8
OFF ON
Stop command
Does not turn ON even when control is stopped by stop command.
Fig. 9.18 Position-speed switching control operation timing
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
Operation timing and processing time during position-speed switching control
Positioning start signal [Y10,Y11,Y12,Y13]
BUSY signal [XC,XD,XE,XF]
M code ON signal [X4,X5,X6,X7](WITH mode)
Standing by In position control Standing byAxis operation status
M code OFF request
Start complete signal [X10,X11,X12,X13]
Positioning operation
M code ON signal [X4,X5,X6,X7] (AFTER mode)
M code OFF request
t1
t2
t3
t2
Positioning complete signal [X14,X15,X16,X17]
In speed control
Position control
Speed control
External position-speed switching command
t6
Speed control command speed is from the input position of the external position-speed switching signal.
Md.26
Position-speed switching control speed change register
Cd.25
Cd. 7
Cd. 7
Status: b4 OPR complete flag
Md.31
Stop signal [STOP]
t4
Position control carried out until position-speed switching signal turns ON.
Fig. 9.19 Operation timing and processing time during position-speed switching control
Normal timing time Unit: ms
t1 t2 t3 t4 t5 t6 1.0 to 1.4 0 to 1.8 0 to 1.7 3.0 to 4.0 - 0.2
The t1 timing time could be delayed by the operation state of other axes.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 speed control" setting
Md.20 Current feed value
0: Do not update current feed value
The current feed value is updated during position control, and the current feed value at the time of switching is maintained as soon as position control is switched to speed control.
1: Update current feed value The current feed value is updated during position control and speed control.
2: Zero clear current feed value The current feed value is updated from 0 at a control start, and the current feed value is cleared (to "0") as soon as position control is switched to speed control.
(a) Current feed value not updated (b) Current feed value updated
t
Speed control
Updated from 0
(c) Current feed value zero cleared
0
Position control
t
Speed control
Updated
Position controlV
t
Speed control
Updated Maintained
Position control V V
Switching time from position control to speed control There is 1ms from the time the position-speed switching signal is turned ON to the time the position-speed switching latch flag ( Md.31 Status: b5) turns ON.
Position-speed switching signal
Position-speed switching latch flag
OFF
ON
OFF
ON
1ms
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.
Buffer memory address Setting item Setting value Setting details
Axis 1 Axis 2 Axis 3 Axis 4
Pr.42
External command function selection
2 Set the "2: speed-position and position-speed switching requests".
62 212 362 512
Cd.8
External command valid
1 Set "1: Validate external command". 1505 1605 1705 1805
Refer to Sections 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the setting details.
Changing the speed control command speed In "position-speed switching control", the speed control command speed can be changed during the position control. (1) The speed control command speed can be changed during the position control
of position-speed switching control. A command speed change request will be ignored unless issued during the position control of the position-speed switching control.
(2) The "new command speed" is stored in " Cd.25 Position-speed switching control speed change register" by the PLC program during position control. This value then becomes the speed control command speed when the position-speed switching signal turns ON.
Stop signal
t
Speed change enable
Position-speed switching signal
ON
OFF
Position control
Speed control
Position control startPosition-speed switching control start
0 V2
OFF Position-speed switching latch flag Status: b5
ON
V3
V2 becomes the speed control command speed.
Setting after the position-speed switching signal ON is ignored.
Position-speed switching control speed change register
Md.31 ON
Cd.25
OFF
Fig. 9.20 Speed control speed change timing
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 PLC program.
The new command speed is validated after execution of the position-speed switching control before the input of the position-speed switching signal.
The command speed change can be enabled/disabled with the interlock function in speed control using the "position-speed switching latch flag" ( Md.31 Status: b5) of the axis monitor area.
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) "Position-speed 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. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "position-speed switching control" cannot be set in positioning data No. 2.) An axis error (error code: 516) will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
(3) The software stroke limit range is only checked during speed control if the "1: Update current feed value" is set in " Pr.21 Current feed value during speed control". The software stroke limit range is not checked when the control unit is set to "degree".
(4) An error (error code: 507 or 508) will occur and the operation cannot start if the start point address or end point address for position control exceeds the software stroke limit range.
(5) Deceleration stop will be carried out if the position-speed switching signal is not input before the machine is moved by a specified movement amount. When the position-speed switching signal is input during automatic deceleration by positioning control, acceleration is carried out again to the command speed to continue speed control. When the position-speed switching signal is input during deceleration to a stop with the stop signal, the control is switched to the speed control to stop the machine. Restart is carried out by speed control using the restart command.
(6) A warning (warning code: 501) will occur and control is continued by " Pr.8 Speed limit value" if a new speed exceeds " Pr.8 Speed limit value" at the time of change of the command speed.
(7) If the value set in " Da.6 Positioning address/movement amount" is negative, an error (error code: 530) will occur.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. ("Continuous positioning control" and "Continuous path control" cannot be set in "position/speed changeover control".)
Da.2 Control system Forward run: position/speed Set position-speed switching control.
Da.3 Acceleration time No. 1 Designate the value set in " Pr.25 Acceleration time 1" as the acceleration time at start.
Da.4 Deceleration time No. 0 Designate the value set in " Pr.10 Deceleration time 0" as the deceleration time at deceleration.
Da.5 Axis to be interpolated Setting not required. (Setting value is ignored.)
Da.6 Positioning address/ movement amount 10000.0m
Set the movement amount at the time of position control before the switching to speed control. (Assuming that the " Pr.1 Unit setting" is set to "mm".)
Da.7 Arc address Setting not required. (Setting value is ignored.)
Da.8 Command speed 6000.00mm/min Set the speed to be controlled.
Da.9 Dwell time 500ms
Set the time the machine dwells after the positioning stop (pulse output stop) by position control to the output of the positioning complete signal. If the machine is stopped by speed control, the setting value will be ignored.
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
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MELSEC-Q 9 MAJOR POSITIONING CONTROL
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. [1] Changing to a new current value using the positioning data [2] Changing to a new current value using the start No. (No. 9003) for a current
value changing The current value changing using method [1] is used during continuous positioning of multiple blocks, etc.
[1] Changing to a new current value using the positioning data
Operation chart The following chart shows the operation timing for a current value changing. The " Md.20 Current feed value" is changed to the value set in " Da.6 Positioning address/movement amount" when the positioning start signal turns ON.
Positioning start signal [Y10,Y11,Y12,Y13]
Md.20 50000 0
OFF
ON
Current feed value changes to the positioning address designated by the positioning data of the current value changing.
The above chart shows an example when the positioning address is "0".
Current feed value
Restrictions (1) An axis error "New current value not possible (error code: 515)" 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 current value changing.)
(2) "Current value changing" 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. (For example, if the operation pattern of positioning data No. 1 is "continuous path control", "current value changing" cannot be set in positioning data No. 2.) An axis error "New current value invalid (error code: 515)" will occur and the machine will carry out a deceleration stop if this type of setting is carried out.
(3) An axis error "Outside new current value range (error code: 514)" will occur and the operation cannot start if "degree" is set in " Pr.1 Unit setting" and the
value set in " Da.6 Positioning address/movement amount (0 to 359.99999 [degree])" is outside the setting range.
9 - 107
MELSEC-Q 9 MAJOR POSITIONING CONTROL
(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.
(6) The new current value using the positioning data (No.1 to 600) cannot be changed, if "0: Positioning control is not executed" is set in " Pr.55 Operation setting for incompletion of OPR" and "OPR request flag" ON. A warning "Operation setting for incompletion of OPR at positioning start error" (error code: 547) will occur.
Positioning data setting examples The following table shows the setting examples when " current value changing" is set in the positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Da.1 Operation pattern
Positioning complete
Set "Positioning complete" assuming that the next positioning data will be executed. ("Continuous path control" cannot be set by current value change.)
Da.2 Control system
Current value changing Set the current value changing.
Da.3 Acceleration time No.
Setting not required (Setting value is ignored.)
Da.4 Deceleration time No.
Setting not required (Setting value is ignored.)
Da.5 Axis to be interpolated
Setting not required (Setting value is ignored.)
Da.6
Positioning address/ movement amount
10000.0 m Set the address to which address change is desired. (Assuming that the " Pr.1 Unit
setting" is set to "mm".)
Da.7 Arc address Setting not required (Setting value is ignored.)
Da.8 Command speed
Setting not required (Setting value is ignored.)
Da.9 Dwell time Setting not required (Setting value is ignored.)
Axis 1 positioning data No. 1
Da.10 M code 10 Set this when other sub operation commands are issued in combination with the No. 1 positioning data.
Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 108
MELSEC-Q 9 MAJOR POSITIONING CONTROL
[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.
Positioning start signal
Md.20 Current feed value 50000 0
OFF ON
Current value changes to the positioning address designated by the current value changing buffer memory. The above chart shows an example when the positioning address is "0".
[Y10,Y11,Y12,Y13]
Restrictions (1) An axis error "Outside new current value range (error code: 514)" will occur if
the designated value is outside the setting range when "degree" is set in "Unit setting".
(2) An error "Software stroke limit +, (error code: 507 or 508)" will occur if the designated value is outside the software stroke limit range.
(3) The current value cannot be changed during stop commands and while the M code ON signal is ON.
(4) The M code output function is made invalid.
POINTS The new current value using the current value changing start No. (No. 9003) can changed, if "0:
Positioning control is not executed" is set in " Pr.55 Operation setting for incompletion of OPR" and "OPR request flag" ON.
Current value changing procedure The following shows the procedure for changing the current value to a new value.
Turn ON the positioning start signal.
1)
2)
3)
Write the current value to " Cd. 9 Current value changing"
Write "9003" in " Cd. 3 Positioning start No."
9 - 109
MELSEC-Q 9 MAJOR POSITIONING CONTROL
Setting method for the current value changing function The following shows an example of a PLC 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 "5000.0m" in the example shown.)
(1) Set the following data.
(Set with the PLC program shown in (3), while referring to the start time chart shown in (2).)
Buffer memory address Setting item Setting value
Setting details Axis 1 Axis 2 Axis 3 Axis 4
Cd.3 Positioning start No. 9003 Set the start No. "9003" for the new current value. 1500 1600 1700 1800
Cd.9 Current value changing 50000 Set the new " Md.20 Current feed value". 1506
1507 1606 1607
1706 1707
1806 1807
Refer to Section 5.7 "List of control data" for details on the setting details.
(2) The following shows a start time chart.
Positioning start signal
PLC READY signal
QD75 READY signal
Start complete signal
BUSY signal
Positioning complete signal
9003
V
t
Error detection signal
50000
Start of data No. 9003
Data No. during positioning execution
Address during positioning executionMd.20 Current feed value
Cd.3 Positioning start No.
Cd.9 Current value changing 50000
[Y10]
[Y0]
[X0]
[X10]
[XC]
[X14]
[X8]
Fig. 9.21 Changing to a new current value using the start No. (No. 9003) for a current value changing
9 - 110
MELSEC-Q 9 MAJOR POSITIONING CONTROL
(3) Add the following PLC program to the control program, and write it to the PLC
CPU.
Current value changing
Store new current feed value in D106 and D107
Example
9 - 111
MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 Setting example Setting details
Da.1 Operation pattern
Setting not required (Setting value is ignored.)
Da.2 Control system
NOP instruction Set the NOP instruction
Da.3 Acceleration time No.
Setting not required (Setting value is ignored.)
Da.4 Deceleration time No.
Setting not required (Setting value is ignored.)
Da.5 Axis to be interpolated
Setting not required (Setting value is ignored.)
Da.6
Positioning address/ movement amount
Setting not required (Setting value is ignored.)
Da.7 Arc address Setting not required (Setting value is ignored.)
Da.8 Command speed
Setting not required (Setting value is ignored.)
Da.9 Dwell time Setting not required (Setting value is ignored.)
Axis 1 positioning data No. 1
Da.10 M code Setting not required (Setting value is ignored.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.
Restrictions An error "Control system setting error (error code: 524)" will occur if the "NOP instruction" is set for the control system of the positioning data No. 600.
POINT
9 - 112
MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.)
(2) Conditional JUMP When execution conditions are set for the JUMP instruction (The conditions are set in the "condition data" used with "high-level positioning control".)
Using the JUMP instruction enables repeating of the same positioning control, or selection of positioning data by the execution conditions during "continuous positioning control" or "continuous path control".
Operation (1) Unconditional JUMP
The JUMP instruction is unconditionally executed. The operation jumps to the positioning data No. set in " Da.9 Dwell time".
(2) Conditional JUMP
The block start condition data is used as the JUMP instruction execution conditions. When block positioning data No. 7000 to 7004 is started: Each block condition data is used.
When positioning data No. 1 to 600 is started: Start block 0 condition data is used.
When the execution conditions set in " Da.10 M code" of the JUMP instruction have been established: the JUMP instruction is executed to jump the operation to the positioning data No. set in " Da.9 Dwell time".
When the execution conditions set in " Da.10 M code" of the JUMP instruction have not been established: the JUMP instruction is ignored, and the next positioning data No. is executed.
Restrictions (1) When using a conditional JUMP instruction, establish the JUMP instruction
execution conditions by the 4th positioning data No. before the JUMP instruction positioning data No.. If the JUMP instruction execution conditions are not established by the time the 4th positioning control is carried out before the JUMP instruction positioning data No., the operation will be processed as an operation without established JUMP instruction execution conditions. (During execution of continuous path control/continuous positioning control, the QD75MH calculates the positioning data of the positioning data No. four items ahead of the current positioning data.)
9 - 113
MELSEC-Q 9 MAJOR POSITIONING CONTROL
(2) The operation pattern, if set, is ignored in the JUMP instruction. (3) Use unconditional JUMP instructions when setting JUMP instructions at the
end of continuous path control/continuous positioning control. When conditional JUMP instructions are set at the end of continuous path control/continuous positioning control, the positioning data of the next positioning data No. will be executed if the execution conditions have not been established.
(4) Positioning control such as loops cannot be executed by conditional JUMP instructions alone until the conditions have been established.
Positioning data setting example The following table shows setting examples when "JUMP instruction" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Da.1 Operation pattern Setting not required. (Setting value is ignored.)
Da.2 Control system JUMP instruction Set the JUMP instruction.
Da.3 Acceleration time No. Setting not required. (Setting value is ignored.)
Da.4 Deceleration time No. Setting not required. (Setting value is ignored.)
Da.5 Axis to be interpolated Setting not required. (Setting value is ignored.)
Da.6 Positioning address/ movement amount Setting not required. (Setting value is ignored.)
Da.7 Arc address Setting not required. (Setting value is ignored.)
Da.8 Command speed Setting not required. (Setting value is ignored.)
Da.9 Dwell time 500
Set the positioning data No. 1 to 600 for the JUMP destination. (The positioning data No. of the JUMP instruction cannot be set. Setting its own positioning data No. will result in an error "Illegal data No." (error code: 502).)
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 1
Set the JUMP instruction execution conditions with the condition data No. 0 : Unconditional JUMP 1 to 10 : Condition data No. ("Simultaneous start" condition data cannot be set.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.
9 - 114
MELSEC-Q 9 MAJOR POSITIONING CONTROL
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 Setting details
Da.1 Operation pattern Setting not required. (Setting value is ignored.)
Da.2 Control system LOOP Set the LOOP.
Da.3 Acceleration time No. Setting not required. (Setting value is ignored.)
Da.4 Deceleration time No. Setting not required. (Setting value is ignored.)
Da.5 Axis to be interpolated Setting not required. (Setting value is ignored.)
Da.6 Positioning address/ movement amount Setting not required. (Setting value is ignored.)
Da.7 Arc address Setting not required. (Setting value is ignored.)
Da.8 Command speed Setting not required. (Setting value is ignored.)
Da.9 Dwell time Setting not required. (Setting value is ignored.)
Ax is
1
Po si
tio ni
ng d
at a
N o.
1
Da.10 M code 5 Set the LOOP to LEND repeat cycles. Refer to Section 5.3 "List of positioning data" for information on the setting details.
Restrictions (1) An error "Control system LOOP setting error (error code: 545)" will occur if a
"0" is set for the repeat cycles. (2) Even if LEND is absent after LOOP, no error will occur, but repeat processing
will not be carried out. (3) Nesting is not allowed between LOOP-LEND's. If such setting is made, only the
inner LOOP-LEND is processed repeatedly.
POINT The setting by this control system is easier than that by the special start "FOR loop" of "High-level Positioning Control" (refer to Chapter 10).
For the special start FOR to NEXT, the positioning data is required for each of FOR and NEXT points. For the control system, loop can be executed even only by one data. Also, nesting is enabled by using the control system LOOP to LEND in combination with the special start FOR to NEXT. However LOOP to LEND cannot be set across block. Always set LOOP to LEND so that the processing ends within one block. (For details of the "block", refer to Section 10.1 "Outline of high-level positioning control".)
9 - 115
MELSEC-Q 9 MAJOR POSITIONING CONTROL
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.) When the operation is stopped after the repeat operation is executed by designated cycles, the dummy positioning data (for example, incremental positioning without movement amount) is set next to LEND.
Positioning data No.
Operation pattern Control system Conditions Operation
1 Continuous control ABS2
2 Positioning complete
LOOP Number of loop cycles: 2
3 Continuous path control
ABS2
4 Continuous control ABS2
5 Positioning complete
LEND
6 Positioning complete
ABS2
Executed in the order of the positioning data No. 1 2 3 4 5 2 3 4 5 6. (The operation patterns of the positioning data Nos. 2 and 5 are ignored.)
Positioning data setting examples The following table shows the setting examples when "LEND" is set in positioning data No. 8 of axis 1.
Setting item Setting example Setting details
Da.1 Operation pattern Setting not required. (Setting value is ignored.)
Da.2 Control system LEND Set the LEND.
Da.3 Acceleration time No. Setting not required. (Setting value is ignored.)
Da.4 Deceleration time No. Setting not required. (Setting value is ignored.)
Da.5 Axis to be interpolated Setting not required. (Setting value is ignored.)
Da.6 Positioning address/ movement amount Setting not required. (Setting value is ignored.)
Da.7 Arc address Setting not required. (Setting value is ignored.)
Da.8 Command speed Setting not required. (Setting value is ignored.)
Da.9 Dwell time Setting not required. (Setting value is ignored.)
Ax is
1
Po si
tio ni
ng d
at a
N o.
8
Da.10 M code Setting not required. (Setting value is ignored.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.
Restrictions (1) Ignore the "LEND" before the "LOOP" is executed.
9 - 116
MELSEC-Q 9 MAJOR POSITIONING CONTROL
MEMO
10 - 1
10
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.
Read the execution procedures and settings for each control, and set as required.
10.1 Outline of high-level positioning control ..................................................................10- 2 10.1.1 Data required for high-level positioning control.........................................10- 3 10.1.2 "Block start data" and "condition data" configuration................................10- 4 10.2 High-level positioning control execution procedure ...............................................10- 6 10.3 Setting the block start data......................................................................................10- 7 10.3.1 Relation between various controls and block start data ...........................10- 7 10.3.2 Block start (normal start) ...........................................................................10- 8 10.3.3 Condition start ...........................................................................................10- 10 10.3.4 Wait start ...................................................................................................10- 11 10.3.5 Simultaneous start ...................................................................................10- 12 10.3.6 Repeated start (FOR loop) ......................................................................10- 13 10.3.7 Repeated start (FOR condition) ...............................................................10- 14 10.3.8 Restrictions when using the NEXT start...................................................10- 15 10.4 Setting the condition data.......................................................................................10- 16 10.4.1 Relation between various controls and the condition data ......................10- 16 10.4.2 Condition data setting examples ..............................................................10- 19 10.5 Multiple axes simultaneous start control................................................................10- 20 10.6 Start program for high-level positioning control .....................................................10- 23 10.6.1 Starting high-level positioning control.......................................................10- 23 10.6.2 Example of a start program for high-level positioning control .................10- 24
10 - 2
MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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". High-level positioning
control Details
Block 1 start (Normal start) With one start, executes the positioning data in a random block with the set order.
