Mitsubishi Electric MELSEC Q Series User manual

Type QD70 Positioning Module
User's Manual
-QD70P4
-QD70P8
-GX Configurator-PT (SW1D5C-QPTU-E)
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SAFETY INSTRUCTIONS
(Always read these instructions before using this equipment.)
Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
The instructions given in this manual are concerned with this product. For the safety instructions of the
programmable controller system, please read the CPU module User's Manual.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".
!DANGER
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 medium or slight personal injury or physical damage.
Note that the !CAUTION level may lead to a serious consequence according to the circumstances.
Always follow the instructions of both levels because they are important to personal safety.
Please save this manual to make it accessible when required and always forward it to the end user.
[DESIGN INSTRUCTION]
!DANGER
Provide a safety circuit outside the programmable controller so that the entire system will
operate safely even when an external power supply error or programmable controller fault
occurs.
Failure to observe this could lead to accidents for incorrect outputs or malfunctioning.
(1) Configure an emergency stop circuit and interlock circuit such as a positioning control
upper limit/lower limit to prevent mechanical damage outside the programmable controller.
(2) The machine OPR operation is controlled by the OPR direction and OPR speed data.
Deceleration starts when the near-point dog turns ON. Thus, if the OPR direction is
incorrectly set, deceleration will not start and the machine will continue to travel. Configure
an interlock circuit to prevent mechanical damage outside the programmable controller.
(3) When the module detects an error, deceleration stop will take place.
Make sure that the OPR data and positioning data are within the parameter setting values.
!CAUTION
Do not bundle or adjacently lay the control wire or communication cable with the main circuit or
power wire.
Separate these by 100mm (3.94in.) or more.
Failure to observe this could lead to malfunctioning caused by noise.
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[MOUNTING INSTRUCTIONS]
!CAUTION
Use the programmable controller in an environment that meets the general specifications
contained in the CPU User's Manual.
Using the programmable controller outside the general specification range environment could
lead to electric shocks, fires, malfunctioning, product damage or deterioration.
While pressing the installation lever located at the bottom of module, insert the module fixing tab
into the fixing hole in the base unit until it stops. Then, securely mount the module with the fixing
hole as a supporting point. Improper loading of the module can cause a malfunction, failure or
drop.
For use in vibratory environment, tighten the module with screws.
Tighten the screws within the specified torque range.
Undertightening can cause a drop, short circuit or malfunction.
Overtightening can cause a drop, short circuit or malfunction due to damage to the screws or
module.
Completely turn off the externally supplied power used in the system before mounting or
removing the module. Not doing so may damage the product.
[WIRING INSTRUCTIONS]
!DANGER
Always confirm the terminal layout before connecting the wires to the module.
[STARTUP/MAINTENANCE INSTRUCTIONS]
!DANGER
Completely turn off the externally supplied power used in the system before cleaning or
tightening the screws.
Failure to turn all phases OFF could lead to electric shocks.
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[STARTUP/MAINTENANCE INSTRUCTIONS]
!CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Completely turn off the externally supplied power used in the system before installing or
removing the module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
Do not install/remove the module to/from the base unit more than 50 times after the first use of
the product. (IEC 61131-2 compliant)
Failure to do so may cause malfunction.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately if a hazardous state occurs.
•Always make sure to touch the grounded metal to discharge the electricity charged in the body,
etc., before touching the module.
Failure to do so may cause a failure or malfunctions of the module.
[DISPOSAL INSTRUCTIONS]
!CAUTION
When disposing of the product, handle it as industrial waste.
