Mitsubishi Electric MELSEC-L LD75P User manual

MELSEC-L LD75P/LD75D Positioning Module
User's Manual
-LD75P1
-LD75P2
-LD75P4
-LD75D1
-LD75D2
-LD75D4

1
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully and pay full attention
to safety to handle the product correctly.
The precautions given in this manual are concerned with this product only. For the safety precautions of the
programmable controller system, refer to the user's manual for the CPU module used.
In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".
Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to
serious consequences.
Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future
reference.
[Design Precautions]
WARNING
●Configure safety circuits external to the programmable controller to ensure that the entire system
operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
(1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting
operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured
external to the programmable controller.
(2) Machine OPR (Original Point Return) is controlled by two kinds of data: an OPR direction and an
OPR speed. Deceleration starts when the near-point dog signal turns on. If an incorrect OPR
direction is set, motion control may continue without deceleration. To prevent machine damage
caused by this, configure an interlock circuit external to the programmable controller.
(3) When the positioning module detects an error, the motion slows down and stops or the motion
suddenly stops, depending on the stop group setting in parameter. Set the parameter according to
the positioning system specifications. In addition, set the OPR parameter and positioning data
within the parameter setting range.
(4) Outputs may remain on or off, or be undefined due to a failure of a component such as an
insulated element or transistor in an output circuit, where the CPU module cannot detect any
error. Configure an external circuit for monitoring output signals in a system where an incorrect
output could cause a serious accident.
WARNING
CAUTION
Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
Indicates that incorrect handling may cause hazardous conditions,
resulting in minor or moderate injury or property damage.

2
[Design Precautions]
[Design Precautions]
[Installation Precautions]
[Installation Precautions]
[Wiring Precautions]
WARNING
●Do not write any data to the "system area" of the buffer memory in the intelligent function module.
Also, do not use any "use prohibited" signals as an output signal from the CPU module to the
intelligent function module.
Doing so may cause malfunction of the programmable controller system.
●An absolute position restoration by the positioning function may turn off the servo-on signal (servo off)
for approximately 60ms + scan time, and the motor may run unexpectedly. If this causes a problem,
provide an electromagnetic brake to lock the motor during absolute position restoration.
CAUTION
●Do not install the control lines or communication cables together with the main circuit lines or power
cables.
Keep a distance of 100mm or more between them.
Failure to do so may result in malfunction due to noise.
WARNING
●Shut off the external power supply (all phases) used in the system before mounting or removing a
module. Failure to do so may result in electric shock or cause the module to fail or malfunction.
CAUTION
●Use the programmable controller in an environment that meets the general specifications in the Safety
Guidelines provided with the CPU module or head module. Failure to do so may result in electric
shock, fire, malfunction, or damage to or deterioration of the product.
●To interconnect modules, engage the respective connectors and securely lock the module joint levers
until they click. Incorrect interconnection may cause malfunction, failure, or drop of the module.
WARNING
●Check the terminal layout before wiring to the module, and connect the cables correctly.

3
[Wiring Precautions]
CAUTION
●Use applicable solderless terminals.
Failure to do so may result in malfunction or damage to the module or cables.
●Tighten the connector screws within the specified torque range.
Undertightening can cause short circuit, fire, or malfunction.
Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or
malfunction.
●Connectors for external devices must be crimped with the tool specified by the manufacturer or must
be correctly soldered. Incomplete connections may cause short circuit, fire, or malfunction.
●Place the cables in a duct or clamp them.
If not, dangling cable may swing or inadvertently be pulled, resulting in damage to the module or
cables or malfunction due to poor contact.
●When disconnecting the cable from the module, do not pull the cable by the cable part.
For the cable with connector, hold the connector part of the cable.
Pulling the cable connected to the module may result in malfunction or damage to the module or
cable.
●Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can
cause a fire, failure, or malfunction.
●A protective film is attached to the top of the module to prevent foreign matter, such as wire chips,
from entering the module during wiring. Do not remove the film during wiring. Remove it for heat
dissipation before system operation.

4
[Startup and Maintenance Precautions]
[Startup and Maintenance Precautions]
[Operating Precautions]
[Disposal Precautions]
WARNING
●Shut off the external power supply (all phases) used in the system before cleaning the module or
retightening the connector screws. Failure to do so may result in electric shock.
CAUTION
●Do not disassemble or modify the module. Doing so may cause failure, malfunction, injury, or a fire.
●Shut off the external power supply (all phases) used in the system before mounting or removing a
module. Failure to do so may cause the module to fail or malfunction.
●After the first use of the product (module, display unit, and terminal block), the number of
connections/disconnections is limited to 50 times (in accordance with IEC 61131-2). Exceeding the
limit may cause malfunction.
●Before testing the operation, set a low speed value for the speed limit parameter so that the operation
can be stopped immediately upon occurrence of a hazardous condition.
●Before handling the module, touch a conducting object such as a grounded metal to discharge the
static electricity from the human body. Failure to do so may cause the module to fail or malfunction.
CAUTION
●When changing data and operating status, and modifying program of the running programmable
controller from an external device such as a personal computer connected to an intelligent function
module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or
modification may cause system malfunction, damage to the machines, or accidents.
●Note that when the reference axis speed is specified for interpolation operation, the speed of the
partner axis (2nd, 3rd, or 4th axis) may be faster than the set speed (may exceed the speed limit).
CAUTION
●When disposing of this product, treat it as industrial waste.