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. When not established, that " block start data" is ignored, and the next point's " block
start data" is executed.
Wait 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. When not established, stops the control until the condition is established. (Waits.)
Simultaneous start 2
Simultaneously executes the positioning data having the No. for the axis designated with the "condition data". (Outputs pulses at the same timing.)
Repeated start (FOR loop)
Repeats the program from the " block start data" set with the "FOR loop" to the " block start data" set in "NEXT" for the designated No. of times.
Repeated start (FOR condition)
Repeats the program from the " block start data" set with the "FOR condition" to the " block start data" set in "NEXT" until the conditions set in the "condition data" are established.
High-level positioning control sub functions "High-level positioning control" uses the "positioning data" set with the "major positioning control". Refer to Section 3.2.4 "Combination of QD75MH main functions and sub functions" for details on sub functions that can be combined with the major positioning control. Note that the sub function Section 12.7.8 "Pre-reading start function" cannot be used together with "high-level positioning control".
High-level positioning control from peripheral devices "High-level positioning control" (start of the "block start data") can be executed from GX Configurator-QP test mode. Refer to GX Configurator-QP Operating Manual for details on starting of the "block start data" from GX Configurator-QP.
REMARK
Block 1: "1 block" is defined as all the data continuing from the positioning data in which "continuous positioning control" or "continuous path control" is set in the operation pattern ( Da.1 ) to the positioning data in which "independent positioning control (Positioning complete)" is set.
Simultaneous start 2:
Besides the simultaneous start of "block start data" system, the "simultaneous starts" include the "multiple axes simultaneous start control" of control system. Refer to Section 10.5 "Multiple axis simultaneous start control" for details.
10 - 3
MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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."), and up to 50 points can be set for each axis. (This data is controlled with Nos. called "points" to distinguish it from the positioning data. For example, the 1st block start data item is called the "1st point block start data" or "point No. 1 block start data".)
"Condition data" can be set for each No. from 7000 to 7004 (called "block Nos."), and up to 10 data items can be set for each axis.
The " block start data" and "condition data" are set as 1 set for each block No.
The following table shows an outline of the " block start data" and "condition data" stored in the QD75MH.
Setting item Setting details
Da.11 Shape Set whether to end the control after executing only the "block start data" of the shape itself, or continue executing the "block start data" set in the next point.
Da.12 Start data No. Set the "positioning data No." to be executed.
Da.13 Special start instruction
Set the method by which the positioning data set in Da.12 will be started.
Bl oc
k st
ar t d
at a
Da.14 Parameter Set the conditions by which the start will be executed according to the commands set in Da.13 . (Designate the "condition data No." and "No. of repetitions".)
Setting item Setting details
Da.15 Condition target Designate the "device", "buffer memory storage details", and "positioning data No." elements for which the conditions are set.
Da.16 Condition operator
Set the judgment method carried out for the target set in Da.15 .
Da.17 Address Set the buffer memory address in which condition judgment is carried out (only when the details set in Da.15 are "buffer memory storage details").
Da.18 Parameter 1 Set the required conditions according to the details set in Da.15 and Da.16 .
C on
di tio
n da
ta
Da.19 Parameter 2 Set the required conditions according to the details set in Da.15 and Da.16 .
10 - 4
MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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.)
7000Block No. Set in the QD75MH with a PLC program or GX Configurator-QP.
Setting item
50th point Buffer memory address
No.10
26190
26191 26192 26193 26194 26195 26196 26197 26198 26199
No.2
Setting item
26110
26111 26112 26113 26114 26115 26116 26117 26118 26119
Low-order buffer memory High-order buffer memory
Condition identifier
No.1
26100
b15 b0b7b8b11b12
26101 26102 26103 26104 26105 26106 26107 26108 26109
Da.16 Condition operator
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
Da.15 Condition target
(Same for axis 2, axis 3 and axis 4.)
Setting item
Setting item
26049
26099
u n f [ ^
Setting item Buffer memory address
26001
26051
1st point
b15 b0b7b8
26000
b15 b0b7b8
26050
Da.13 Special start instruction
Da.11 Shape
Da.14 Parameter
Da.12 Positioning data No.
2nd point
Setting item Buffer memory address
Ax is
1 b
lo ck
s ta
rt da
ta
Ax is
1 c
on di
tio n
da ta
Buffer memory address
Condition identifier Buffer memory addressBuffer memory
address
Blank
Blank
10 - 5
MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
Set in QD75MH the " block start data" and "condition data" corresponding to the following "block Nos. 7001 to 7004" using GX Configurator-QP or the PLC program. (The following drawing shows an example for axis 1.)
7001 7004
50th point
Setting item
26249
26299
unf[^
2nd point
Setting item
26201
26251
No.10
Setting item
26390
26391 26392 26393 26394 26395 26396 26397 26398 26399
Condition identifier No.2
Setting item
26310
26311 26312 26313 26314 26315 26316 26317 26318 26319
1st point
Setting item
b15 b0b7b8
Shape Positioning data No.
26200
b15 b0b7b8
Special start instruction
Parameter
26250
Da13
Da11
Da14
Da12
Condition identifier
No.1
Setting item
26300
Address Open
Open
Parameter 1
Parameter 2
b15 b0b7b8b11b12
Condition operater
Condition target
26301 26302 26303 26304 26305 26306 26307 26308 26309
Da16
Da17
Da18
Da19
Da15
Buffer memory address
Buffer memory addressBuffer memory
address
Ax is
1 b
lo ck
s ta
rt da
ta
Buffer memory address
Buffer memory address
Buffer memory address
Ax is
1 c
on di
tio n
da ta
50th point
Setting item
26849
26899
unf[^
2nd point
Setting item
26801
26851
Setting item
26990
26991 26992 26993 26994 26995 26996 26997 26998 26999
Condition identifier
Setting item
26910
26911 26912 26913 26914 26915 26916 26917 26918 26919
1st point
Setting item
b15 b0b7b8
Shape Positioning data No.
26800
b15 b0b7b8
Special start instruction
Parameter
26850
Da13
Da11
Da14
Da12
Condition identifier
Setting item
26900
Address Open
Open
Parameter 1
Parameter 2
b15 b0b7b8b11b12
Condition operater
Condition target
26901 26902 26903 26904 26905 26906 26907 26908 26909
Da16
Da17
Da18
Da19
Da15
Buffer memory address
Buffer memory addressBuffer memory
address
Ax is
1 b
lo ck
s ta
rt da
ta
Buffer memory address
Buffer memory address
Buffer memory address
Ax is
1 c
on di
tio n
da ta
No.10
No.2 No.1
10 - 6
MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
10.2 High-level positioning control execution procedure
High-level positioning control is carried out using the following procedure.
STEP 1Preparation
Starting the control
Monitoring the control
Refer to Chapter 9
Carry out the "major positioning control" setting.
Control termination
"High-level positioning control" executes each control ("major positioning control") set in the positioning data with the designated conditions,so first carry out preparations so that "major positioning control" can be executed.
STEP 2
Set the block start data corresponding to each control. ( Da. 11 to Da. 14 ) required data amount.
The 50 "block start data" points from 1 to 50 points can be set.
Set the "condition data" for designation with the "block start data". Up to 10 condition data items can be set.
STEP 3
Set the "condition data" ( Da. 15 to Da. 19 ) required data amount .
The QD75 recognizes that the control is high-level positioning control using " block start data" by the "7000" designation. Use GX Developer to create a PLC program to execute the "high-level positioning control". (Set the control data in the QD75MH buffer memory using a TO command.)
STEP 4
Create a PLC program in which "7000"*is set in
the" Cd. 3 Positioning start No." (Control data setting)
STEP 5 Refer to Chapter 6
Write the PLC program created in STEP 4 to the PLC CPU using GX Developer.
Same procedure as for the "major positioning control" start.
STEP 6
Use one of the following two methods. Method (1): Monitor using GX Configurator-QP. Method (2): Monitor using GX Developer.
Same procedure as for the "major positioning control" stop.
STEP 7
Create a PLC program in which the "positioning
start signal" is turned ON by a positioning start command.
Create a PLC program in which the "block start
data point No. to be started" (1 to 50) is set in the " Cd. 4 Positioning start point No." (Control data setting)
Write the PLC programs to the PLC CPU.
Turn ON the "positioning start command" of the axis to be started.
Stopping the control STEP 8 Stop when control is completed
Monitor the high-level positioning control.
Refer to Section 10.3
Refer to Section 10.6
Refer to Section 10.4
Refer to Section 6.5.3
Refer to Section 6.5.6
REMARK
(1) Five sets of "block start data (50 points)" and "condition data (10 items) corresponding to "7000" to "7004" are set with a PLC program.
(2) Five sets of data from "7000" to "7004" can be set when GX Configurator-QP is used. If GX Configurator-QP is used to set the "block start data" and "condition data" corresponding to "7001" to "7004" and write the data to the QD75MH, "7001" to "7004" can be set in " Cd.3 Positioning start No." in STEP 4.
10 - 7
MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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. The operation details of each control type are explained starting in section 10.3.2. Also refer to section "10.4 Setting the condition data" for details on "condition data" with which control execution is judged. (The " block start data" settings in this chapter are assumed to be carried out using GX Configurator-QP.)
High-level positioning control
Block start data setting items
Block start (Normal
start)
Condition start Wait start Simulta-
neous start
Repeated start
(FOR loop)
Repeated start (FOR
condition)
NEXT start
0 : End Da.11 Shape
1 : Continue
Da.12 Start data No. 1 to 600
Da.13 Special start instruction 0 1 2 3 4 5 6
Da.14 Parameter Condition data No. No. of repetitions
Condition data No.
: One of the two setting items must be set. : Set when required (Set to " " when not used.) : Setting not possible
: Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.) The "NEXT start" instruction is used in combination with "repeated start (FOR loop)" and "repeated start (FOR
condition)". Control using only the "NEXT start" will not be carried out.
REMARK
It is recommended that the "block start data" be set whenever possible with GX Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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 PLC 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].
[1] Setting examples
(1) Block start data setting example
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13 Special start instruction
Da.14 Parameter
1st point 1: Continue 1 0: Block start 2nd point 1: Continue 2 0: Block start 3rd point 1: Continue 5 0: Block start 4th point 1: Continue 10 0: Block start 5th point 0: End 15 0: Block start
(2) Positioning data setting example
Axis 1 position- ing data No.
Da.1 Operation pattern
1 00: Positioning complete 2 11: Continuous path control 3 01: Continuous positioning control 4 00: Positioning complete 5 11: Continuous path control 6 00: Positioning complete
1 block
1 block
10 00: Positioning complete
15 00: Positioning complete
REMARK
Block : "1 block" is defined as all the data continuing from the positioning data in which "continuous positioning control" or "continuous path control" is set in the operation pattern ( Da.1 ) to the positioning data in which "independent positioning control (Positioning complete)" is set.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
[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.
Dwell time of corresponding positioning data
Positioning start signal
1(00)
Start complete signal
BUSY signal
[X14,X15,X16,X17]
t
2(11) 3(01)
4(00)
5(11) 6(00)
15(00)
Positioning according to the 1st point settings
Address(-)
10(00)
OFF
OFF
ON
ON
ON
Operation pattern Positioning data No.
Positioning according to the 5th point settings
Positioning according to the 4th point settings
Positioning according to the 3rd point settings
Positioning according to the 2nd point settings
Address(+)
[Y10,Y11,Y12,Y13]
[X10,X11,X12,X13] [XC,XD,XE,XF]
Positioning complete signal
1
1 1
1 1
1 1
OFF
OFF
ON
Fig. 10.1 Block start control example
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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.
Section [2] shows a control example where the " block start data" and "positioning data" are set as shown in section [1].
[1] Setting examples
(1) Block start data setting example
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13 Special start instruction
Da.14 Parameter
1st point 1: Continue 1 1: Condition start 1 2nd point 1: Continue 10 1: Condition start 2 3rd point 0: End 50 0: Block start
The "condition data Nos." have been set in " Da.14 Parameter".
(2) Positioning data setting example Axis 1 position-
ing data No. Da.1
Operation pattern 1 01: Continuous positioning control 2 01: Continuous positioning control 3 00: Positioning complete
10 11: Continuous path control 11 11: Continuous path control 12 00: Positioning complete
50 00: Positioning complete
[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 conditional judgment set in "condition data No. 1" is carried out before
execution of the axis 1 "positioning data No. 1". Conditions established Execute positioning data No. 1, 2, and 3 Go to <2>.
Conditions not established Go to <2>. <2> The conditional judgment set in "condition data No. 2" is carried out before
execution of the axis 1 "positioning data No. 10". Conditions established Execute positioning data No. 10, 11, and 12
Go to <3>. Conditions not established Go to <3>.
<3> Execute axis 1 "positioning data No. 50" and stop the control.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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.
Section [2] shows a control example where the " block start data" and "positioning data" are set as shown in section [1].
[1] Setting examples
(1) Block start data setting example
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13 Special start instruction
Da.14 Parameter
1st point 1: Continue 1 2: Wait start 3 2nd point 1: Continue 10 0: Block start 3rd point 0: End 50 0: Block start
The "condition data Nos." have been set in " Da.14 Parameter".
(2) Positioning data setting example Axis 1 position-
ing data No. Da.1
Operation pattern 1 01: Continuous positioning control 2 01: Continuous positioning control 3 00: Positioning complete
10 11: Continuous path control 11 11: Continuous path control 12 00: Positioning complete
50 00: Positioning complete
[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 conditional judgment set in "condition data No. 3" is carried out before
execution of the axis 1 "positioning data No. 1". Conditions established Execute positioning data No. 1, 2, and 3 Go to <2>.
Conditions not established Control stops (waits) until conditions are established Go to <1>.
<2> Execute the axis 1 "positioning data No. 10, 11, 12, and 50" and stop the control.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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].
[1] Setting examples
(1) Block start data setting example
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13 Special start instruction
Da.14 Parameter
1st point 1: Continue 1 3: Simultaneous start 4 2nd point 1: Continue 10 3: Simultaneous start 5 3rd point 0: End 50 3: Simultaneous start 6
It is assumed that the "axis 2 positioning data" for simultaneous starting is set in the "condition data" designated with " Da.14 Parameter".
(2) Positioning data setting example
Axis 1 position- ing data No.
Da.1 Operation pattern
1 01: Continuous positioning control 2 01: Continuous positioning control 3 00: Positioning complete
10 11: Continuous path control 11 11: Continuous path control 12 00: Positioning complete
50 00: Positioning complete
[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> Simultaneously start the axis 1 "positioning data No. 1" and axis 2
positioning data set in "condition data No. 4". After the execution of axis 1 "positioning data No. 1, 2, and 3" is completed, go to <2>.
<2> Simultaneously start the axis 1 "positioning data No. 10" and axis 2 positioning data set in "condition data No. 5".
Standing by after completion of axis 2 positioning data simultaneously started in <1>. Go to <3>.
Executing axis 2 positioning data simultaneously started in <1>. "Error".
<3> Simultaneously start the axis 1 "positioning data No. 50" and the axis 2 positioning data set in "condition data No. 6" after the completion of the execution of axis 1 "positioning data No. 10, 11, and 12".
Standing by after completion of axis 2 positioning data simultaneously started in <2>. Go to <4>.
Executing axis 2 positioning data simultaneously started in <2>. "Error".
<4> After the execution of the axis 1 "positioning data No. 50" is completed, stop the control.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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.14 Parameter" of the " block start data" in which "4: FOR loop" is set in " Da.13 Special start instruction".)
Section [2] shows a control example where the " block start data" and "positioning data" are set as shown in section [1].
[1] Setting examples
(1) Block start data setting example
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13 Special start instruction
Da.14 Parameter
1st point 1: Continue 1 4: FOR loop 2 2nd point 1: Continue 10 0: Block start 3rd point 0: End 50 6: NEXT start
The "condition data Nos." have been set in " Da.14 Parameter".
(2) Positioning data setting example Axis 1 position-
ing data No. Da.1
Operation pattern 1 01: Continuous positioning control 2 01: Continuous positioning control 3 00: Positioning complete
10 11: Continuous path control 11 00: Positioning complete
50 01: Continuous positioning control 51 00: Positioning complete
[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> Execute the axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51". <2> Return to the axis 1 "1st point block start data". Again execute the axis 1
"positioning data No. 1, 2, 3, 10, 11, 50 and 51", and then stop the control. (Repeat for the No. of times (2 times) set in Da.14 .)
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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.14 Parameter" of the " block start data" in which "5: FOR condition" is set in " Da.13 Special start instruction".)
Section [2] shows a control example where the " block start data" and "positioning data" are set as shown in section [1].
[1] Setting examples
(1) Block start data setting example
Axis 1 block start data
Da.11 Shape
Da.12 Start data No.
Da.13 Special start instruction
Da.14 Parameter
1st point 1: Continue 1 5: FOR condition 5 2nd point 1: Continue 10 0: Block start 3rd point 0: End 50 6: NEXT start
The "condition data Nos." have been set in " Da.14 Parameter".
(2) Positioning data setting example Axis 1 position-
ing data No. Da.1
Operation pattern 1 01: Continuous positioning control 2 01: Continuous positioning control 3 00: Positioning complete
10 11: Continuous path control 11 00: Positioning complete
50 01: Continuous positioning control 51 00: Positioning complete
[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> Carry out the conditional judgment set in "condition data No. 5" for the axis 1
"positioning data No. 1". Conditions not established Go to <2>. Conditions established Go to <3>.
<2> Execute axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51", then go to <1>.
<3> Execute axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51", then stop the control.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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".
(1) The processing when "6: NEXT start" is set before execution of "4: FOR loop" or
"5: FOR condition" is the same as that for a "0: block start". (2) Repeated processing will not be carried out if there is no "6: NEXT start"
instruction after the "4: FOR loop" or "5: FOR condition" instruction. (Note that an "error" will not occur.)
(3) Nesting is not possible between "4: FOR loop" and "6: NEXT start", or between "5: FOR condition" and "6: NEXT start". A warning "FOR to NEXT nest construction (warning code: 506)" will occur if nesting is attempted.
Block start data Da.13 Special start instruction
1st point Block start 2nd point FOR 3rd point Block start 4th point FOR 5th point Block start 6th point Block start 7th point NEXT 8th point Block start 9th point NEXT
The JUMP destination of the NEXT designated with points 7 and 9 is the FOR of point 4. A warning will occur if the NEXT designated with point 9 is executed.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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.19 , but the setting requirements and details differ according to the control system and setting conditions.
The following shows the "condition data Da.15 Condition target" corresponding to the different types of control. (The "condition data" settings in this chapter are assumed to be carried out using GX Configurator-QP.)
High-level positioning control Major positioning control
Control type
Da.15
Setting item
Block start
Wait start
Simultaneous start
Repeated start (For condition) JUMP instruction
01: Device X 02: Device Y 03: Buffer memory
(1 word)
04: Buffer memory (2 words)
05: Positioning data No.