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REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Jun., 2001 SH (NA)-080171-A First edition
Feb., 2002 SH (NA)-080171-B Modifications
About Manuals, Section 2.3, Section 2.4, Section 4.6.1, Section 5.3,
Section 5.7, Section 6.2.2, Section 8.2.3, Section 8.2.4, Section
8.2.5, Section 8.2.6, Section 10.3, Appendix 8
Jul., 2002 SH (NA)-080171-C Modifications
CONTENS, Section .1.1.1, Section 4.2, Section 11.3, Section 11.4,
Section 11.5, Section 13.2, Appendix 2, Appendix 8, INDEX
Feb., 2003 SH (NA)-080171-D Modifications
SAFETY INSTRUCTIONS, CONTENTS, Section 2.1, Section 3.1,
Section 5.3, Section 6.2.2, Section 6.4, Section 6.5, Appendix 3.3,
Appendix 8, INDEX
May, 2003 SH (NA)-080171-E Modifications
CONTENTS, Appendix 6, Appendix 7
Oct., 2003 SH (NA)-080171-F Modifications
CONTENTS, Section 1.2.2, Section 3.3.2, Section 3.4.3, Section
3.4.4, Section 7.5.3, Section 9.1.2, INDEX
Jun., 2004 SH (NA)-080171-G Modifications
SAFETY PRECAUTIONS, Section 2.4, Section 2.5, Section 3.4.3,
Section 5.1, Section 5.7, Section 6.4, Section 6.6.1
Feb., 2006 SH (NA)-080171-H Modifications
SAFETY INSTRUCTIONS, Section 2.3, Section 4.3, Section 5.1,
Section 6.3.2, Section 6.3.3, Section 11.4, Section 13.2, Appendix
3.3
May, 2006 SH (NA)-080171-I Modifications
Section 7.5.4, Section 11.6, Appendix 3.3
Jan., 2007 SH (NA)-080171-J Modifications
Section 7.4
Jun., 2007 SH (NA)-080171-K Modifications
Section 2.3, Section 3.4.4, Section 4.6.1, Section 10.1, Section 11.2
Jan., 2008 SH (NA)-080171-L Modifications
GENERIC TERMS AND ABBREVIATIONS, Section 2.3 to 2.6,
Section 6.2.2
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The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
May, 2008 SH (NA)-080171-M Modifications
SAFETY INSTRUCTIONS, Compliance with the EMC and Low
Voltage Directives, Section 2.3, 2.6, 3.1, 5.4.1, 6.2.1, 6.3.1, 6.3.3
Aug., 2008 SH (NA)-080171-N Modifications
Section 2.6, 3.4.2, 5.3, Appendix 1
Japanese Manual Version SH-080138-O
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent
licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property
rights which may occur as a result of using the contents noted in this manual.
©2001 MITSUBISHI ELECTRIC CORPORATION
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INTRODUCTION
Thank you for purchasing the Mitsubishi programmable controller MELSEC-Q series.
Always read through this manual, and fully comprehend the functions and performance of the Q series
programmable controller before starting use to ensure correct usage of this product.
CONTENTS
SAFETY INSTRUCTIONS.............................................................................................................................A- 1
REVISIONS....................................................................................................................................................A- 4
INTRODUCTION............................................................................................................................................A- 6
CONTENTS....................................................................................................................................................A- 6
Using This Manual.........................................................................................................................................A- 10
Compliance with the EMC and Low Voltage Directives...............................................................................A- 10
Generic Terms and Abbreviations ................................................................................................................A- 11
Component List .............................................................................................................................................A- 12
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
1 PRODUCT OUTLINE 1- 1 to 1- 14
1.1 Positioning control.................................................................................................................................... 1- 1
1.1.1 Features of QD70.............................................................................................................................. 1- 1
1.1.2 Mechanism of positioning control ..................................................................................................... 1- 2
1.1.3 Outline design of positioning control system.................................................................................... 1- 4
1.1.4 Communicating signals between QD70 and each module.............................................................. 1- 8
1.2 Positioning control................................................................................................................................... 1- 10
1.2.1 Outline of starting ............................................................................................................................. 1- 10
1.2.2 Outline of stopping ........................................................................................................................... 1- 12
2 SYSTEM CONFIGURATION 2- 1 to 2- 11
2.1 General image of system......................................................................................................................... 2- 1
2.2 Component list ......................................................................................................................................... 2- 2
2.3 Applicable systems .................................................................................................................................. 2- 3
2.4 About Use of the QD70 with the Q12PRH/Q25PRHCPU ...................................................................... 2- 6
2.5 About Use of the QD70 on the MELSECNET/H Remote I/O Station .................................................... 2- 7
2.6 How to Check the Function Version/Serial No./Software Version ......................................................... 2- 8
3 SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 13
3.1 Performance specifications...................................................................................................................... 3- 1
3.2 List of functions ........................................................................................................................................ 3- 2
3.3 Specifications of input/output signal with Programmable Controller CPU ............................................. 3- 4
3.3.1 List of input/output signals with programmable controller CPU....................................................... 3- 4
3.3.2 Details of input signal (QD70 Programmable controller CPU).................................................... 3- 5
3.3.3 Details of output signals (Programmable controller CPU QD70)................................................ 3- 6
3.4 Specifications of input/output interfaces with external device ................................................................ 3- 7
3.4.1 Electrical specifications of input/output signals ................................................................................ 3- 7
3.4.2 Signal layout for external device connection connector................................................................... 3- 9
3.4.3 List of input/output signal details...................................................................................................... 3- 10
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3.4.4 Input/output interface internal circuit................................................................................................ 3- 11
4 DATA USED FOR POSITIONING CONTROL 4- 1 to 4- 31
4.1 Type of data ............................................................................................................................................. 4- 1
4.1.1 Parameters and data required for control......................................................................................... 4- 1