5
CONDITIONS OF USE FOR THE PRODUCT
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;
i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident;
and
ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the
case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL
RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY
INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE
OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR
WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL
BULLETINS AND GUIDELINES FOR the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the
public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality
assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and
Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other
applications where there is a significant risk of injury to the public or property.
Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or
more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific
applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or
other safety features which exceed the general specifications of the PRODUCTs are required. For details, please
contact the Mitsubishi representative in your region.

6
INTRODUCTION
Thank you for purchasing the Mitsubishi Electric MELSEC-L series programmable controllers.
This manual describes the functions and programming of the positioning module.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the MELSEC-L series programmable controller to handle the product correctly.
When applying the program examples introduced in this manual to an actual system, ensure the applicability and
confirm that it will not cause system control problems.
Please make sure that the end users read this manual.
●Unless otherwise specified, this manual describes the program examples in which the I/O numbers of X/Y00 to X/Y1F are
assigned for an L series positioning module. I/O numbers must be assigned to apply the program examples introduced in
this manual to an actual system. For I/O number assignment, refer to the following.
MELSEC-L CPU Module User's Manual (Function Explanation, Program Fundamentals)
●Operating procedures are explained using GX Works2. When using GX Developer, refer to Page 767, Appendix 7.

7
COMPLIANCE WITH EMC AND LOW VOLTAGE
DIRECTIVES
(1) For programmable controller system
To ensure that Mitsubishi Electric programmable controllers maintain EMC and Low Voltage Directives when
incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the
following manuals.
•MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and Inspection)
•MELSEC-L CC-Link IE Field Network Head Module User's Manual
•Safety Guidelines (This manual is included with the CPU module or head module.)
The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage
Directives.
(2) For the product
To ensure that this product maintains EMC and Low Voltage Directives, please refer to Page 84, Section
4.3.1.

8
RELEVANT MANUALS
(1) CPU module user's manual
(2) Head module User's Manual
(3) Operating manual
*1 The manual is included in the CD-ROM of the software package in a PDF-format file.
Printed manuals are sold separately. To order manuals, please provide the manual number (model code) listed in the
table above.
Manual name
<manual number (model code)> Description
MELSEC-L CPU Module User's Manual (Hardware Design, Maintenance and
Inspection)
<SH-080890ENG, 13JZ36>
Specifications of the CPU modules, power supply modules, display unit,
branch module, extension module, SD memory cards, and batteries,
information on how to establish a system, maintenance and inspection, and
troubleshooting (Sold separately)
MELSEC-L CPU Module User's Manual (Function Explanation, Program
Fundamentals)
<SH-080889ENG, 13JZ35>
Functions and devices of the CPU module, and programming (Sold
separately)
Manual name
<manual number (model code)> Description
MELSEC-L CC-Link IE Field Network Head Module User's Manual
<SH-080919ENG, 13JZ48>
Specifications, procedures before operation, system configuration, installation,
wiring, settings, and troubleshooting of the head module (Sold separately)
MELSEC-Q CC-Link IE Field Network Master/Local Module User's Manual
<SH-080917ENG, 13JZ47>
Overview of the CC-Link IE Field Network, and specifications, procedures
before operation, system configuration, installation, settings, functions,
programming, and troubleshooting of the CC-Link IE Field Network
master/local module (Sold separately)
Manual name
<manual number (model code)> Description
GX Works2 Version 1 Operating Manual (Common)
<SH-080779ENG, 13JU63>
System configuration, parameter settings, and online operations of GX
Works2, which are common to Simple projects and Structured projects (Sold
separately)
GX Works2 Version 1 Operating Manual (Intelligent Function Module)
<SH-080921ENG, 13JU69>
Parameter settings, monitoring, and operations of the pre-defined protocol
support function of intelligent function modules, using GX Works2 (Sold
separately)
GX Developer Version 8 Operating Manual
<SH-080373E, 13JU41>
Operating methods of GX Developer, such as programming, printing,
monitoring, and debugging (Sold separately)
GX Configurator-QP Version 2 Operating Manual
<SH-080172, 13JU19>
Data creation (such as parameters and positioning data) and operations of
transferring data to modules, positioning monitor, and tests using GX
Configurator-QP (Sold separately)*1