: One of the setting items must be set. : Setting not possible
REMARK
It is recommended that the "condition data" be set whenever possible with GX Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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
Setting item
Da.16 Condition operator
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
01H: Device X 0 to 1FH (bit No.) 02H: Device Y
07H : DEV=ON 08H : DEV=OFF
0 to 1FH (bit No.)
03H: Buffer memory (1 word)
04H: Buffer memory (2 words)
01H : =P1 02H : P1 03H : P1 04H : P1 05H : P1 P2 06H : P1, P2
Buffer memory address
P1 (numeric value)
P2 (numeric value)
(Set only when " Da.16 " is [05H] or [06H].)
Low-order 16 bits
Axis 1 positioning data No.
Low-order 16 bits
Axis 3 positioning data No.
05H: Positioning data No.
10H : Axis 1 designation 20H : Axis 2 designation 30H : Axis 1 and axis 2
designation 40H : Axis 3 designation 50H : Axis 1 and axis 3
designation 60H : Axis 2 and axis 3
designation 70H : Axis 1, axis 2 and
axis 3 designation 80H : Axis 4 designation 90H : Axis 1 and axis 4
designation A0H : Axis 2 and axis 4
designation B0H : Axis 1, axis 2 and
axis 4 designation C0H : Axis 3 and axis 4
designation D0H : Axis 1, axis 3 and
axis 4 designation E0H : Axis 2, axis 3 and
axis 4 designation
High-order 16 bits
Axis 2 positioning data No.
High-order 16 bits
Axis 4 positioning data No.
: Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.)
: Value stored in buffer memory designated in Da.17 .
: Refer to Section 5.5 "List of condition data" for the setting contents.
Judgment whether the condition operator is "=" or "= at the start of wait. Judgment on data is carried out for each control cycle of the QD75MH. Thus, in the judgment on the data such as current feed value which varies continuously, the operator "=" may not be detected. If this occurs, use a range operator.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
REMARK
The "PLC CPU memo 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 QD75MH memory".)
Address 30000
30001
30099
QD75MH buffer memory
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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.19 Parameter 2
01H: Device X 08H: DEV=OFF 0
(2) Setting the numeric value stored in the "buffer memory" as a condition
[Condition]
The value stored in buffer memory addresses "800, 801" (= " Md.20 Current feed value") is "1000" or larger.
Da.15 Condition target
Da.16 Condition operator
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
04H: Buffer memory (2 words) 04H: P1 800 1000
(3) Designating the axis and positioning data No. to be simultaneously
started in "simultaneous start"
[Condition] Simultaneously starting "axis 2 positioning data No.3".
Da.15 Condition target
Da.16 Condition operator
Da.17 Address
Da.18 Parameter 1
Da.19 Parameter 2
05H: Positioning data No.
20H: Axis 2 designation High-order 16
bits "0003H"
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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. to start simultaneously for each axis) to the multiple axes simultaneous start control buffer memory " Cd.30 to Cd.33 Simultaneous starting axis start data No. (1 to 4 axis start data No.)" of the axis control data, and the "9004" to " Cd.3 positioning start No." of the start axis, and then turning ON the positioning start signal.
[2] Restrictions
(1) An error will occur and all simultaneously started axes will not start (error code: 501) if the simultaneously started axis start data No. is not set to the axis control data on the start axis or set outside the setting range.
(2) An error will occur and all simultaneously started axes will not start (error code: 501) if either of the simultaneously started axes is BUSY.
(3) An error will occur and all simultaneously started axes will not start (error code: 501) if an error occurs during the analysis of the positioning data on the simultaneously started axes.
(4) No error or warning will occur if only the start axis is the simultaneously started axis.
(5) This function cannot be used with the sub function Section 12.7.8 "Pre- reading start function".
[3] Multiple axes simultaneous start control procedure
The procedure for multiple axes simultaneous start control is as follows.
3)
1)
2)
Set " Cd. 30 to Cd. 33 Simultaneously started data No.".
Write [9004] to " Cd. 3 Positioning start No.".
Turn ON the positioning start signal to be started.
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
[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 item Setting value Setting details Axis
1 Axis
2 Axis
3 Axis
4
Cd.3 Positioning start No. 9004 Set the multiple axes simultaneous start control
start No. "9004". 1500 1600 1700 1800
Cd.30
Simultaneous starting axis start data No. (Axis 1 start data No.)
1540 1640 1740 1840
Cd.31
Simultaneous starting axis start data No. (Axis 2 start data No.)
1541 1641 1741 1841
Cd.32
Simultaneous starting axis start data No. (Axis 3 start data No.)
1542 1642 1742 1842
Cd.33
Simultaneous starting axis start data No. (Axis 4 start data No.)
Set the simultaneously started axis start data No. Set a "0" for the axis other than the simultaneously started axes.
1543 1643 1743 1843
Refer to Section 5.7 "List of control data" for information on setting details.
[5] Setting examples
The following shows the setting examples in which the axis 1 is used as the start axis and the simultaneously started axes are used as the axes 2 and 4.
Setting item Setting value Setting details
Buffer memory address (Axis 1)
Cd.3 Positioning start No. 9004 Set the multiple axes simultaneous start control
start No. "9004". 1500
Cd.30
Simultaneous starting axis start data No. (Axis 1 start data No.)
100 The axis 1 starts the positioning data No. 100. 1540
Cd.31
Simultaneous starting axis start data No. (Axis 2 start data No.)
200 Immediately after the start of the axis 1, the axis 2 starts the axis 2 positioning data No. 200.
1541
Cd.32
Simultaneous starting axis start data No. (Axis 3 start data No.)
0 Will not start simultaneously. 1542
Cd.33
Simultaneous starting axis start data No. (Axis 4 start data No.)
300 Immediately after the start of the axis 1, the axis 4 starts the axis 4 positioning data No. 300.
1543
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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". Setting items for "simultaneous start" using "block start data"
Positioning start data, block start data, condition data, and positioning data Setting items for "multiple axes simultaneous start control"
Positioning data and axis control data
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10.6 Start program for high-level positioning control
10.6.1 Starting high-level positioning control
To execute high-level positioning control, a PLC 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.
1500
Y10
1501PLC CPU
7000
1
ON
QD75MH
Input/output signal
Servo amplifier Buffer memory
Control by designated positioning data
When carrying out a positioning start with the next scan after a positioning operation is completed, input signal X10 as an interlock so that the start is carried out once the X10 signal turns OFF after the Y10 signal turns OFF.
1)
3)
2)
4)
1) Set "7000" in " Cd. 3 Positioning start No.". (This establishes that the control as "high-level positioning control" using block start data.) 2) Set the point No. of the "block start data" to be started. (In this case "1".) 3) Turn ON the start signal. 4) The positioning data set in the "1st point block start data" is started.
Fig. 10.2 High-level positioning control start procedure
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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 PLC program.
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Cd.3 Positioning start No. 7000 Set "7000" to indicate control using " block start
data". 1500 1600 1700 1800
Cd.4 Positioning starting point No. 1 Set the point No. of the " block start data" to be
started. 1501 1601 1701 1801 Refer to Section 5.7 "List of control data" for details on the setting details.
Start conditions The following conditions must be fulfilled when starting the control. The required conditions must also be integrated into the PLC program, and configured so the control does not start unless the conditions are fulfilled.
Device Signal name Signal state Axis
1 Axis
2 Axis
3 Axis
4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75MH preparation completed X0 All axis servo ON ON All axis servo ON Y1
Synchronization flag ON QD75MH buffer memory The access is possible.
X1
Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13 BUSY signal OFF BUSY signal is OFF XC XD XE XF Error detection signal OFF There is no error X8 X9 XA XB
Interface signal
M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Forced stop input signal ON There is no forced stop input Stop signal OFF Stop signal is OFF Upper limit (FLS) ON Within limit range
External signal
Lower limit (RLS) ON Within limit range
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MELSEC-Q 10 HIGH-LEVEL POSITIONING CONTROL
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
Axis 1 block start data
Da.11 Shape
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
Axis 1 position- ing data No.
Da.1 Operation pattern
1 11: Continuous path control 2 00: Positioning complete
10 11: Continuous path control 11 11: Continuous path control 12 00: Positioning complete
(3) Start time chart
[Y10]
PLC READY signal
QD75 READY signal
[X10]
[XC]
Positioning complete signal
V
t
Error detection signal
Positioning data No.
Dwell time
12(00)
Operation pattern
1(11)
1st point [buffer memory address 26000] 2nd point [buffer memory address 26001]
11(11) 10(11)
2(00)
7000
1
-32767
10
(8001H)
(000AH)
Cd.3 Positioning start No.
Cd.4 Positioning start point No.
Positioning start signal
[X0]
Start complete signal
BUSY signal
[X8]
[X14]
[Y0]
All axis servo ON [Y1]
Dwell time
Fig. 10.3 Start time chart for high-level positioning control (block start)
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Creating the program
Y10M104
K1K1K1501H0TO
K1K7000K1500H0TO
X10
Set the block start data beforehand.
Y10: Positioning start signal X10: Start complete signal M104: Positioning start command pulse
Example
Positioning start command
11 - 1
11
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 QD75MH. Manual control using a PLC program from the PLC CPU is explained in this chapter. Refer to GX Configurator-QP Operating Manual for an explanation of manual control (JOG operation, inching operation and manual pulse generator operation) using the peripheral devices.
11.1 Outline of manual control ........................................................................................11- 2 11.1.1 Three manual control methods..................................................................11- 2 11.2 JOG operation..........................................................................................................11- 4 11.2.1 Outline of JOG operation ...........................................................................11- 4 11.2.2 JOG operation execution procedure .........................................................11- 7 11.2.3 Setting the required parameters for JOG operation..................................11- 8 11.2.4 Creating start programs for JOG operation..............................................11- 10 11.2.5 JOG operation example............................................................................11- 13 11.3 Inching operation ....................................................................................................11- 17 11.3.1 Outline of inching operation ......................................................................11- 17 11.3.2 Inching operation execution procedure ....................................................11- 20 11.3.3 Setting the required parameters for inching operation ............................11- 21 11.3.4 Creating a program to enable/disable the inching operation...................11- 22 11.3.5 Inching operation example........................................................................11- 25 11.4 Manual pulse generator operation .........................................................................11- 27 11.4.1 Outline of manual pulse generator operation...........................................11- 27 11.4.2 Manual pulse generator operation execution procedure .........................11- 31 11.4.3 Setting the required parameters for manual pulse generator operation .11- 32 11.4.4 Creating a program to enable/disable the manual pulse generator operation ...................................................................................................11- 33
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MELSEC-Q 11 MANUAL CONTROL
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 device. 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). This operation is used to move the workpiece in the direction in which the limit signal is ON, when the operation is stopped by turning the limit signal OFF to confirm the positioning system connection and obtain the positioning data address (refer to Section 12.7.4 "Teaching function").
M
Movement continues while the JOG START signal is ON.
JOG START signal
ON OFF
Fig. 11.1 JOG operation
[2] Inching operation "Inching operation" is a control method in which a minute movement amount of pulses is output manually in one control cycle. When the "inching movement amount" of the axis control data is set by JOG operation, the workpiece is moved by a set movement amount. (When the "inching movement amount" is set to "0", the machine functions as JOG operation.)
M
JOG start signal is turned ON to move the workpiece by the movement amount of pulses which is output in one control cycle.
JOG start signal ON
OFF
Fig. 11.2 Inching operation
11 - 3
MELSEC-Q 11 MANUAL CONTROL
[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.
M
Movement in response to the command pulses
QD75MH
Output pulses
Manual pulse generator
Pulse input
Fig. 11.3 Manual pulse generator control
Manual control sub functions Refer to Section 3.2.4 "Combination of QD75MH major functions and sub functions" for details on "sub functions" that can be combined with manual control. Also refer to Chapter 12 "Control sub functions" for details on each sub function.
Carrying out manual control from peripheral devices "JOG operation", "Inching operation" and enabling/disabling of the "manual pulse generator operation" can be executed from GX Configurator-QP test mode. Refer to GX Configurator-QP Operating Manual for details on manual control from GX Configurator-QP.
Monitoring manual control Refer to Section 5.6 "List of monitor data" when directly monitoring the buffer memory using GX Developer. Also refer to GX Configurator-QP Operating Manual when monitoring with the monitor functions of GX Configurator-QP.
11 - 4
MELSEC-Q 11 MANUAL CONTROL
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.
JOG operation In JOG operation, the FORWARD run JOG start signal (Y8, YA, YC, YE) or REVERSE run JOG start signal (Y9, YB, YD, YF) turns ON, causing pulses to be output to the servo amplifier from the QD75MH while the signal is ON. The workpiece is then moved in the designated direction. The following shows examples of JOG operation.
1)
When the START signal turns ON, acceleration begins in the direction designated by the START signal, and continues for the acceleration time designated in " Pr.32 JOG operation acceleration time selection". At this time, the BUSY signal changes from OFF to ON.
2) When the workpiece being accelerated reaches the speed set in " Cd.17 JOG speed", the movement continues at this speed. The constant speed movement takes place at 2) and 3).
3) When the START signal is turned OFF, deceleration begins from the speed set in " Cd.17 JOG speed", and continues for the deceleration time designated in " Pr.33 JOG operation deceleration time selection".
4) The operation stops when the speed becomes "0". At this time, the BUSY signal changes from ON to OFF.
PLC READY signal [Y0] OFF
ON
Reverse run JOG start signal [Y9, YB, YD, YF]
OFF
ON
OFF ON
BUSY signal[XC, XD, XE, XF] OFF
ON
Forward JOG run
Reverse JOG run
QD75 READY signal [X0]
Forward run JOG start signal [Y8, YA, YC, YE]
Cd. 17 JOG speed
Acceleration for the acceleration time selected in Pr. 32
Deceleration for the deceleration time selected in Pr. 33
1) 2) 3) 4)
OFF
ON
All axis servo ON [Y1] OFF
ON
Fig. 11.4 JOG operation
11 - 5
MELSEC-Q 11 MANUAL CONTROL
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.31 JOG speed limit value" is set to a value larger than " Pr.8 speed limit value".
(4) If " Cd.17 JOG speed" exceeds the speed set in " Pr.31 JOG speed limit
value", the workpiece will move at the " Pr.31 JOG speed limit value" and an "Axis warning" will occur in the QD75MH (warning code: 301).
(5) The JOG operation can be continued even if an "Axis warning" has occurred. (6) A JOG start signal OFF ON immediately after the stop signal ON OFF
(within 100ms) will be ignored. (The operation will not start.) (7) Set a "0" in " Cd.16 inching movement amount". If a value other than "0" is
set, the operation will become an inching operation (Refer to section 11.3 "Inching operation").
Errors during operation If the operation is stopped by the stroke limit (limit signal OFF), JOG operation can be performed out in the direction in which the limit signal turns ON after an error reset. (An error will occur again if the JOG start signals in the direction in which the limit signal turns OFF is turned ON.)
JOG operation possible JOG operation not possible
Upper/lower limit signal
JOG operation V
ON
OFF
11 - 6
MELSEC-Q 11 MANUAL CONTROL
JOG operation timing and processing time The following drawing shows details of the JOG operation timing and processing time.
Reverse run JOG start signal [Y9, YB, YD, YF]
BUSY signal [XC, XD, XE, XF]
Forward run JOG start signal [Y8, YA, YC, YE] t2
Standing by In JOG operation
t1
t3
t4
Positioning operation
Positioning complete signal [X14, X15, X16, X17]
Md. 26 Axis operation status
ON
ON
OFF
OFF
OFF
OFF
Standing by
Fig. 11.5 JOG operation timing and processing times
Normal timing times Unit: ms t1 t2 t3 t4
1.0 to 1.8 0 to 3.0 4.0 to 4.2 0 to 1.0
Delays may occur in the t1 timing time due to the operation status of other axes.
11 - 7
MELSEC-Q 11 MANUAL CONTROL
11.2.2 JOG operation execution procedure
The JOG operation is carried out by the following procedure.
STEP 1Preparation
Refer to Chapter 5 and Section 11.2.3.
End of control
Set the positioning parameters
STEP 2
Refer to Section 11.2.4.
Set the" Cd. 17 JOG speed".
STEP 3 Write the PLC program created in STEP 1 and STEP 2 to the PLC CPU using GX Developer.
Turn ON the JOG start signal. STEP 4
One of the following two methods can be used.
Monitor using GX Configurator-QP.
Monitor using GX Developer.
One of the following two methods can be used.
Directly set (write) the parameters in the QD75MH using GX
Configurator-QP.
Set (write) the parameters from the PLC CPU to the QD75MH
using the PLC program (TO command).
STEP 5
Create a PLC program in which the "JOG start signal" is turned ON by a JOG operation start command.
Using GX Developer, set the control data and create a PLC program for executing the JOG operation. (Set the control data in the QD75MH buffer memory using the TO command.)
Write the PLC program to the PLC CPU.
Turn ON the JOG start signal of the axis to be started.
Monitoring of the JOG operation
Stop the JOG operation when the JOG start signal is turned OFF using the PLC program in STEP 2.
STEP 6 Turn OFF the JOG operation start signal that is ON.
Monitor the JOG operation status.
Forward run JOG start signal Reverse run JOG start signal
Axis 1
Y8 Y9
YA
YB
YC
YD
Refer to Chapter 6.
Axis 3 Axis 2 JOG operation start
JOG operation stop
to) Pr.1 )Pr.39
(Control data setting)
YE
YF
Axis 4
Set a "0" in " Cd. 16 Inching movement amount".
REMARK
Mechanical elements such as limit switches are considered as already installed. Positioning parameter settings work in common for all control using the QD75MH.
11 - 8
MELSEC-Q 11 MANUAL CONTROL
11.2.3 Setting the required parameters for JOG operation
The "Positioning 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.)
Setting item Setting requirement Factory-set initial value (setting details)
Pr.1 Unit setting 3 (PLS)
Pr.2 No. of pulses per rotation (Ap) (Unit: PLS) 20000
Pr.3 Movement amount per rotation (Al) (Unit: PLS) 20000
Pr.4 Unit magnification (Am) 1 (1 times)
Pr.7 Bias speed at start (Unit: PLS/s) 0
Pr.8 Speed limit value (Unit: PLS/s) 200000
Pr.9 Acceleration time 0 (Unit: PLS/s) 1000
Pr.10 Deceleration time 0 (Unit: PLS/s) 1000
Pr.11 Backlash compensation amount (Unit: PLS) 0
Pr.12 Software stroke limit upper limit value (Unit: PLS) 2147483647
Pr.13 Software stroke limit lower limit value (Unit: PLS) 2147483648
Pr.14 Software stroke limit selection 0 (current feed value)
Pr.15 Software stroke limit valid/invalid setting 0 (valid)
Po si
tio ni
ng p
ar am
et er
s
Pr.17 Torque limit setting value (Unit: %) 300
: Setting always required. : Set according to requirements (Leave set to the initial value when not used.)
REMARK
Positioning parameter settings work in common for all control using the QD75MH. When carrying out other control ("major positioning control", "high-level positioning control", "OPR positioning control"), the respective setting items must also be matched and set.
Parameters are set for each axis. Refer to Chapter 5 "Data Used for Positioning Control" for setting details.