4.1.2 Setting items for parameters............................................................................................................. 4- 3
4.1.3 Setting items for OPR data ............................................................................................................... 4- 4
4.1.4 Setting items for JOG data................................................................................................................ 4- 5
4.1.5 Setting items for positioning data...................................................................................................... 4- 6
4.1.6 Type and roles of monitor data......................................................................................................... 4- 7
4.1.7 Type and roles of control data .......................................................................................................... 4- 8
4.2 List of parameters .................................................................................................................................... 4- 9
4.3 List of OPR data...................................................................................................................................... 4- 14
4.4 List of JOG data ...................................................................................................................................... 4- 20
4.5 List of positioning data ............................................................................................................................ 4- 21
4.6 List of monitor data..................................................................................................................................4- 27
4.6.1 Axis monitor data.............................................................................................................................. 4- 27
4.6.2 Module information monitor data ..................................................................................................... 4- 29
4.7 List of control data...................................................................................................................................4- 30
4.7.1 Axis control data............................................................................................................................... 4- 30
5 SETUP AND PROCEDURES BEFORE OPERATION 5- 1 to 5- 20
5.1 Handling precautions ............................................................................................................................... 5- 1
5.2 Procedures before operation ................................................................................................................... 5- 3
5.3 Part identification nomenclature .............................................................................................................. 5- 4
5.4 Wiring ....................................................................................................................................................... 5- 7
5.4.1 Wiring precautions............................................................................................................................. 5- 7
5.5 Confirming the wiring .............................................................................................................................. 5- 12
5.5.1 Confirmation items at completion of wiring ..................................................................................... 5- 12
5.6 Switch setting for intelligent function module ......................................................................................... 5- 14
5.7 Simple reciprocating operation ............................................................................................................... 5- 18
6 UTILITY PACKAGE(GX Configurator-PT) 6- 1 to 6- 19
6.1 Utility package functions .......................................................................................................................... 6- 1
6.2 Installing and Uninstalling the Utility Package ........................................................................................ 6- 2
6.2.1 Handling precautions ........................................................................................................................ 6- 2
6.2.2 Operating environment...................................................................................................................... 6- 4
6.3 Utility Package Operation ........................................................................................................................ 6- 6
6.3.1 Common utility package operations ................................................................................................. 6- 6
6.3.2 Operation overview ........................................................................................................................... 6- 8
6.3.3 Starting the Intelligent function module utility.................................................................................. 6- 10
6.4 Initial setting............................................................................................................................................. 6- 12
6.5 Auto refresh setting.................................................................................................................................6- 14
6.6 Monitoring/Test........................................................................................................................................ 6- 16
6.6.1 Monitoring/Test screen..................................................................................................................... 6- 16
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7- 1 to 7- 20
7.1 Precautions for creating program ............................................................................................................ 7- 1
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7.2 List of devices used.................................................................................................................................. 7- 3
7.3 Creating a program .................................................................................................................................. 7- 5
7.3.1 General configuration of program..................................................................................................... 7- 5
7.3.2 Positioning control operation program.............................................................................................. 7- 6
7.4 Positioning control program examples .................................................................................................... 7- 8
7.5 Program details ....................................................................................................................................... 7- 12
7.5.1 Initialization program ........................................................................................................................ 7- 12
7.5.2 Start method setting program ..........................................................................................................7- 13
7.5.3 Start program.................................................................................................................................... 7- 13
7.5.4 Sub program..................................................................................................................................... 7- 19
SECTION 2 CONTROL DETAILS AND SETTING
8 OPR CONTROL 8- 1 to 8- 16
8.1 Outline of OPR control ............................................................................................................................. 8- 1
8.1.1 Two types of OPR control................................................................................................................. 8- 1
8.2 Machine OPR control............................................................................................................................... 8- 2