11 - 9
MELSEC-Q 11 MANUAL CONTROL
Setting item Setting requirement Factory-set initial value (setting details)
Pr.25 Acceleration time 1 (Unit: ms) 1000
Pr.26 Acceleration time 2 (Unit: ms) 1000
Pr.27 Acceleration time 3 (Unit: ms) 1000
Pr.28 Deceleration time 1 (Unit: ms) 1000
Pr.29 Deceleration time 2 (Unit: ms) 1000
Pr.30 Deceleration time 3 (Unit: ms) 1000
Pr.31 JOG speed limit value (Unit: PLS/s) 20000
Pr.32 JOG operation acceleration time selection 0 (acceleration time 0)
Pr.33 JOG operation deceleration time selection 0 (deceleration time 0)
Pr.34 Acceleration/deceleration process selection 0 (trapezoidal acceleration/ deceleration processing)
Pr.35 S-pattern proportion (Unit: %) 100
Pr.36 Sudden stop deceleration time (Unit: ms) 1000
Pr.37 Stop group 1 sudden stop selection 0 (deceleration stop)
Pr.38 Stop group 2 sudden stop selection 0 (deceleration stop)
Po si
tio ni
ng p
ar am
et er
s
Pr.39 Stop group 3 sudden stop selection 0 (deceleration stop)
: Setting always required. : Set according to requirements (Leave set to the initial value when not used.)
11 - 10
MELSEC-Q 11 MANUAL CONTROL
11.2.4 Creating start programs for JOG operation
A PLC 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. The setting is carried out with the PLC program.
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Cd.16 Inching movement amount 0 Set 0. 1517 1617 1717 1817
Cd.17 JOG speed 10000 Set a value equal to or below the " Pr.31
JOG speed limit value". 1518 1519
1618 1619
1718 1719
1818 1819
Refer to Section 5.7 "List of control data" for details on the setting details.
Start conditions The following conditions must be fulfilled when starting. The required conditions must also be assembled in the PLC program, and the PLC program must be configured so the operation will not start if the conditions are not fulfilled.
Device Signal name Signal state Axis
1 Axis
2 Axis
3 Axis
4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75MH preparation completed X0 All axis servo ON ON All axis servo ON Y1
Synchronization flag ON QD75MH buffer memory The access is possible.
X1
Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13 BUSY signal OFF QD75MH is not operating XC XD XE XF Error detection signal OFF There is no error X8 X9 XA XB
Interface signal
M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Forced stop input signal ON There is no forced stop input Stop signal OFF Stop signal is OFF Upper limit (FLS) ON Within limit range
External signal
Lower limit (RLS) ON Within limit range
If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be inserted in the program for interlocking. If it is set to the synchronous mode, it must not be inserted in the program for interlocking because it is turned ON when the PLC CPU executes calculation.
11 - 11
MELSEC-Q 11 MANUAL CONTROL
Start time chart
t
Forward run JOG start signal
Forward JOG run
BUSY signal
Error detection signal
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
[X8]
[XC]
PLC READY signal
QD75 READY signal
Reverse run JOG start signal
Reverse JOG run
[Y8]
[Y9]
[X0]
[Y0]
OFF
ON
OFFAll axis servo ON [Y1]
ON
Fig. 11.6 JOG operation start time chart
11 - 12
MELSEC-Q 11 MANUAL CONTROL
Creating the program
Example
No. 10 JOG operation setting program
No.12 JOG operation/inching operation execution program
11 - 13
MELSEC-Q 11 MANUAL CONTROL
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.
OFF
ON
BUSY signal[XC, XD, XE, XF] OFF
ON
A JOG start signal OFF ON while the stop signal is ON will be ignored.
Axis stop signal [Y4, Y5, Y6, Y7]
OFF
ON
OFF
ON Forward run JOG start signal [Y8, YA, YC, YE]
QD75 READY signal [X0]
PLC READY signal [Y0]
OFF ON
OFF
ON All axis servo ON [Y1]
Fig. 11.7 Operation when the stop signal is turned ON during JOG operation
POINT The QD75MH will not receive a "JOG start signal" while the "stop signal" is ON.
11 - 14
MELSEC-Q 11 MANUAL CONTROL
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 QD75MH BUSY signal is turned OFF. If the forward run JOG operation is stopped due to stop or axis error by a stop signal, the reverse run JOG operation will not be executed even if the "reverse run JOG start signal" turns ON.
OFF ON
OFF ON
BUSY signal[XC, XD, XE, XF] OFF
ON
Forward run JOG operation
t
The reverse run JOG start signal is ignored.
Reverse run JOG operation
Forward run JOG start signal [Y8, YA, YC, YE]
Reverse run JOG start signal [Y9, YB, YD, YF]
Fig. 11.8 Operation when both the forward run JOG start signal and reverse run JOG start signal are turned ON simultaneously
11 - 15
MELSEC-Q 11 MANUAL CONTROL
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.
OFF
ON
t
BUSY signal [XC, XD, XE, XF] OFF
ON
Forward run JOG operation
Forward run JOG start signal [Y8, YA, YC, YE]
Fig. 11.9 Operation when the JOG start signal is turned ON during deceleration
When the "JOG start signal" is turned ON during a peripheral device test mode
When the "JOG start signal" is turned ON during a peripheral device test mode, it will be ignored and the JOG operation will not be carried out.
In test mode
ON
t
Forward run JOG start signal [Y8, YA, YC, YE]
OFF
ON
OFF
Forward run JOG operation execution JOG operation not possible
because this is not the rising edge of the JOG start signal
JOG operation not possible because the operation is in the test mode
Fig. 11.10 Operation when the JOG start signal is turned ON during a test mode
11 - 16
MELSEC-Q 11 MANUAL CONTROL
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.
ON
Axis stop signal [Y4, Y5, Y6, Y7]
OFF
ON
OFF
100ms
A JOG start signal OFF ON while the stop signal is ON will be ignored.
Forward run JOG operation
Forward run JOG start signal [Y8, YA, YC, YE]
Fig. 11.11 Operation when the JOG start signal is turned ON immediately after the stop signal OFF
11 - 17
MELSEC-Q 11 MANUAL CONTROL
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 servo amplifier at the first control cycle (1.7ms) to move the workpiece by a designated movement amount after the forward run JOG start signal [Y8, YA, YC, YE] or reverse JOG start signal [Y9, YB, YD, YF] is turned ON. The following shows the example of inching operation.
1) When the start signal is turned ON, inching operation is carried out in the direction designated by the start signal. In this case, BUSY signal is turned from OFF to ON.
2) The workpiece is moved by a movement amount set in " Cd.16 Inching movement amount".
3) The workpiece movement stops when the speed becomes "0". In this case, BUSY signal is turned from ON to OFF. The positioning complete signal is turned from OFF to ON.
4) The positioning complete signal is turned from ON to OFF after a time set in " Pr.40 Positioning complete signal output time" has been elapsed.
PLC READY signal [Y0]
OFF
ON
BUSY signal [XC,XD,XE,XF] OFF
OFF
ON
Positioning complete signal [X14,X15,X16,X17]
OFF
ON
Forward run inching operation
ON
OFF QD75 READY signal [X0]
Forward run JOG start signal [Y8,YA,YC,YE]
1)
2)
3) 4)
Positioning complete signal output time
Pr.40
ON
ON
OFF All axis servo ON [Y1]
Fig. 11.12 Inching operation
11 - 18
MELSEC-Q 11 MANUAL CONTROL
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 QD75MH (1.7ms). The movement direction of inching operation is reversed and, when a backlash compensation is carried out, first pulses corresponding to the backlash amount are output in the first control cycle of the QD75MH and then pulses corresponding to the designated inching movement amount are output in the subsequent control cycles.) The " Cd.17 JOG speed" is ignored even if it is set. An error will occur in the following cases (error code: 301). ( Cd.16 Inching movement amount) x (A) > ( Pr.31 JOG speed limit value) Where (A) is as follows. When the unit is PLS: 562.5 When the unit is degree and the " Pr.82 Speed control 10 x multiplier setting
for degree axis" is valid: 33.75 When the unit is other than the above: 337.5
(2) JOG start signal OFF ON immediately after stop signal ON OFF (within 100 ms) is ignored. (Operation will not start.)
(3) Set a value other than a "0" in " Cd.16 Inching movement amount". If a "0" is set, the operation will become JOG operation (Refer to Section 11.2 "JOG operation").
Errors during operation When the operation is stopped by the stroke limit (limit signal OFF), inching operation can be performed out in the direction in which the limit signal turns ON after an error reset. (JOG start signals in the direction in which the limit signal turns OFF will be ignored.)
Inching operation possible
Upper/lower limit signal
Inching operation
V
Inching operation not possible
ON
OFF
11 - 19
MELSEC-Q 11 MANUAL CONTROL
Inching operation timing and processing times The following drawing shows the details of the inching operation timing and processing time.
Reverse run JOG start signal [Y9,YB,YD,YF]
BUSY signal [XC,XD,XE,XF]
Forward run JOG start signal [Y8,YA,YC,YE]
ON
Standing by Inching operationAxis operation status
t1
t4
Positioning operation
Positioning complete signal [X14,X15,X16,X17]
Md.26
ON
ON
OFF
OFF
OFF
OFF
t3
Standing by
t2
Fig. 11.13 Inching operation timing and processing times
Normal timing times Unit : ms t1 t2 t3 t4
1.0 to 2.8 3.1 to 3.3 0 to 3.5 Depending on parameters
Depending on the operating statuses of the other axes, delay may occur in the
t1 timing time.
11 - 20
MELSEC-Q 11 MANUAL CONTROL
11.3.2 Inching operation execution procedure
The inching operation is carried out by the following procedure.
STEP 1Preparation
Refer to Chapter 5 and Section 11.3.3.
End of control
Set the positioning parameters.
STEP 2
Refer to Section 11.3.4.
STEP 3 Write the PLC program created in STEP 1 and STEP 2 to the PLC CPU using GX Developer.
Turn ON the JOG start signal. STEP 4
One of the following two methods can be used.
Monitor using GX Configurator-QP.
Monitor using GX Developer.
One of the following two methods can be used.
Directly set (write) the parameters in the QD75MH using GX
Configurator-QP.
Set (write) the parameters from the PLC CPU to the QD75MH
using the PLC program (TO command).
STEP 5
Create a PLC program in which the "JOG start signal" is turned ON by an inching operation start command.
Using GX Developer, set the control data and create a PLC program for executing the inching operation. (Set the control data in the QD75MH buffer memory using the TO command.)
Write the PLC program to the PLC CPU.
Turn ON the JOG start signal of the axis to be started.
Monitoring of the inching operation
STEP 6 Turn OFF the JOG operation start signal that is ON.
Monitor the inching operation status.
Forward run JOG start signal Reverse run JOG start signal
Axis 1
Y8
Y9
YA
YB
YC
YD
Refer to Chapter 6.
Axis 3 Axis 2 Inching operation start
Inching operation stop
to) Pr.1 )Pr.31
Set the" Cd.16 inching movement amount". (Control data setting)
YE
YF
Axis 4
End the inching operation after moving a workpiece by an inching movement amount with the PLC program created in STEP 2.
REMARK
Mechanical elements such as limit switches are considered as already installed. Positioning parameter settings work in common for all control using the QD75MH.
11 - 21
MELSEC-Q 11 MANUAL CONTROL
11.3.3 Setting the required parameters for inching operation
The "Positioning 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.)
Setting item Setting requirement Factory-set initial value (setting details)
Pr.1 Unit setting 3 (PLS)
Pr.2 No. of pulses per rotation (AP) (Unit: PLS) 20000
Pr.3 Movement amount per rotation (AL) (Unit: PLS) 20000
Pr.4 Unit magnification (AM) 1 (1 times)
Pr.11 Backlash compensation amount (Unit: PLS) 0
Pr.12 Software stroke limit upper limit value (Unit: PLS) 2147483647
Pr.13 Software stroke limit lower limit value (Unit: PLS) 2147483648
Pr.14 Software stroke limit selection 0 (current feed value)
Pr.15 Software stroke limit valid/invalid setting 0 (valid)
Pr.17 Torque limit setting value (Unit: %) 300
Po si
tio ni
ng p
ar am
et er
s
Pr.31 JOG speed limit value (Unit: PLS/s) 20000
: Setting always required. : Set according to requirements (Leave set to the initial value when not used.)
REMARK
Positioning parameter settings work in common for all control using the QD75MH. When carrying out other controls ("major positioning control", "high-level positioning control", and "OPR positioning control"), the respective setting items must also be set.
Parameters are set for each axis. Refer to Chapter 5 "Data Used for Positioning Control" for setting details.
11 - 22
MELSEC-Q 11 MANUAL CONTROL
11.3.4 Creating a program to enable/disable the inching operation
A PLC 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 m" is set in " Cd.16 Inching movement amount".)
Required control data setting The control data shown below must be set to execute an inching operation. The setting is carried out with the PLC program.
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Cd.16 Inching movement amount 100
Set the setting value so that the JOG speed limit value is not increased larger than the maximum output pulse
1517 1617 1717 1817
Refer to Section 5.7 "List of control data" for information on setting details.
Start conditions The following conditions must be fulfilled when starting. The required conditions must also be assembled in the PLC program, and the PLC program must be configured so the operation will not start if the conditions are not fulfilled.
Device Signal name Signal state Axis
1 Axis
2 Axis
3 Axis
4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75MH preparation completed X0 All axis servo ON ON All axis servo ON Y1
Synchronization flag ON Accessible to QD75MH buffer memory X1
Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13 BUSY signal OFF QD75MH is not operating XC XD XE XF Positioning complete signal OFF Positioning complete signal is
OFF X14 X15 X16 X17
Error detection signal OFF There is no error X8 X9 XA XB
Interface signal
M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Forced stop input signal ON There is no forced stop input Stop signal OFF Stop signal is OFF Upper limit (FLS) ON Within limit range
External signal
Lower limit (RLS) ON Within limit range
If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be inserted in the program for interlocking. If it is set to the synchronous mode, it must not be inserted in the program for interlocking because it is turned ON when the PLC CPU executes calculation.
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MELSEC-Q 11 MANUAL CONTROL
Start time chart
Forward run JOG start signal [Y8]
PLC READY signal [Y0]
QD75 READY signal [X0]
t
Reverse run JOG start signal [Y9]
Reverse run inching operation
Forward run inching operation
BUSY signal [XC]
Error detection signal [X8]
OFF
OFF
OFF
OFF
OFF
ON
ON
ON
ON
ON
OFF
OFF
ON Positioning complete signal [X14]
All axis servo ON [Y1] OFF
Fig. 11.14 Inching operation start time chart
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MELSEC-Q 11 MANUAL CONTROL
Creating the program
Example
No.11 Inching operation setting program
No.12 JOG operation/inching operation execution program
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MELSEC-Q 11 MANUAL CONTROL
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.
PLC READY signal [Y0] OFF
ON
BUSY signal [XC,XD,XE,XF]
OFF
ON
A JOG start signal OFF ON while the stop signal is ON will be ignored.
Axis stop signal [Y4,Y5,Y6,Y7]
OFF
ON
QD75 READY signal [X0]
ON
OFF
Forward run JOG start signal [Y8,YA,YC,YE]
OFF
ON
All axis servo ON [Y1]
ON
OFF
Fig. 11.15 Operation when stop signal is turned ON during inching operation
POINT The QD75MH will not accept "JOG start signal" while "stop signal" is turned ON.
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MELSEC-Q 11 MANUAL CONTROL
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.
In test mode
ON
t
Forward run JOG start signal [Y8,YA,YC,YE] OFF
ON
OFF
Forward run inching operation executedInching operation not possible
because the operation is in the test mode.
Inching operation not possible because JOG start signal does not rise
Fig. 11.16 Operation when JOG start signal is turned ON in test mode
When "JOG start signal" is turned ON immediately after stop signal OFF (within 100 ms):
If "JOG start signal" is turned ON immediately after the stop signal is turned OFF (within 100 ms), the "JOG start signal" will be ignored and inching operation will not be carried out.
Forward run JOG start signal [Y8,YA,YC,YE]
ON
Axis stop signal [Y4,Y5,Y6,Y7]
OFF
ON
OFF
Forward run inching operation
100ms
A rise of JOG start signal is ignored.
Fig. 11.17 Operation when JOG start signal is turned ON immediately after stop signal is turned OFF
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MELSEC-Q 11 MANUAL CONTROL
11.4 Manual pulse generator operation
11.4.1 Outline of manual pulse generator operation
Important Create the PLC 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.
Manual pulse generator operation In manual pulse generator operations, pulses are input to the QD75MH from the manual pulse generator. This causes the same No. of input pulses to be output from the QD75MH to the servo amplifier, and the workpiece is moved in the designated direction. The following shows and example of manual pulse generator operation.
1) When the " Cd.21 Manual pulse generator enable flag" is set to "1", the BUSY signal turns ON and the manual pulse generator operation is enabled.
2) The workpiece is moved corresponding to the No. of pulses input from the manual pulse generator.
3) The workpiece movement stops when no more pulses are input from the manual pulse generator.
4) When the " Cd.21 Manual pulse generator enable flag" is set to "0", the BUSY signal turns OFF and the manual pulse generator operation is disabled.
Manual pulse generator operation stops
t
BUSY signal [XC, XD, YE, XF]
Manual pulse generator input
Start complete signal [X10, X11, X12, X13]
Manual pulse generator operation enabled
0 ON
OFF
ON
OFF
1) 2) 3) 4)
1 0 Cd. 21 Manual pulse generator enable flag
1
2
[Precautions]
1 If the input from the manual pulse generator stops, the machine will decelerate to a stop within 90 ms.
2 The start complete signal does not turn ON in manual pulse generator operation.
Fig. 11.18 Manual pulse generator operation
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MELSEC-Q 11 MANUAL CONTROL
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.21 Manual pulse generator enable flag" is turned ON while the QD75MH is BUSY (BUSY signal ON), a warning will occur (warning code 100: start during operation).
(3) If a stop factor occurs during manual pulse generator operation, the operation will stop, and the BUSY signal will turn OFF. At this time, the " Cd.21 Manual pulse generator enable flag" will be left ON, but manual pulse generator operation will not be possible. To carry out manual pulse generator operation again, measures must be carried out to eliminate the stop factor. Once eliminated, the operation can be carried out again by turning the " Cd.21 Manual pulse generator enable flag" ON OFF ON.
(4) Pulses will not be output if an error occurs when the manual pulse generator operation starts.
Important
When the speed command beyond the following calculated value is input into the positioning module using the manual pulse generator, the servo error "2035: data error (detection of the alarm "35: command frequency error at the servo amplifier) may occur. The following calculation formula is used to judge whether or not an error will occur.
Output pulse of manual pulse generator Magnification Electronic gear (number of pulses per revolution/movement amount per revolution) Number of revolutions of manual pulse generator for one second = Speed command pps
When the speed command is larger than 62914560pps (63Mpps), an error may occur. [Calculation example for setting] 100pls 50 262144 / 500 2 =104857600pps (Speed of two revolutions for one second) =104Mpps Occurrence of data error With detection of an alarm at the servo amplifier, "2035: data error" will be given when the command from the positioning module is larger than 63Mpps. Because the command is issued according to the pulse input irrelevant of the speed limit setting when the manual pulse generator is used for entry, "2035: data error" will occur if a speed command, which the servo amplifier cannot follow up, is input. In the case of a high setting magnification, there is a high possibility of error occurrence. Therefore, perform the setting so that the setting magnification of the manual pulse generator decreases to the level where "2035: data error" will not occur.
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MELSEC-Q 11 MANUAL CONTROL
REMARK
One QD75MH module can be connected to one manual pulse generator. The QD75MH module can simultaneously command to the axis 1 to axis 4 servo
amplifier by one manual pulse generator. (axis 1 to axis 4 simultaneous operation is possible.)
Errors during operation When the operation is stopped by the stroke limit (limit signal OFF), manual pulse generator operation can be performed in the direction in which the limit signal turns ON after an error reset. (An error will occur again if pulse input is provided in the direction in which the limit signal turns OFF is turned ON.)
Upper/lower limit signal
Manual pulse generator operation possible
Manual pulse generator operation not possible
V Manual pulse generator operation
ON
OFF
Manual pulse generator operation timing and processing time The following drawing shows details of the manual pulse generator operation timing and processing time.
Manual pulse generator input pulses
t1
t3 t4
BUSY signal [XC,XD,XE,XF]
Standing by
Positioning start complete signal [X10, X11, X12, X13]
Positioning operation
The start complete signal does not turn ON in manual pulse generator operation.
0 01Cd. 21 Manual pulse generator enable flag
Md. 26 Axis operation status Standing by In manual pulse generator operation
t2
Fig. 11.19 Manual pulse generator operation timing and processing times
Normal timing times Unit : ms t1 t2 t3 t4
0 to 2.6 10.0 to 29.2 65.0 to 86.0 28.4 to 57.6
Delays may occur in the t1 timing time due to the operation status of other axes.
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MELSEC-Q 11 MANUAL CONTROL
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.1 Unit setting mm inch degree PLS
Manual pulse generator 1 pulse movement amount
0.1m 0.00001inch 0.00001degree 1PLS
For example, when " Pr.1 Unit setting" is mm and " Cd.20 Manual pulse generator 1 pulse input magnification" is 2, and 100 pulses are input from the manual pulse generator, the current feed value is as follows.
100 2 0.1 = 20 [m]
Speed control by manual pulse generation operation The speed during positioning control by manual pulse generator operation is a speed corresponding to the No. of input pulses per unit time, and can be obtained using the following equation.
Output command frequency = Input frequency Cd.20 Manual pulse generator 1 pulse input magnification
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MELSEC-Q 11 MANUAL CONTROL
11.4.2 Manual pulse generator operation execution procedure
The manual pulse generator operation is carried out by the following procedure.
Write the PLC program created in STEP 1 and STEP 2 to the PLC CPU using GX Developer.
Using GX Developer, set the control data and create a PLC program to enable/disable the manual pulse generator operation. (Set the control data in the QD75MH buffer memory using the TO command.)
One of the following two methods can be used.
STEP 1
Manual pulse generator operation start
End of control
STEP 2
STEP 3
STEP 4
STEP 5
Issue a command to enable the manual pulse generator operation, and input the signals from the manual pulse generator.
End the input from the manual pulse generator, and issue a command to disable the manual pulse
Manual pulse generator operation stop
STEP 6
Monitor the manual pulse generator operation.
Preparation
Refer to Chapter 5 and Section 11.4.3.
Refer to Section 11.4.4.
Set the positioning parameters
Write the PLC program to the PLC CPU.
One of the following two methods can be used.
Monitoring of the manual pulse generator operation
Set " Cd. 20 Manual pulse generator 1 pulse input magnification". (control data setting)
to) Pr.1 )Pr.24
Create a PLC program in which the enable/disable is
(" Cd. 21 Manual pulse generator enable flag" setting.) set for the manual pulse generator operation.
Stop operating the manual pulse generator, and write "0" in " Cd. 21 Manual pulse generator enable flag".
Write "1" in " Cd.21 Manual pulse generator enable flag", and operate the manual pulse generator.
REMARK
Mechanical elements such as limit switches are considered as already installed. Positioning parameter settings work in common for all control using the QD75MH.
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MELSEC-Q 11 MANUAL CONTROL
11.4.3 Setting the required parameters for manual pulse generator operation
The "Positioning 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. (Use the initial values or setting values within a range where no error occurs for trouble-free operation.)
Setting item Setting requirement Factory-set initial value (setting details)
Pr.1 Unit setting 3 (PLS)
Pr.2 No. of pulses per rotation (AP) (Unit: PLS) 20000
Pr.3 Movement amount per rotation (AL) (Unit: PLS) 20000
Pr.4 Unit magnification (AM) 1 (1 times)
Pr.8 Speed limit value (Unit: PLS/s) 200000
Pr.11 Backlash compensation amount (Unit: PLS) 0
Pr.12 Software stroke limit upper limit value (Unit: PLS) 2147483647
Pr.13 Software stroke limit lower limit value (Unit: PLS) 2147483648
Pr.14 Software stroke limit selection 0 (current feed value)
Pr.15 Software stroke limit valid/invalid setting 0 (valid)
Pr.17 Torque limit setting value (Unit: %) 300
Pr.22 Input signal logic selection 0 (Manual pulse generator
input is negative logic.)
Po si
tio ni
ng p
ar am
et er
s
Pr.24 Manual pulse generator input selection 0 (4 times multiplication of A
phase/B phase)
: Setting always required. : Set according to requirements (Leave set to the initial value when not used.)
REMARK
Positioning parameter settings work in common for all control using the QD75MH. When carrying out other control ("major positioning control", "high-level positioning control", "OPR positioning control"), the respective setting items must also be matched and set.
Parameters are set for each axis. But Pr.22 Manual pulse generator input logic
(b8), Pr.24 is set only for axis 1. (The setting for axes 2,3, and 4 is ignored.) Refer to Chapter 5 "Data Used for Positioning Control" for setting details.
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MELSEC-Q 11 MANUAL CONTROL
11.4.4 Creating a program to enable/disable the manual pulse generator operation
A PLC 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.
Required control data setting The control data shown below must be set to execute a manual pulse generator operation. The setting is carried out with the PLC program.
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Cd.20 Manual pulse generator 1 pulse input magnification
1 Set the manual pulse generator 1 pulse input magnification.
1522 1523
1622 1623
1722 1723
1822 1823
Cd.21 Manual pulse generator enable flag
1 (0)
Set "1: Enable manual pulse generator operation". (Set "0: Disable manual pulse generator operation" when finished with the manual pulse generator operation.)
1524 1624 1724 1824
Refer to Section 5.7 "List of control data" for details on the setting details.
Start conditions The following conditions must be fulfilled when starting. The required conditions must also be assembled in the PLC program, and the PLC program must be configured so the operation will not start if the conditions are not fulfilled.
Device Signal name Signal state Axis
1 Axis
2 Axis
3 Axis
4 PLC READY signal ON PLC CPU preparation completed Y0 QD75 READY signal ON QD75MH preparation completed X0 All axis servo ON ON All axis servo ON Y1
Synchronization flag ON QD75MH buffer memory The access is possible.
X1
Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7 Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13 BUSY signal OFF QD75MH is not operating XC XD XE XF Error detection signal OFF There is no error X8 X9 XA XB
Interface signal
M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7 Forced stop input signal ON There is no forced stop input Stop signal OFF Stop signal is OFF Upper limit (FLS) ON Within limit range
External signal
Lower limit (RLS) ON Within limit range
If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be inserted in the program for interlocking. If it is set to the synchronous mode, it must not be inserted in the program for interlocking because it is turned ON when the PLC CPU executes calculation.
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MELSEC-Q 11 MANUAL CONTROL
Start time chart
Pulse input A phase
OFF
ON
OFF
OFF
1
t
OFF
0 0
1
Forward run
Reverse run
ON
Pulse input B phase
BUSY signal
QD75 READY signal
PLC READY signal
Start complete signal
Error detection signal
[Y0]
[X0]
[X10]
[XC]
[X8]
Cd. 21 Manual pulse generator enable flag
Cd. 20 Manual pulse generator 1 pulse input magnification
OFF
ONAll axis servo ON [Y1] OFF
ON
Fig. 11.20 Manual pulse generator operation start time chart
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MELSEC-Q 11 MANUAL CONTROL
Creating the program
Example
No.13 Manual pulse generator operation program
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MELSEC-Q 11 MANUAL CONTROL
MEMO
12 - 1
12
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. Each sub function is used together with a main function by creating matching parameter settings and PLC programs. Read the execution procedures and settings for each sub function, and set as required.
12.1 Outline of sub functions ...........................................................................................12- 2 12.1.1 Outline of sub functions .............................................................................12- 2 12.2 Sub functions specifically for machine OPR...........................................................12- 4 12.2.1 OPR retry function......................................................................................12- 4 12.2.2 OP shift function ........................................................................................12- 8 12.3 Functions for compensating the control.................................................................12- 11 12.3.1 Backlash compensation function..............................................................12- 11 12.3.2 Electronic gear function ............................................................................12- 13 12.3.3 Near pass function ....................................................................................12- 20 12.4 Functions to limit the control...................................................................................12- 23 12.4.1 Speed limit function...................................................................................12- 23 12.4.2 Torque limit function..................................................................................12- 25 12.4.3 Software stroke limit function....................................................................12- 29 12.4.4 Hardware stroke limit function ..................................................................12- 35 12.4.5 Forced stop function..................................................................................12- 39 12.5 Functions to change the control details .................................................................12- 42 12.5.1 Speed change function .............................................................................12- 42 12.5.2 Override function.......................................................................................12- 49 12.5.3 Acceleration/deceleration time change function ......................................12- 52 12.5.4 Torque change function ............................................................................12- 56 12.6 Absolute position system........................................................................................12- 59 12.7 Other functions........................................................................................................12- 61 12.7.1 Step function .............................................................................................12- 61 12.7.2 Skip function..............................................................................................12- 66 12.7.3 M code output function..............................................................................12- 69 12.7.4 Teaching function......................................................................................12- 73 12.7.5 Target position change function ...............................................................12- 79 12.7.6 Command in-position function ..................................................................12- 83 12.7.7 Acceleration/deceleration processing function.........................................12- 86 12.7.8 Pre-reading start function..........................................................................12- 89 12.7.9 Deceleration start flag function .................................................................12- 94 12.7.10 Stop command processing for deceleration stop function.......................12- 98 12.7.11 Speed control 10 x multiplier setting for degree axis function ...............12- 101 12.7.12 Operation setting for incompletion of OPR function...............................12- 103 12.8 Other functions......................................................................................................12- 105 12.8.1 Servo ON/OFF ........................................................................................12- 105 12.8.2 Follow up function ...................................................................................12- 106
12 - 2
MELSEC-Q 12 CONTROL SUB FUNCTIONS
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 PLC programs, etc.
12.1.1 Outline of sub functions
The following table shows the types of sub functions available. Sub function Details
OPR retry function This function retries the OPR with the upper/lower limit switches during machine OPR. This allows machine OPR to be carried out even if the axis is not returned to before the near-point dog with JOG operation, etc.
Functions characteristic to machine OPR OP shift function
After returning to the machine OP, this function offsets the position by the designated distance from the machine OP position and sets that position as the OP address.
Backlash compensation function
This function compensates the mechanical backlash. Feed pulses equivalent to the set backlash amount are output each time the movement direction changes.
Electronic gear function
By setting the movement amount per pulse, this function can freely change the machine movement amount per commanded pulse. When the movement amount per pulse is set, a flexible positioning system that matches the machine system can be structured.
Functions that compensate control
Near pass function 1 This function suppresses the machine vibration when the speed changes during continuous path control in the interpolation control.
Speed limit function If the command speed exceeds " Pr.8 Speed limit value" during control,
this function limits the commanded speed to within the " Pr.8 Speed limit value" setting range.
Torque limit function If the torque generated by the servomotor exceeds " Pr.17 Torque limit setting value" during control, this function limits the generated torque to within the " Pr.17 Torque limit setting value" setting range.
Software stroke limit function
If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued, this function will not execute positioning for that command.
Hardware stroke limit function
This function carries out deceleration stop with the limit switch connected to the QD75MH external device connector.
Functions that limit control
Forced stop function This function is stopped the all axes of the servo amplifier when the forced stop input signal of the QD75MH external connector is turned ON.
Speed change function
This function changes the speed during positioning. Set the changed speed in the speed change buffer memory ( Cd.14 New speed value), and change the speed with the speed change request ( Cd.15 Speed change request).
Override function This function changes the speed within a percentage of 1 to 300% during positioning. This is executed using " Cd.13 Positioning operation speed override".
Acceleration/deceleration time change function
This function changes the acceleration/deceleration time during speed change.
Functions that change control details
Torque change function This function changes the "torque limit value" during control. 1: The near pass function is validated only when the machine of the standard specification carries out the position control
with the continuous path control mode. It cannot be invalidated with parameters.
12 - 3
MELSEC-Q 12 CONTROL SUB FUNCTIONS
Sub function Details
Absolute position system function
This function holds the current value. This function sets the absolute position coordinate in relation to the OP in the machine movement range, and prevent the OP from being lost even if the power supply is turned OFF to ON.
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".
Skip function This function stops the positioning being executed (decelerates to a stop) when the skip signal is input, and carries out the next positioning.
M code output function This function issues a sub work (clamp or drill stop, tool change, etc.) according to the code No. (0 to 65535) set for each positioning data.
Teaching function This function stores the address positioned with manual control into the positioning address ( Da.6 Positioning address/movement amount) having the designated positioning data No.
Target position change function
This function changes the target position during the execution of positioning. At the same time, this also can change the speed.
Command in-position function
At each automatic deceleration, this function calculates the remaining distance for the QD75MH to reach the positioning stop position, and when the value is less than the set value, sets the "command in-position flag". When using another sub work before ending the control, use this function as a trigger for the sub work.
Acceleration/deceleration process function This function adjusts the control acceleration/deceleration.
Pre-reading start function This function shortens the virtual start time.
Deceleration start flag function
Function that 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", to make the stop timing known.
Stop command processing for deceleration stop function
Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to speed 0.
Speed control 10 x multiplier setting for degree axis function
This function is executed the positioning control by the 10 x speed of the command speed and the speed limit value when the setting unit is "degree".
Other functions
Operation setting for incompletion of OPR function
This function is provided to select whether positioning control is operated or not, when OPR request flag is ON.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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. This normally means the workpiece has to be moved to a position before the near-point dog by a JOG operation, etc., to start the machine OPR again. However, by using the OPR retry function, a machine OPR can be carried out regardless of the workpiece position.
The details shown below explain about the "OPR retry function". [1] Control details [2] Precautions during control [3] Setting the OPR retry function
[1] Control details
The following drawing shows the operation of the OPR retry function. (1) OPR retry point return retry operation when the workpiece is within the range
between the upper and lower limits.
1) The movement starts in the " Pr.44 OPR direction" by a machine OPR start.
2) The operation decelerates when the limit signal OFF is detected. 3) After stopping due to the limit signal OFF detection, the operation moves at the " Pr.46 OPR speed" in
the opposite direction of the " Pr.44 OPR direction".
4) The operation decelerates when the near-point dog turns OFF. 5) After stopping due to the near-point dog OFF, a machine OPR is carried out in the " Pr.44 OPR
direction". 6) Machine OPR completion
5) 1)
Near-point dog Limit signal OFFON
2)
3)6)
4)
Zero signal
Hardware limit switch
Fig. 12.1 OPR retry operation by limit signal detection
12 - 5
MELSEC-Q 12 CONTROL SUB FUNCTIONS
(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.
Pr. 44 OPR direction
Hardware upper limit switch Hardware lower limit switch
Movement range
Machine OPR start OP
Zero signal
Near-point dog
2) When the direction from the workpiece to the OP is the opposite direction from the " Pr.44 OPR direction", the operation carries out a deceleration stop when the near-point dog turns OFF, and then carries out a machine OPR in the direction set in " Pr.44 OPR direction".
Pr. 44 OPR direction
Near-point dog Hardware upper limit switch Hardware lower limit switch
Movement range
Machine OPR start
OP
Zero signal
In the above example 1) and 2), "0: Positive direction" is set in " Pr.44 OPR direction"
REMARK When the "0: Positive direction" is selected in " Pr.44 OPR direction", the upper limit switch is
set to the limit switch in the OPR direction.
When the "1: Negative direction" is selected in " Pr.44 OPR direction", the lower limit switch is set to the limit switch in the OPR direction.
If inverting the install positions of upper/lower limit switches, hardware stroke limit function cannot be operated properly. If problem is found when " Pr.114 Rotation direction selection" and the wiring for the upper/lower limit switch are checked.
Fig. 12.2 OPR retry operation from on limit (limit signal OFF)
12 - 6
MELSEC-Q 12 CONTROL SUB FUNCTIONS
(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.57 Dwell time during OPR" is validated when the operation stops at the "A" and "B" positions in the following drawing. (The dwell time is the same value at both positions "A" and "B".)
Machine OPR executed again
Stop by near-point dog OFF
Stop by limit signal detection
Reverse run operation after limit signal detection
B OP
Pr. 44 OPR direction
Machine OPR start
A
Limit signal OFFNear-point dog
Zero signal
Hardware limit switch
Fig. 12.3 Setting the dwell time during an OPR retry
12 - 7
MELSEC-Q 12 CONTROL SUB FUNCTIONS
[2] Precaution during control
(1) The following table shows whether the OPR retry function may be executed by the " Pr.43 OPR method".
Pr.43 OPR method Execution status of OPR retry function
Near-point dog method : Execution possible Count method 1) : Execution possible Count method 2) : Execution possible Data set method :
(2) Always establish upper/lower limit switches at the upper/lower limit positions
of the machine, and connect an QD75MH module. If the OPR retry function is used without hardware stroke limit switches, the motor will continue rotation until a hardware stroke limit signal is detected.
(3) Always wire QD75MH upper/lower limit switches even when the OPR function is invalidated. Control cannot be carried out with the QD75MH unless the wiring is carried out.
(4) Do not carry out settings so that the servo amplifier power turns OFF by the upper/lower limit switches connected to the QD75MH. If the servo amplifier power is turned OFF, the OPR retry cannot be carried out.
(5) The operation decelerates upon detection of the hardware limit signal, and the movement starts in the opposite direction. In this case, however, an error (104, 105) is not produced.
[3] Setting the OPR retry function
To use the "OPR retry function", set the required details in the parameters shown in the following table, and write them to the QD75MH. When the parameters are set, the OPR retry function will be added to the machine OPR control. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0). Set " Pr.57 Dwell time during OPR retry"
according to the user's requirements.
Setting item Setting value Setting details Factory-set
initial value
Pr.48 OPR retry 1 Set "1: Carry out OPR retry by limit switch". 0
Pr.57 Dwell time during OPR retry
Set the deceleration stop time during OPR retry. (Random value between 0 and 65535 (ms)) 0
Refer to Section 5.2 "List of parameters" for setting details.
REMARK
Parameters are set for each axis. It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
12.2.2 OP shift function
When a machine OPR is carried out, the OP is normally established using the near- point 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 details shown below explain about the "OP shift function". [1] Control details [2] Setting range for the OP shift amount [3] Movement speed during OP shift [4] Precautions during control [5] Setting the OP shift function
[1] Control details
The following drawing shows the operation of the OP shift function.
Machine OPR start
Pr.53 OP shift amount
Speed selected by the" Pr. 56 Speed designation during OP shift"
Pr.47 Creep speed
Pr. 44 OPR direction
Near-point dog
Pr. 46 OPR speed
Zero signal
Fig. 12.4 OP shift operation
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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
Upper limit switch Lower limit switch
Near-point dog
Pr. 44 OPR direction
Zero signal
Address increase direction
Fig. 12.5 Setting range for the OP shift amount
[3] Movement speed during OP shift When using the OP shift function, the movement speed during the OP shift is set in " Pr.56 Speed designation during OP shift". The movement speed during the
OP shift is selected from either the " Pr.46 OPR speed" or the " Pr.47 Creep
speed". The following drawings show the movement speed during the OP shift when a mechanical OPR is carried out by the near-point dog method. (1) OP shift operation at the " Pr.46 OPR speed"
(When " Pr.56 speed designation during OP shift" is 0)
OP
When the " Pr. 53 OP shift amount" is positive
When the " Pr. 53 OP shift amount" is negative
Pr. 44 OPR direction
Machine OPR start
Pr. 46 OPR speed
Near-point dog
Zero signal
Fig. 12.6 OP shift operation at the OPR speed
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(2) OP shift operation at the " Pr.47 Creep speed"
(When " Pr.56 Speed designation during OP shift" is 1)
When the " Pr. 53 OP shift amount" is negative
When the " Pr. 53 OP shift amount" is positive
Pr. 44 OPR direction
Zero point
Machine OPR start
Near-point dog
Zero signal
OP
Pr. 47 Creep speed
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. OPR complete flag ( Md.31 Status: b4)
Md.20 Current feed value
Md.21 Machine feed value
Md.26 Axis operation status
Md.34 Movement amount after near-point dog ON (" Pr.53 OP shift amount" is not added.)
OPR request flag ( Md.31 Status: b3) is reset after completion of the OP shift.
[5] Setting the OP shift function
To use the "OP shift function", set the required details in the parameters shown in the following table, and write them to the QD75MH. When the parameters are set, the OP shift function will be added to the machine OPR control. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0).
Setting item Setting value Setting details Factory-set
initial value
Pr.53 OP shift amount Set the shift amount during the OP shift. 0
Pr.56
Speed designation during OP shift
Select the speed during the OP shift 0: Pr.46 OPR speed
1: Pr.47 Creep speed 0
Refer to Section 5.2 "List of parameters" for setting details.
REMARK Parameters are set for each axis. It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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 PLC program creation and writing.
12.3.1 Backlash compensation function
The "backlash compensation function" compensates the backlash amount in the mechanical system. When the backlash compensation amount is set, an extra amount of command equivalent to the set backlash amount is output every time the movement direction changes.
The details shown below explain about the "backlash compensation function". [1] Control details [2] Precautions during control [3] Setting the backlash compensation function
[1] Control details
The following drawing shows the operation of the backlash compensation function.
Pr.11 Backlash compensation amount
Worm gear
Workpiece
Fig. 12.8 Backlash compensation amount
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[2] Precautions during control
(1) The feed command 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) Backlash compensation, which includes the movement amount and " Pr.11 Backlash compensation amount", is output the moment at the moving direction changes.
[3] Setting the backlash compensation function To use the "backlash compensation function", set the "backlash compensation amount" in the parameter shown in the following table, and write it to the QD75MH. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0).
Setting item Setting value Setting details Factory-set
initial value
Pr.11 Backlash compensation amount
Set the backlash compensation amount. 0
Refer to Section 5.2 "List of parameters" for setting details.
REMARK
Parameters are set for each axis. It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
12.3.2 Electronic gear function
The "electronic gear function" adjusts the pulses calculated and output according to the parameters set in the QD75MH with the actual machine movement amount.
The "electronic gear function" has the following three functions ( [A] to [C] ).
[A] During machine movement, the function increments in the QD75MH values less than one pulse that could not be pulse output, and outputs the incremented amount of pulses when the total incremented value reached one pulse or more.
[B] When machine OPR is completed, current value changing is completed, speed control is started (except when current feed value change is present), or fixed-feed control is started, the function clears to "0" the cumulative values of less than one pulse which could not be output. (If the cumulative value is cleared, an error will occur by a cleared amount in the feed machine value. Control can be constantly carried out at the same machine movement amount, even when the fixed-feed control is continued.)
[C] The function compensates the mechanical system error of the command movement amount and actual movement amount by adjusting the "electronic gear". (The "movement amount per pulse" value is defined by " Pr.2 No. of pulses
per rotation (AP)", " Pr.3 Movement amount per rotation (AL)" and " Pr.4 Unit magnification (AM)".)
The QD75MH automatically carries out the processing for [A] and [B].
The details shown below explain about the "electronic gear function", including the method for compensating the error in [C] above, etc. [1] Basic concept of the electronic gear [2] The method for compensating the error
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[1] Basic concept of the electronic gear
The electronic gear is an item which determines how many rotations (rotations by how many pulses) the motor must make in order to move the machine according to the programmed movement amount.
M
ENC
PLS Servo
amplifier
PLS
Feedback pulse
Control value PLSAP
AL AM Control unit
QD75MH
MachineReduction retio
The basic concept of the electronic gear is represented by the following expression.
Pr.2 (No. of pulses per rotation) = AP
Pr.3 (Movement amount per rotation) = AL
Pr.4 (Unit magnification) = AM Movement amount per pulse = S
AP AP
Electronic gear = S
= AL AM
(1)
Set values for AP, AL and AM so that this related equation is established. However, because values to be set for AP, AL and AM have the settable range, values calculated (reduced) from the above related equation must be contained in the setting range for AP, AL and AM.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(1) For "Ball screw" + "Reduction gear"
When the ball screw pitch is 10mm, the motor is the HF-KP (262144 PLS/rev) and the reduction ratio of the reduction gear is 9/44.
M
Machine
Reduction ratio 9/44
First, find how many millimeters the load (machine) will travel ( S) when the motor turns one revolution (AP). AP(No. of pulses per rotation) = 262144 S(Machine travel value per motor revolution)
= Ball screw pitch Reduction ratio = 10 [mm] 9/44 = 10000.0 [m] 9/44
Substitute this for the above expression (1). At this time, make calculation with the reduction ratio 9/44 remaining as a fraction.
AP 262144 S
= 10000.0 [m] 9/44
262144 44
= 10000.0 9
11534336 =
90000.0 1441792 1441792 (AP)
= 11250.0
= 11250.0 (AL) 1 (AM)
1441792 (AP)
=
1125.0 (AL) 10 (AM) Thus, AP, AL and AM to be set are as follows.
AP = 1441792 .. Pr.2 AP = 1441792 . Pr.2
AL = 11250.0 Pr.3 or AL = 1125.0 Pr.3
AM = 1 Pr.4 AM = 10 Pr.4
Note): These two examples of settings are only examples. There are settings other than these examples.)
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(2) When "PLS (pulse)" is set as the control unit
When using PLS (pulse) as the control unit, set the electronic gear as follows. AP = "No. of pulses per rotation" AL = "Movement amount per rotation" AM = 1 Example) When the motor is the HF-KP (262144PLS/rev)
AP = 262144 .. Pr.2
AL = 262144 .. Pr.3
AM = 1 .. Pr.4
(3) When "degree" is set as the control unit for a rotary axis When the rotary axis is used, the motor is HF-KP (262144PLS/rev) and the reduction ratio of the reduction gear is 3/11
Reduction ratio 3/11
M
First, find how many degrees the load (machine) will travel ( S) when the motor turns one revolution (AP).
AP(No. of pulses per rotation) = 262144 S(Machine travel value per motor revolution)
= 360.00000 [degree] Reduction ratio = 360.00000 3/11
Substitute this for the above expression (1). AP 262144 [PLS]
S =
360.00000 [degree] 3/11
262144 [PLS] 11
= 360.00000 3
2883584 =
1080.00000 180224 180224 (AP)
= 67.50000
= 67.50000(AL) 1 (AM)
180224 (AP)
=
0.06750 (AL) 1000 (AM)
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
Thus, AP, AL and AM to be set are as follows.
AP = 180224 Pr.2 AP = 180224 Pr.2
AL = 67.50000 Pr.3 or AL = 0.06750 Pr.3
AM = 1 .. Pr.4 AM = 1000 . Pr.4
Note): These two examples of settings are only examples. There are settings other than these examples.)
(4) When "mm" is set as the control unit for conveyor drive
(calculation including ) When the belt conveyor drive is used, the conveyor diameter is 135mm, the pulley ratio is 1/3, the motor is HF-KP (262144PLS/rev) and the reduction ratio of the reduction gear is 7/53.
Reduction ratio 7/53
M Belt conver
Pulley ratio 1/3
135mm
As the travel value of the conveyor is used to exercise control, set "mm" as the control unit. First, find how many millimeters the load (machine) will travel ( S) when the motor turns one revolution (AP). AP(No. of pulses per rotation) = 262144 S (Machine travel value per motor revolution)
= 135000.0 [m] Reduction ratio = 135000.0 [m] 7/53 1/3
Substitute this for the above expression (1). At this time, make calculation with the reduction ratio 7/53 1/3 remaining as a fraction.
AP AP 262144 [PLS] S
= AL AM
= 135000.0 [m] 7/53 1/3
262144 53 3
= 135000.0 7
Here, make calculation on the assumption that is equal to 3.141592654.
AP AP 41680896 S
= AL AM
= 2968805.058
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
AL has a significant number to first decimal place, round down numbers to two decimal places. Reduce a fraction in the above result.
AP AP 24168089 41680896 (AP) S
= AL AM
= 2968805.0
= 2968805.0 (AL) 1(AM)
Thus, AP, AL and AM to be set are as follows.
AP = 41680896 . Pr.2
AL = 2968805.0 .. Pr.3
AM = 1 .. Pr.4
This setting will produce an error for the true machine value, but it cannot be helped. This error is as follows.
29688050/41680896 9450000 41680896
- 1 100 = -1.94 10 6 [%]
It is equivalent to an about 19.4[m] error in continuous 1km feed.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[2] The method for compensating the error
When the position control is carried out using the "Electronic gear" set in a parameter, this may produce an error between the command movement amount (L) and the actual movement amount (L'). With QD75MH, this error is compensated by adjusting the electronic gear. The "Error compensation amount", which is used for error compensation, is defined as follows:
Command movement amount (L)
Error compensation amount = Actual movement amount (L')
(2)
The electronic gear including an error compensation amount is shown below.
AP L AP' AL AM
L'
= AL' AM'
Command value
Control unit
AP AL AM
L L'
PLS Servo amplifier
QD75MH
AP' AL' AM'
Control unit
Command value
PLS Servo amplifier
1 if there is no error (in regular case)
Electronic gear taking an error into consideration
QD75MH
Calculation example (Conditions)
Movement amount per pulse : 262144 [PLS] No. of pulses per rotation : 5000.0 [m]
Unit magnification : 1
(Positioning results) Command movement amount (L)
Actual movement amount (L') : 100 [mm] : 101 [mm]
(Compensation AP L 262144 100 262144 (AP') ALAM
L' =
5000.0 1 101
= 5050(AL') 1(AM')
Movement amount per pulse : 262144 Pr.2 No. of pulses per rotation : 5050.0 . Pr.3
Unit magnification : 1 ... Pr.4
Set the post-compensation " Pr.2 No. of pulses per rotation (AP')", " Pr.3 Movement amount per rotation (AL')", and " Pr.4 Unit magnification (AM')" in the parameters, and write them to the QD75MH. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0).
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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.
[Near pass function] The extra movement amount occurring at the end of each positioning data unit being continuously executed is carried over to the next positioning data unit. Alignment is not carried out, and thus the output speed drops are eliminated, and the mechanical vibration occurring during speed changes can be suppressed. Because alignment is not carried out, the operation is controlled on a path that passes near the position set in " Da.6 Positioning address/movement amount".
The details shown below explain about the "near pass function". [1] Control details [2] Precautions during control
[1] Control details
The following drawing shows the path of the continuous path control.
[The path of the near pass]
Da. 6 Positioning address
Path of positioning data No. 4
V
t
Positioning data No. 3
Speed dropping does not occur.
Path of positioning data No.3
Positioning data No. 4
Fig. 12.9 The path of the continuous path control
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[2] 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. If the sudden output reversal affects the mechanical system, carry out control with continuous positioning control.
[Path during continuous path control]
Axis 2
Axis 1 (reference axis)
Positioning data No.2
Positioning data No.1
[Axis 1 output speed]
V
t
Output suddenly reverses.Positioning data No. 1
Positioning data No.2
[Axis 2 output speed]
V
t
Positioning data No.2Positioning data No. 1
Fig. 12.10 Path and output speed of various axes when movement direction varies during continuous path control
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(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, a large arc error deviation (error code: 506) may occur. In this case, adjust the " Pr.41 Allowable circular interpolation error width".
Address designated by positioning data No.1
Path of positioning address pass
Positioning data No.2
Positioning data No.1
Positioning data No.2 starting point address during the near pass
Path of near pass
Fig. 12.11 Arc error during the near pass
(4) When a circle center is designated to continuously designate the circular interpolation control by a continuous path designation in the near pass, and the positioning address and starting point address of that arc are the same address, the path will make one circle using the two data items. This is because the 2nd data starting point address is shifted by the extra amount of the movement amount occurring from the 1st data.
Path of positioning data No.1
Starting point address of positioning data No.1 Starting point address of positioning data No.2
Path of positioning data No.2
[Near pass]
Example
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
12.4 Functions to limit the control
Functions to limit the control include the "speed limit function", "torque limit function", "software stroke limit function", "hardware stroke limit function", and "forced stop function". Each function is executed by parameter setting or PLC 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".
The details shown below explain about the "speed limit function". [1] Relation between the speed limit function and various controls [2] Precautions during control [3] Setting the speed limit function
[1] Relation between the speed limit function and various controls
The following table shows the relation of the "speed limit function" and various controls.
Control type Speed limit function Speed limit value Machine OPR control OPR
control Fast OPR control 1-axis linear control 2 to 4-axes linear interpolation control
1-axis fixed-feed control 2 to 4-axes fixed-feed control (interpolation)
Position control
2-axis circular interpolation control
1 to 4-axes Speed control Speed-position switching control, Position-speed switching control
Pr.8 Speed limit value
Current value changing
Major positioning control
Other control
JUMP instruction, NOP instruction, LOOP to LEND
Setting value invalid
JOG operation, Inching operation Pr.31 JOG speed
limit value Manual control
Manual pulse generator operation Setting is invalid
: Always set : Setting not required (Setting value is invalid. Use the initial values or setting values
within a range where no error occurs.)
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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.8 Speed limit value" during 2- to 4-axis linear
interpolation control, 2- to 4-axis fixed-feed control or 2-axis circular interpolation control, the reference axis is controlled at the speed limit value (The speed limit does not function on the interpolation axis side.)
[3] Setting the speed limit function
To use the "speed limit function", set the "speed limit value" in the parameters shown in the following table, and write them to the QD75MH. The set details are validated after they are written to the QD75MH.
Setting item Setting value Setting details Factory-set
initial value
Pr.8 Speed limit value Set the speed limit value (max. speed during control). 200000
Pr.31 JOG speed limit value
Set the speed limit value during JOG operation (max. speed during control). (Note that Pr.31 JOG speed
limit value shall be less than or equal to Pr.8 Speed
limit value.)
20000
Refer to Section 5.2 "List of parameters" for setting details.
REMARK
Parameters are set for each axis. It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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. The details shown below explain about the "torque limit function". [1] Relation between the torque limit function and various controls [2] Control details [3] Precautions during control [4] Setting the torque limit function
[1] Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various controls.
Control type Torque limit function Torque limit value
Machine OPR control
" Pr.17 Torque limit setting
value" or " Cd.101 Torque output setting value".
After the " Pr.47 Creep speed" is reached, this value becomes the " Pr.54 OPR torque limit value".
OPR control
Fast OPR control 1-axis linear control 2 to 4-axes linear interpolation control
1-axis fixed-feed control 2 to 4-axes fixed-feed control (interpolation)
Position control
2-axis circular interpolation control
1 to 4-axes Speed control Speed-position switching control Position-speed switching control
" Pr.17 Torque limit setting
value" or " Cd.101 Torque output setting value".
Current value changing
Major positioning control
Other control
JUMP instruction, NOP instruction, LOOP to LEND
Setting value is invalid.
JOG operation, Inching operation Manual control
Manual pulse generator operation
" Pr.17 Torque limit setting
value" or " Cd.101 Torque output setting value".
: Set when required (Set to " " when not used.)
: Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error occurs.)
: Shows the torque limit value when " Cd.22 New torque value" is set to "0".
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[2] Control details
The following drawing shows the operation of the torque limit function.
300 250
100 1500
0 0 0 0
0 300 300 100 150 150
1: The torque limit setting value or torque output setting value becomes effective at the PLC READY signal (Y0) rising edge (however, after the servo turned ON.) If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.: 2: The torque limit setting value or torque output setting value becomes effective at the start signal (Y10)rising edge. If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value, the torque limit setting value will be its value. 3: The torque change value is cleared to "0" at the start signal (Y10) rising edge.
Each operations
PLC READY signal (Y0)
All axis servo ON (Y1)
Start signal (Y10)
Torque limit setting value (26)
Torque output setting value (1552)
New toruque value (1525)
Torque limit stored value (826)
Pr.17
Cd.101
Cd.22
Md.35
1 1
2 2 2
3 3 3
Fig. 12.12 Torque limit function operation
[3] Precautions during control (1) When limiting the torque at the " Pr.17 Torque limit setting value", confirm
that " Cd.22 New torque value" is set to "0". If this parameter is set to a
value besides "0", the " Cd.22 New torque value" will be validated, and the torque will be limited at that value. (Refer to Section 12.5.4 "Torque change function" for details about the "new torque value".)
(2) When the Pr.54 OPR torque limit value exceeds the Pr.17 Torque limit setting value, an error occurs. (Error code: 995)
(3) When the operation is stopped by torque limiting, the droop pulse will remain in the deviation counter. If the load torque is eliminated, operation for the amount of droop pulses will be carried out.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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 QD75MH. a) The set details are validated at the rising edge (OFF ON) of the PLC
READY signal (Y0). Setting item Setting
value Setting details Factory-set initial value
Pr.17 Torque limit setting value Set the torque limit value as a percentage. 300
Pr.54 OPR torque limit value
Set the torque limit value after the " Pr.47 Creep speed" is reached. Set as a percentage.
300
b) The set details are validated at the rising edge (OFF ON) of the
positioning start signal (Y10). Setting item Setting
value Setting details Factory-set initial value
Cd.101 Torque output setting value Set the torque output setting value as a percentage. 0
Refer to Section 5.2 "List of parameters" for setting details. Torque limit value: Will be an upper limit value of the torque change value. Even if a larger value
has been mistakenly input for the torque change value, it is restricted within the torque limit setting values to prevent an erroneous entry. (Even if a value larger than the torque limit setting value has been input to the torque change value, the torque value is not changed.)
Torque output setting value: to be taken at the start of positioning, and used as a torque limit value. If the value is "0" or larger than the torque limit setting value, the parameter "torque limit setting value" is taken at the start.
(2) The "torque limit value" set in the QD75MH is set in the " Md.35 Torque
limit stored value".
PLC CPU Baffer memory Servo amplifier
1525
QD75MH
Torque limit setting value26 86
1552
826 Torque limit strored value
OPR torque limit value
New torque value
Torque output setting value
Positioning control
Torque limit value
Fig. 12.13 Limiting the torque to the servo amplifier (Axis 1)
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
The following table shows the " Md.35 Torque limit stored value" of the buffer memory address.
Buffer memory address
Monitor item Monitor value Storage details Axis
1 Axis
2 Axis
3 Axis
4
Md.35 Torque limit stored value
The "torque limit value" valid at that time is stored. ( Pr.17 , Pr.54 , Cd.22 , or Cd.101 )
826 926 1026 1126 Refer to Section 5.6 "List of monitor data" for information on the setting details.
REMARK
Parameters are set for each axis. It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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 QD75MH, the "current feed value" and "machine feed value" are used as the addresses indicating the current position. However, in the "software stroke limit function", the address used to carry out the limit check is designated in the " Pr.14
Software stroke limit selection". (Refer to Section 9.1.4 "Confirming the current value" or details on the "current feed value" and "machine feed value".) The upper and lower limits of the moveable range of the workpiece are set in " Pr.12
Software stroke limit upper limit value"/ " Pr.13 Software stroke limit lower limit
value".
The details shown below explain about the "software stroke limit function". [1] Differences in the moveable range when "current feed value" and "machine feed
value" are selected. [2] Software stroke limit check details [3] Relation between the software stroke limit function and various controls [4] Precautions during software stroke limit check [5] Setting the software stroke limit function [6] Invalidating the software stroke limit [7] Setting when the control unit is "degree"
[1] Differences in the moveable range when "current feed value" and "machine feed value" are selected. The following drawing shows the moveable range of the workpiece when the software stroke limit function is used.
FLSRLS Workpiece moveable range
Software stroke limit (lower limit) Software stroke limit (upper limit)
Fig. 12.14 Workpiece moveable range
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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.
5000 5000
Upper stroke limit
2000 2000
Stop position
Moveable range
Md. 20 Current feed value Md. 21 Machine feed value
[Current value changing]
When the current value is changed by a new current value command from 2000 to 1000, the current value will change to 1000, but the machine feed value will stay the same at 2000. 1) When the machine feed value is set at the limit
The machine feed value of 5000 (current feed value: 4000) becomes the upper stroke limit.
4000 5000
5000 6000
Upper stroke limit
1000 2000
Moveable range
Md. 20 Current feed value Md. 21 Machine feed value
2) When the current feed value is set at the limit The current feed value of 5000 (machine feed value: 6000) becomes the upper stroke limit.
4000 5000
5000 6000
Upper stroke limit
1000 2000
Moveable range
Md. 20 Current feed value Md. 21 Machine feed value
Fig. 12.15 Software stroke limits of the current feed value and machine feed value
POINT When "machine feed value" is set in " Pr.14 Software stroke limit selection", the
moveable range becomes an absolute range referenced on the OP. When "current feed value" is set, the moveable range is the relative range from the "current feed value".
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[2] Software stroke limit check details
Check details Processing when an error occurs
1) An error shall occur if the current value 1 is outside the software stroke limit range 2. (Check " Md.20 Current feed value" or " Md.21 Machine feed value".)
2) An error shall occur if the command address is outside the software stroke limit range. (Check " Da.6 Positioning address/movement amount".)
An "axis error" will occur (error code: 507, 508)
1: Check whether the " Md.20 Current feed value" or " Md.21 Machine feed value" is set
in " Pr.14 Software stroke limit selection".
2: Moveable range from the " Pr.12 Software stroke limit upper limit value" to the " Pr.13 Software stroke limit lower limit value".
[3] Relation between the software stroke limit function and various
controls Control type Limit
check Processing at check
Data set method Machine OPR control Other than "Data
set method" OPR control
Fast OPR control
Check not carried out.
1-axis linear control 2 to 4-axes axis linear interpolation control 1-axis fixed-feed control 2 to 4-axes fixed-feed control (interpolation)
Position control
2-axis circular interpolation control
1 to 4-axes speed control 3, 4
Speed-position switching control Position-speed switching control
3, 4
Checks 1) and 2) in the previous section [2] are carried out. For speed control: The axis decelerates to a stop when
it exceeds the software stroke limit range.
For position control: The axis comes to an immediate stop when it exceeds the software stroke limit range.
Current value changing The current value will not be changed if the new current value is outside the software stroke limit range.
Major positioning control
Other control JUMP instruction, NOP
instruction, LOOP to LEND Check not carried out.
JOG operation, Inching operation 5 Manual control Manual pulse generator operation 5
Check 1) in the previous section [2] is carried out. The machine will carry out a deceleration stop when the software stroke limit range is exceeded. If the address is outside the software stroke limit range, the operation can only be started toward the moveable range.
: Check valid
: Check is not made when the current feed value is not updated (Refer to Pr.21 ) at the setting of " current feed
value" in " Pr.14 Software stroke limit selection" during speed control.
: Check not carried out (check invalid).
: Valid only when "1:valid" is set in the " Pr.15 Software stroke limit valid/invalid setting".
3 : The value in " Md.20 Current feed value" will differ according to the " Pr.21 Current feed value during speed control" setting.
4: When the unit is "degree", check is not made during speed control. 5: When the unit is "degree", check is not carried out.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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.12 Software stroke limit upper
limit value"/" Pr.13 Software stroke limit lower limit value" may be exceeded. In this case, a deceleration stop will not be carried out even if the stroke limit is exceeded. Always install an external limit switch if there is a possibility the stroke limit will be exceeded.
Arc address ( Da. 7 )
End point address ( Da. 6 )
Axis 1
Axis 1 stroke limit
Deceleration stop not carried out
Starting address
The software stroke limit check is carried out for the following addresses during circular interpolation control. (Note that " Da. 7 Arc address" is carried out only for circular interpolation control with sub point designation.
Current value/end point address ( Da. 6 )/arc address ( Da. 7 )
Axis 2
Example
(4) If an error is detected during continuous path control, the axis stops
immediately on completion of execution of the positioning data located right before the positioning data in error.
Md. 26 Axis operation status
No.10 No.11 No.12 No.13
Immediate stop at error detection No.10
P11
No.11 P11
No.12 P11
No.13 P11
No.14 P01
Controlling position Error occurring
Positioning data
If the positioning address of positioning data No. 13 is outside the software stroke limit range, the operation immediately stops after positioning data No. 12 has been executed.
Example
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(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 QD75MH. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0).
Setting item Setting value Setting details Factory-set
initial value
Pr.12 Software stroke limit upper limit value
Set the upper limit value of the moveable range. 2147483647
Pr.13 Software stroke limit lower limit value
Set the lower limit value of the moveable range. 2147483648
Pr.14 Software stroke limit selection
Set whether to use the " Md.20 Current feed value" or
" Md.21 Machine feed value" as the "current value". 0: Current feed
value
Pr.15 Software stroke limit valid/invalid setting
0:Val id Set whether the software stroke limit is validated or invalidated during manual control (JOG operation, Inching operation, manual pulse generator operation).
0: valid
Refer to Section 5.2 "List of parameters" for setting details.
[6] Invalidating the software stroke limit To invalidate the software stroke limit, set the following parameters as shown, and write them to the QD75MH.
Pr.12 Software stroke limit upper limit value = Pr.13
Software stroke limit lower limit value
(For manual operation, set "0: software stroke limit invalid" in the " Pr.15 Software stroke limit valid/invalid setting".) The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0). When the unit is "degree", the software stroke limit check is not performed during speed control (including speed control in speed-position switching control or position-speed switching control) or during manual control, independently of the values set in Pr.12 , Pr.13 and Pr.15 .
REMARK
Parameters are set for each axis. It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by PLC program uses many PLC programs and devices. The execution becomes complicated, and the scan times will increase.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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 .
0 0 0
359.99999 359.99999
Fig. 12.16 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.
When the software stroke limit is to be validated, set the upper limit value in a clockwise direction from the lower limit value.
Section A 315 Set in a clockwise direction
Upper limit
Lower limit
90
Section B
(a) Set the movement range of section A as follows. Software stroke limit lower limit value ................ 315.00000 Software stroke limit upper limit value................ 90.00000
(b) Set the movement range of section B as follows. Software stroke limit lower limit value ................ 90.00000 Software stroke limit upper limit value................ 315.00000
Fig. 12.17 Software stroke limit when the control unit is "degree"
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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. Damage to the machine can be prevented by stopping the control before the upper/lower limit of the physical moveable range is reached. The hardware stroke limit is able to use "external input connector" of the QD75MH or servo amplifier. (Refer to the " Pr.80 External signal selection".)
The details shown below explain about the "hardware stroke limit function". [1] Control details [2] Wiring the hardware stroke limit [3] Precautions during control [4] When the hardware stroke limit is not used
[1] Control details
The following drawing shows the operation of the hardware stroke limit function.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(2) For an external input signal of the servo amplifier
Mechanical stopper Mechanical stopper
QD75MH
Movement direction
Deceleration stop at lower limit switch detection
QD75MH control moveable range Lower limit Upper limit
Start
Lower limit switch Servo amplifier
SSCNET
Start Movement direction
Deceleration stop at upper limit switch detection
Upper limit switch
Deceleration stop at lower limit switch detection
Lower limit switch
Deceleration stop at upper limit switch detection
Upper limit switch Servo amplifierQD75MH
(1) For an external input signal of QD75MH
Mechanical stopperMechanical stopper Movement direction
Movement directionStart Start
QD75MH control moveable range
Lower limit Upper limit
Fig. 12.18 Hardware stroke limit function operation
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[2] Wiring the hardware stroke limit
When using the hardware stroke limit function, wire the terminals of the QD75MH or servo amplifier (MR-J3-B) upper/lower limit stroke limit as shown in the following drawing. (When " Pr.22 Input signal logic selection" is set to the initial value)
QD75MH
FLS
RLS
COM 24VDC
MR-J3-B
DI1 (FLS)
DICOM 24VDC
DI2 (RLS)
(Note): Wire the limit switch installed in the direction to which "Current feed value" increases as upper limit switch and the limit switch installed in the limit switch installed in the direction to which "Current feed value" decreases as lower limit switch. If inverting the install positions of upper/lower limit switches, hardware stroke limit function cannot be operated properly. In addition, the servomotor does not stop. Refer to Section 5.2.7 "Servo parameters (Basic setting)" for details about the " Pr.114 Rotation direction selection".)
Fig. 12.19 Wiring when using the hardware stroke limit
[3] Precautions during control (1) If the machine is stopped outside the QD75MH control range (outside the
upper/lower limit switches), or if stopped by hardware stroke limit detection, the "OPR control", "major positioning control", and "high-level positioning control" cannot start. To carry out these types of control again, return the workpiece to the QD75MH control range by a "JOG operation", "inching operation" or "manual pulse generator operation".
(2) When " Pr.22 Input signal logic selection" is set to the initial value, the QD75MH cannot carry out the positioning control if FLS (limit switch for upper limit) is separated from COM/DICOM or RLS (limit switch for lower limit) is separated from COM/DICOM (including when wiring is not carried out).
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[4] When the hardware stroke limit function is not used
When not using the hardware stroke limit function, wire the terminals of the QD75MH upper/lower limit stroke limit as shown in the following drawing. When the logic of FLS and RLS is set to "positive logic" using " Pr.22 Input
signal logic selection", positioning control can be carried out even if FLS and RLS are not wired. (For details, refer to Section 13.4 "External I/O signal logic switching function".)
QD75MH
FLS
RLS
COM 24VDC
MR-J3-B
DICOM 24VDC
DI1 (FLS) DI2 (RLS)
Fig. 12.20 Wiring when not using the hardware stroke limit function (When " Pr.22 Input signal logic selection" is the initial value)
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
12.4.5 Forced stop function
! DANGER When the forced stop is required to be wired, ensure to wire it in the negative logic using b-contact. Provided safety circuit outside the QD75MH so that the entire system will operate safety even when the " Pr.82 Forced stop valid/invalid" is set "1: Invalid". Be sure to use the forced stop signal (EMI) of the servo amplifier.
By the QD75MH external equipment connector is connected forced stop, this function is available for all axes of servo amplifier. (The initial value is "0: Valid".) The forced stop input valid/invalid is selected by " Pr.82 Forced stop valid/invalid".
The details shown below explain about the "forced stop function". [1] Control details [2] Wiring the forced stop [3] Setting the forced stop [4] How to check the forced stop [5] Precautions during control
[1] Control details
A warning "controller forced stop warning (warning code: 2147)" will occur if turned on the forced stop input signal when the " Pr.82 Forced stop valid/invalid" is set "0: Valid". And then it is available for all axes of servo amplifier. The outline of the forced stop process is shown below.
Stop process OPR control Manual control
Stop cause Stop axis
M code ON
signal after stop
Axis operation
status ( Md.26 )
after stopping
Machine OPR
control
Fast OPR control
Major positioning
control
High-level positioning
control
JOG/ Inching
operation
Manual pulse
generator operation
Forced stop "Forced stop input
signal" OFF All axes No
change Servo OFF Servo OFF or free run (The operation stops with dynamic brake)
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
The following drawing shows the operation of the forced stop function.
Each operation
PLC READY signal(Y0)
All axis servo ON(Y1)
Start signal(Y10)
Forced stop input (Input voltage of EMI)
Md.50 Forced stiop input 1 0
Forced stop causes occurrence
Pr.82 Forced stop valid/ invalid
0
Forced stop valid
Md.108 Servo status (b1: Servo ON)
ON
0 1
OFF
1
ON ONOFF
Forced stop causes occurrence
Fig. 12.21 Operation for the forced stop function
[2] Wiring the forced stop When using the forced stop function, wire the terminals of the QD75MH forced stop input as shown in the following drawing. (Either polarity can be connected to the forced stop input (EMI, EMI.COM).
QD75MH
EMI
EMI.COM
24VDC
Fig. 12.22 Wiring when using the forced stop
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[3] Setting the forced stop
To use the "Forced stop function", set the following data using a PLC program. The set details are validated at the rising edge (OFF ON) of the PLC READY signal (Y0).
Setting item Setting value Setting details Buffer memory address
Pr.82 Forced stop valid/ invalid selection
Set the forced stop function. 0 : Valid (Forced stop is used) 1 : Invalid (Forced stop is not used)
35
Refer to Section 5.2.3 "Detailed parameters 1" for details on the setting details.
[4] How to check the forced stop
To use the states (ON/OFF) of forced stop input, set the parameters shown in the following table.
Setting item Setting value Setting details Buffer memory address
Md.50 Forced stop input Stores the states (ON/OFF) of forced stop input. 0 : Forced stop input ON (Forced stop) 1 : Forced stop input OFF (Forced stop release)
1431
Refer to Section 5.6.1 "System monitor data" for details on the setting details.
[5] Precautions during control
(1) After the "Forced stop input" is released, the servo ON/OFF is valid for the status of all axis servo ON (Y1).
(2) If the setting is other than 0 and 1, "Forced stop valid/invalid setting error" (error code: 937) occurs.
(3) The " Md.50 Forced stop input" is stored "1" by setting " Pr.82 Forced stop valid/invalid selection" to invalid.
(4) When the "Forced stop input" is turned ON during operation, the "Servo READY signal OFF during operation error (error code: 102)" will not occur.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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 PLC program creation and writing.
Both the "speed change function" or "override function" change the speed, but the differences between the functions are shown below. Use the function that corresponds to the application.
"Speed change function"
The speed is changed at any time, only in the control being executed. The new speed is directly set.
POINT
The speed change function is available even during JOG operation.
"Override function" The speed is changed for all control to be executed. (Note that this excludes
manual pulse generator operation.) The new speed is set as a percent (%) of the command speed.
POINT
The override function is available even during JOG operation. 12.5.1 Speed change function
The speed control function is used to change the speed during control to a newly designated speed at any time. The new speed is directly set in the buffer memory, and the speed is changed by a speed change command ( Cd.15 Speed change request) or external command signal.
During the machine OPR, a speed change to the creep speed cannot be carried out after deceleration start because the near point dog ON is detected.
The details shown below explain about the "speed change function". [1] Control details [2] Precautions during control [3] Setting the speed change function from the PLC CPU [4] Setting the speed change function using an external command signal
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[1] Control details
The following drawing shows the operation during a speed change.
V
V1
V2
V3
t
Speed changes to V2.
Operation during positioning by V1.
Speed changes to V3.
Md. 40 In speed change processing flag
Fig. 12.23 Speed change operation
[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 ).
Positioning control
P1
Designated speed in P2
Cd. 14 New speed value
Next control P2
Speed change command
Designated speed in P1
[a] When no speed designation (current speed) is provided. [b] When a speed designation is provided.
Fig. 12.24 Speed change during continuous path control
(2) 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.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(3) When the stop command was given to make a stop after a speed change
that had been made during position control, the restarting speed depends on the " Cd.14 New speed value".
V
t
Speed change command
Stop command Restarting command
Cd. 14 New speed value
Command speedDa. 8
Fig. 12.25 Restarting speed after speed change made during position control
(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.26 Axis operation status" will change to
"stopped".) In this case, setting the " Cd.14 New speed value" to a value besides "0"
will turn OFF the speed change 0 flag ( Md.31 Status: b10), and enable
continued operation.
Md. 31 status: b10
Positioning start signal
BUSY signal
Cd. 14 New speed value
Cd. 15 Speed change request
Positioning operation
10000
ON OFF
ON
OFF ON
OFF ON
OFF
Speed change 0 flag
[Y10, Y11, Y12, Y13]
[XC,XD,XE,XF]
Fig. 12.26 Speed change at new speed value "0"
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(5) A warning "Deceleration/stop speed change (warning code: 500)" occurs
and the speed cannot be changed in the following cases. During deceleration by a stop command During automatic deceleration during positioning control
(6) A warning "Speed limit value over (warning code: 501)" occurs and the
speed is controlled at the " Pr.8 Speed limit value" when the value set in
" Cd.14 New speed value" is equal to or larger than the " Pr.8 Speed limit value".
(7) When the speed is changed during interpolation control, the required speed is set in the reference axis.
(8) When carrying out consecutive speed changes, be sure there is an interval between the speed changes of 100ms or more. (If the interval between speed changes is short, the QD75MH will not be able to track, and it may become impossible to carry out commands correctly.)
(9) When a speed change is requested simultaneously for multiple axes, change the speed in the ascending axis number order.
(10) Speed change cannot be carried out during the machine OPR. A request for speed change is ignored.
(11) When deceleration is started by the speed change function, the deceleration start flag does not turn ON.
[3] Setting the speed change function from the PLC CPU
The following shows the data settings and PLC 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 PLC program shown in section (3).)
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Cd.14 New speed value 2000 Set the new speed.
1514 1515
1614 1615
1714 1715
1814 1815
Cd.15 Speed change request 1 Set "1: Change the speed". 1516 1616 1716 1816
Refer to Section 5.7 "List of control data" for details on the setting details.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(2) The following shows the speed change time chart.
Cd. 15 Speed change request
Cd. 14 New speed value
In speed change processing flag
BUSY signal
QD75 READY signal
Error detection signal
V
t
1 0
01
0
2000
0
Start complete signal
Dwell time
PLC READY signal
Positioning start signal
Positioning complete signal
[Y10]
[Y0]
[X0]
[X10]
[XC]
[X14]
[X8]
Md. 40
All axis servo ON [Y1]
Fig. 12.27 Time chart for changing the speed from the PLC CPU
(3) Add the following PLC program to the control program, and write it to the PLC CPU.
Example
No.14 Speed change program
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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 PLC 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. (Use the start time chart shown in section (2) below as a reference, and set using the PLC program shown in section (3).)
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Pr.42 External command function selection 1 Set "1: External speed change request". 62 212 362 512
Cd.8 External command valid 1 Set "1: Validate the external command". 1505 1605 1705 1805
Cd.14 New speed value 1000000 Set the new speed.
1514 1515
1614 1615
1714 1715
1814 1815
Refer to section "5.7 List of control data" for details on the setting details.
(2) The following shows the speed change time chart.
Pr. 42 External command function selection
V
t
010
1
Md.40 In speed change processing flag
Cd. 14 New speed value 1000000
010Cd. 8 External command valid
Dwell time
BUSY signal
Error detection signal
PLC READY signal
Positioning start signal
Positioning complete signal
QD75 READY signal
Start complete signal
[Y10]
[XC]
[X0]
[Y0]
[X10]
[X8]
[X14]
External command signal
All axis servo ON [Y1]
Fig. 12.28 Time chart for changing the speed using an external command signal
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(3) Add the following PLC program to the control program, and write it to the
PLC CPU.
External command valid signal
(QD75MH starts speed change processing.)
[Speed change processing]
K1K1K1505H0TOP
K1K1K62H0TOP
Input the external command signal.
Write 1000000 to D108 and D109.
Example
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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. [1] Control details [2] Precautions during control [3] Setting the override function
[1] Control details
The following shows that operation of the override function. 1) A value changed by the override function is monitored by " Md.22
Feedrate". 2) If " Cd.13 Positioning operation speed override" is set to 100%, the speed
will not change. 3) If " Cd.13 Positioning operation speed override" is set a value less than
100%, control will be carried out at speed unit "1" at the time " Md.22
Feedrate" becomes a value of "1" or less. (When Md.22 becomes "0", the warning "Less than minimum speed (warning code: 110)" is generated and the axis is controlled in the then speed unit of "1".)
4) If there is not enough remaining distance to change the speed when the speed is changed during the position control of speed-position switching control or position-speed switching control, the operation will be carried out at the speed that could be changed.
5) If the speed changed by the "override function" is greater than the " Pr.8 Speed limit value", a warning "Speed limit value over (warning code: 501)" will occur and the speed will be controlled at the " Pr.8 Speed limit value".
The " Md.39 Speed limit flag" will turn ON.
Cd. 13
Da. 8 Command speed
Md. 22 Feedrate
100 1 50 150 100 200
50
50 1 25 75 50 75
Not affected by the override value during deceleration
Not enough remaining distance could be secured, so operation is carried out at an increased speed.
t
V
Positioning operation speed override
Fig. 12.29 Override function operation
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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.) During deceleration by a stop command During automatic deceleration during positioning control
(3) When the speed is changed during interpolation control, the required speed is set in the reference axis.
(4) When deceleration is started by the override function, the deceleration start flag does not turn ON.
(5) When carrying out continuously override, be sure there is an interval between the override execution of 100ms or more. (If the interval between override is short, the QD75MH will not be able to track, and it may become impossible to carry out commands correctly.)
[3] Setting the override function
The following shows the data settings and PLC program example for setting the override value of axis 1 to "200%". (1) Set the following data. (Use the start time chart shown in section (2) below
as a reference, and set using the PLC program shown in section (3).) Buffer memory address
Setting item Setting value Setting details Axis
1 Axis
2 Axis
3 Axis
4
Cd.13 Positioning operation speed override
200 Set the new speed as a percentage (%). 1513 1613 1713 1813
Refer to Section 5.7 "List of control data" for details on the setting details.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(2) The following shows a time chart for changing the speed using the override
function.
Cd. 13 Positioning operation speed override
V
t
Dwell time
200
BUSY signal
Error detection signal
All axis servo ON
Positioning start signal
Positioning complete signal
QD75 READY signal
Start complete signal
[Y10]
[Y1]
[X0]
[X10]
[XC]
[X14]
[X8]
PLC READY signal [Y0]
Fig. 12.30 Time chart for changing the speed using the override function
(3) Add the following PLC program to the control program, and write it to the PLC CPU.
Example
No.15 Override program
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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.30 values) is set in the positioning parameter data items Da.3 and Da.4 , and control is carried out with that acceleration/deceleration time. However, by setting the new acceleration/deceleration time ( Cd.10 , Cd.11 ) in the control data, and issuing an acceleration/deceleration time change enable command ( Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection) to change the speed when the acceleration/deceleration time change is enabled, the speed will be changed with the new acceleration/deceleration time ( Cd.10 , Cd.11 ).
The details shown below explain about the "acceleration/deceleration time change function". [1] Control details [2] Precautions during control [3] Setting the acceleration/deceleration time change function
[1] Control details
The following drawing shows the operation during an acceleration/deceleration time change.
[For an acceleration/deceleration time change disable setting]
Cd.12 Acceleration/deceleration time change during speed change, enable/ disable selection
Cd.15 Speed change request
t
V Operation with the acceleration/deceleration time set in Da. 3 and Da. 4 .
Disabled
[For an acceleration/deceleration time change enable setting]
Cd.12 Acceleration/deceleration time change during speed change, enable/ disable selection
Cd.15 Speed change request
Disabled Enabled
t
V Operation with the acceleration/deceleration
time ( Cd. 10 and Cd. 11 ) set in the buffer memory.
Fig. 12.31 Operation during an acceleration/deceleration time change
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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. In continuous positioning control and continuous path control, the speed is changed and control is carried out with the previously set acceleration/deceleration time at the changeover to the next positioning data, even if the acceleration/deceleration time is changed to the "new acceleration/deceleration time ( Cd.10 , Cd.11 )".
(3) Even if the acceleration/deceleration time change is set to disable after the "new acceleration/deceleration time" is validated, the positioning data for which the "new acceleration/deceleration time" was validated will continue to be controlled with that value. (The next positioning data will be controlled with the previously set acceleration/deceleration time.)
Cd.12 Acceleration/deceleration time change during speed change, enable/disable selection
Enabled
Speed change
New acceleration/deceleration
time ( Cd. 10 , Cd. 11 )
t
V
Disabled
Speed change
Positioning start
Disabled
Example
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
(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".
Disabled Enabled
0 01000
Speed change
t
V
New acceleration/deceleration time ( Cd. 10 , Cd. 11 )
Cd.12
Cd.10 New acceleration time value
Cd.11 New deceleration time value
Example
Speed change
Speed change
Acceleration/deceleration time change during speed change, enable/disable selection
Controlled with the acceleration/ deceleration time in the parameter.
(5) The acceleration/deceleration time change function is disabled for JOG operation and inching operation.
POINT
If the speed is changed when an acceleration/deceleration change is enabled, the "new acceleration/deceleration time" will become the acceleration/deceleration time of the positioning data being executed. The "new acceleration/deceleration time" remains valid until the changeover to the next positioning data. (The automatic deceleration processing at the completion of the positioning will also be controlled by the "new acceleration/deceleration time".)
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[3] Setting the acceleration/deceleration time change function
To use the "acceleration/deceleration time change function", write the data shown in the following table to the QD75MH using the PLC program. The set details are validated when a speed change is executed after the details are written to the QD75MH.
Buffer memory address
Setting item Setting value Setting details Axis
1 Axis
2 Axis
3 Axis
4
Cd.10 New acceleration time value Set the new acceleration time. 1508
1509 1608 1609
1708 1709
1808 1809
Cd.11 New deceleration time value Set the new deceleration time. 1510
1511 1610 1611
1710 1711
1810 1811
Cd.12
Acceleration/ deceleration time change during speed change, enable/disable selection
1 Set "1: Acceleration/deceleration time change enable". 1512 1612 1712 1812
Refer to Section 5.7 "List of control data" for details on the setting details.
Example
No.16 Acceleration/deceleration time change program
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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" or " Cd.101 Torque output setting value" that was previously set in the parameters. However, by setting the new torque limit value in the axis control data " Cd.22 New torque value", and writing it to the QD75MH, the torque
generated by the servomotor during control can be limited with the new torque value. (The " Cd.22 New torque value" is validated when written to the QD75MH.)
The details shown below explain about the "torque change function". [1] Control details [2] Precautions during control [3] Setting the torque change function start signal
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[1] Control details
The torque value of the axis control data can be changed at all times. The torque can be limited with a new torque value from the time the new torque value has been written to the QD75MH. (a torque change is made only during operation.) (Note that the delay time until a torque control is executed is max. 56.4ms after torque change value was written.) The toque limiting is not carried out from the time the power supply is turned ON to the time the PLC READY signal (Y0) is turned ON. The torque setting range is from 0 to " Pr.17 Torque limit setting value".
When the new torque value is 0, a torque change is considered not to be carried out. The torque change range is 1 to " Pr.17 Torque limit setting value".
The following drawing shows the torque change operation.
Each operations
PLC READY signal (Y0)
All axis servo ON (Y1)
Start signal (Y10)
Torque limit setting value (26)
Torque output setting value (1552)
New toruque value (1525)
Torque limit stored value (826)
Pr.17
Cd.101
Cd.22
Md.35
1 300 250
0 100 150
0 0 200 0 350 0 75 230 0
0 300 300 200 100 75 230 150
1
2 2 2
3 34 4 4
4 4 365
1: The torque limit setting value or torque output setting value becomes effective at the PLC READY signal (Y0) rising edge (however, after the servo turned ON.) If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value will be its value.: 2: The torque limit setting value or torque output setting value becomes effective at the start signal (Y10) rising edge. If the torque output setting value is "0" or larger than the torque limit setting value, the torque limit setting value, the torque limit setting value will be its value. 3: The torque change value is cleared to "0" at the start signal (Y10) rising edge. 4: The torque limit value is changed by the torque changed value. 5: When the new torque value is 0, a torque change is considered not to be carried out. 6: When the change value is exceeds the torque limit value, a torque chang is considered not to be carried out.
Fig. 12.32 Torque change operation
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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" or " Cd.101 Torque
output setting value", set the " Cd.22 New torque value" to "0".
(2) The " Cd.22 New torque value" is validated when written to the QD75MH. (Note that it is not validated from the time the power supply is turned ON to the time the PLC READY signal (Y0) is turned ON.)
(3) If the setting value is outside the setting range, an axis warning "Outside
new torque value range" (warning code: 113) will occur and the torque will not be changed.
(4) If the time to hold the new torque value is not more than 100ms, a torque
change may not be executed.
[3] Setting the torque change function start signal To use the "torque change function", write the data shown in the following table to the QD75MH using the PLC program. The set details are validated when written to the QD75MH.
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Cd.22 New torque value Set the new torque limit value. 1525 1625 1725 1825 Refer to Section 5.7 "List of control data" for details on the setting details.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
12.6 Absolute position system
The QD75MH can construct an absolute position system by installing the absolute position system and connecting it through SSCNET . The following describes precautions when constructing the absolute position system.
Servomotor
Servo amplifierPosition command Control command Servo parameter
QD75MH
Monitor data
PLC CPU
OPR address
M
PLG
Absolute position detector
Back-up
Return of the present value
Battery
Position command Control command Servo parameter
Monitor data
Fig. 12.33 Configuration of absolute position system
[1] Setting for absolute positions When constructing an absolute position system, use a servomotor with absolute position detector. It is also necessary to install a battery for retaining the location of the OPR in the servo amplifier. When an absolute position detector is installed, the " Pr.103 Absolute position detection system" is selected "1: Valid" in the amplifier setting for the servo parameters (basic setting).
Axis No. Axis 1 Axis 2 Axis 3 Axis 4 Buffer memory 30103 30303 30503 30703
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[2] OPR
The absolute position system can establish the location of the OPR, using "Data set method", "Near-point dog" and "Count method" OPR method. In the "Data set method" OPR method, the location to which the location of the OPR position is moved by manual operation (JOG operation/manual pulse generator operation) is treated as the OPR position.
The stop position during OPR execution is stored as the OPR position.
9001 (OPR destignation)Cd.3 Positioning start No.
Positioning start (Y10 to Y13)
Movement range for the machine Moved to this position by manual operation.
Fig. 12.34 Operation of the OPR execution
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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" and "follow up processing function". Each function is executed by parameter setting or PLC program creation and writing.
12.7.1 Step function
The "step function" is used to confirm each operation of the positioning control one by one. It is used in debugging work for major positioning control, etc. A positioning operation in which a "step function" is used is called a "step operation". In step operations, the timing for stopping the control can be set. (This is called the "step mode".) Control stopped by a step operation can be continued by setting "step continue" (to continue the control)" or restarted by setting "restart" in the "step start information".
The details shown below explain about the "step function". [1] Relation between the step function and various controls [2] Step mode [3] Step start information [4] Using the step operation [5] Control details [6] Precautions during control [7] Step function settings
[1] Relation between the step function and various controls
The following table shows the relation between the "step function" and various controls.
Control type Step function Step applicability Machine OPR control OPR control Fast OPR control
Step operation not possible
1-axis linear control 2 to 4-axes linear interpolation control 1-axis fixed-feed control 2 to 4- axes fixed-feed control (interpolation)
Position control
2-axis circular interpolation control
Step operation possible
1 to 4- axes Speed control Step operation not possible Speed-position switching control Position-speed switching control
Current value changing Step operation possible
Major positioning control
Other control JUMP instruction, NOP instruction,
LOOP to LEND Step operation not possible
JOG operation, Inching operation Manual control Manual pulse generator operation
Step operation not possible : Set when required. : Setting not possible
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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. Once found, that positioning data will be executed, and the operation will then automatically decelerate and stop.)
(2) Data No. unit step
The operation automatically decelerates and stops for each positioning data. (Even in continuous path control, an automatic deceleration and stop will be forcibly carried out.)
[3] Step start information
Control stopped by a step operation can be continued by setting "step continue" (to continue the control) in the "step start information". (The "step start information" is set in the control data " Cd.36 Step start information".) The following table shows the results of starts using the "step start information" during step operation.
Stop status in the step operation
Md.26 Axis operation status
Cd.36 Step start information
Step start results
1 step of positioning stopped normally Step standing by 1: Step continue The next positioning data is executed.
The warnings "Step not possible (warning code: 511)" will occur if the " Md.26
Axis operation status" is as shown below or the step valid flag is OFF when step start information is set.
Md.26 Axis operation status Step start results
Standing by Stopped In interpolation In JOG operation In manual pulse generator operation Analyzing Waiting for special start In OPR In position control In speed control In speed control of speed-position switching control In position control of speed-position switching control In speed control of position-speed switching control In position control of position-speed switching control
Step not continued by warning
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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.
(4) The control will stop for the following reasons. a) One step of positioning stopped normally. Go to step (6). b) Control stopped by a stop signal. Take appropriate measures, go to
step (5). c) An error occurred and the control stopped. Take appropriate
measures, go to step (3).
(5) Write "1" (restart) to " Cd.6 Restart command", and check that the positioning data where the control stopped operates normally. Go to step (4).
(6) Write "1" (step continue) to " Cd.36 Step start information", and
check that the next positioning data operates normally. a) One step of positioning stopped normally. Go to step (6). b) Control stopped by a stop signal. Take appropriate measures, go to
step (5). c) An error occurred and the control stopped. Take appropriate
measures, go to step (3). d) All positioning data operated normally. Go to step (7).
(7) Turn OFF the step valid flag, and quit the "step function".
(Write "0" (do not carry out step operation) in " Cd.35 Step valid flag".)
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[5] Control details
(1) The following drawing shows a step operation during a "deceleration unit step".
Positioning
Cd. 35 Step valid flag
Positioning data No.
Da. 1 Operation pattern
No.10
11
No.11
01
No positioning data No. unit, so operation pattern becomes one step of unit for carrying out automatic deceleration.
t
OFF ON
ON
OFF
V
ON
OFF
OFF ON
BUSY signal
Positioning start signal
Positioning complete signal
[Y10, Y11, Y12, Y13]
[XC, XD, XE, XF]
[X14, X15, X16, X17]
Fig. 12.35 Operation during step execution by deceleration unit step
(2) The following drawing shows a step operation during a "data No. unit step".
Cd. 36 Step start information
Cd. 35 Step valid flag
No.10
11
No.11
01
Operation pattern becomes one step of positioning data No. unit, regardless of continuous path control (11).
00H 01H 00H
OFF
ON
OFF
OFF
ON
ON
ON
OFF
t
V Positioning
Positioning data No.
Da. 1 Operation pattern
BUSY signal
Positioning start signal
Positioning complete signal
[XC, XD, XE, XF]
[Y10, Y11, Y12, Y13]
[X14, X15, X16, X17]
Fig. 12.36 Operation during step execution positioning data No. unit step
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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.".)
[7] Step function settings
To use the "step function", write the data shown in the following table to the QD75 using the PLC program. Refer to section [4] "Using the step operation" for the timing of the settings. The set details are validated when written to the QD75MH.
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Cd.34 Step mode Set "0: Deceleration unit step" or "1: Data No. unit step". 1544 1644 1744 1844
Cd.35 Step valid flag 1 Set "1: Carry out step operation". 1545 1645 1745 1845
Cd.36 Step start information
Set "1: Step continue", depending on the stop status. 1546 1646 1746 1846
Refer to Section 5.7 "List of control data" for details on the setting details.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
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". [1] Control details [2] Precautions during control [3] Setting the skip function from the PLC CPU [4] Setting the skip function using an external command signal
[1] Control details
The following drawing shows the skip function operation.
BUSYsignal
V
Deceleration by skip signal
Start of the next positioning
ON OFF
OFF
OFF
OFF
ON
ON
ON
Positioning
Positioning start signal
Positioning complete signal
Skip signal
t
[XC, XD, XE, XF]
[Y10, Y11, Y12, Y13]
[X14, X15, X16, X17]
Fig. 12.37 Operation when a skip signal is input during positioning control
[2] Precautions during control (1) If the skip signal is turned ON at the last of an operation, a deceleration stop
will occur and the operation will be terminated. (2) When a control is skipped (when the skip signal is turned ON during a
control), the positioning complete signals (X14, X15, X16, X17) will not turn ON.
(3) When the skip signal is turned ON during the dwell time, the remaining dwell time will be ignored, and the next positioning data will be executed.
(4) When a control is skipped during interpolation control, the reference axis skip signal is turned ON. When the reference axis skip signal is turned ON, a deceleration stop will be carried out for every axis, and the next reference axis positioning data will be executed.
(5) The M code ON signals (X4, X5, X6, X7) will not turn ON when the M code output is set to the AFTER mode (when "1: AFTER mode" is set in " Pr.18 M code ON signal output timing"). (In this case, the M code will not be stored in " Md.25 Valid M code".)
(6) The skip cannot be carried out by the speed-position and position-speed switching control. It is processed in the same manner as in the speed control.
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[3] Setting the skip function from the PLC CPU
The following shows the settings and PLC 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 PLC program shown below in section (2)).
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Cd.37 Skip command 1 Set "1: Skip request". 1547 1647 1747 1847 Refer to Section "5.7 List of control data" for details on the setting details.
(2) Add the following PLC program to the control program, and write it to the PLC CPU. 1) When the "skip command" is input, the value "1" (skip request) set in
" Cd.37 Skip command" is written to the QD75MH buffer memory (1547).
Example
No.19 Skip program
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MELSEC-Q 12 CONTROL SUB FUNCTIONS
[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 PLC 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 PLC program shown below in section (2)).
Buffer memory address Setting item Setting
value Setting details Axis 1
Axis 2
Axis 3
Axis 4
Pr.42 External command function selection
3 Set "3: Skip request". 62 212 362 512
Cd.8 External command valid 1 Set "1: Validate external command". 1505 1605 1705 1805
Refer to Section 5.7 "List of control data" for details on the setting details.
(2) Add the following PLC program to the control program, and write it to the PLC CPU.
Skip function selection command
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