8.2.1 Outline of the machine OPR operation............................................................................................. 8- 2
8.2.2 Machine OPR method....................................................................................................................... 8- 3
8.2.3 OPR method (1): Near-point dog method ........................................................................................ 8- 4
8.2.4 OPR method (2): Stopper 1 .............................................................................................................. 8- 6
8.2.5 OPR method (3): Stopper 2 .............................................................................................................. 8- 8
8.2.6 OPR method (4): Stopper 3 ............................................................................................................. 8- 10
8.2.7 OPR method (5): Count 1 ................................................................................................................ 8- 12
8.2.8 OPR method (6): Count 2 ................................................................................................................ 8- 14
8.3 Fast OPR control..................................................................................................................................... 8- 16
8.3.1 Outline of the fast OPR control operation........................................................................................ 8- 16
9 POSITIONING CONTROL 9- 1 to 9- 17
9.1 Outline of positioning controls.................................................................................................................. 9- 1
9.1.1 Data required for positioning control................................................................................................. 9- 1
9.1.2 Operation patterns of positioning controls........................................................................................ 9- 2
9.1.3 Designating the positioning address................................................................................................. 9- 8
9.1.4 Confirming the current value............................................................................................................. 9- 9
9.2 Setting the positioning data .................................................................................................................... 9- 10
9.2.1 Relation between each control and positioning data ...................................................................... 9- 10
9.2.2 1-axis linear control .......................................................................................................................... 9- 11
9.2.3 Speed-position switching control ..................................................................................................... 9- 13
9.2.4 Current value changing .................................................................................................................... 9- 16
9.3 Multiple axes simultaneous start control ................................................................................................ 9- 17
10 JOG OPERATION 10- 1 to 10- 6
10.1 Outline of JOG operation ..................................................................................................................... 10- 1
10.2 JOG operation execution procedure ................................................................................................... 10- 3
10.3 JOG operation example....................................................................................................................... 10- 4
11 SUB FUNCTIONS 11- 1 to 11- 13
11.1 Outline of sub functions ....................................................................................................................... 11- 1
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11.2 Speed limit function.............................................................................................................................. 11- 1
11.3 Speed change function ........................................................................................................................ 11- 2
11.4 Software stroke limit function............................................................................................................... 11- 5
11.5 Acceleration/deceleration processing function.................................................................................... 11- 8
11.6 Restart function ...................................................................................................................................11- 11
12 COMMON FUNCTIONS 12- 1 to 12- 3
12.1 Outline of common functions ............................................................................................................... 12- 1
12.2 External I/O signal switching function.................................................................................................. 12- 1
12.3 External I/O signal monitor function .................................................................................................... 12- 2
13 TROUBLESHOOTING 13- 1 to 13- 14
13.1 Error and warning details.....................................................................................................................13- 1
13.2 List of errors ......................................................................................................................................... 13- 3
13.3 List of warnings ...................................................................................................................................13- 11
13.4 Error check by LED indication ............................................................................................................13- 13
13.5 Confirming the error definition using system monitor of GX Developer............................................ 13- 14
APPENDIX App- 1 to App- 18
Appendix 1 External dimension drawing ...................................................................................................App- 1
Appendix 2 Operation timing and processing time in each control ..........................................................App- 2
Appendix 3 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation
.................................................................................................................................................App- 6
Appendix 3.1 Connection example of QD70P and MR-H A...........................................................App- 6
Appendix 3.2 Connection example of QD70P and MR-J2/J2S- A................................................App- 7
Appendix 3.3 Connection example of QD70P and MR-C A...........................................................App- 8
Appendix 4 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.
.................................................................................................................................................App- 9
Appendix 4.1 Connection example of QD70P and VEXTA UPD .....................................................App- 9
Appendix 5 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co.,
Ltd. .........................................................................................................................................App- 10
Appendix 5.1 Connection example of QD70P and MINAS-A series ...............................................App- 10
Appendix 6 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd. ...App- 11
Appendix 6.1 Connection example of QD70P and PZ series..........................................................App- 11
Appendix 7 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation
................................................................................................................................................App- 12
Appendix 7.1 Connection example of QD70P and Σ-series .........................................................App- 12
Appendix 8 Comparisons with type QD75 positioning module ...............................................................App- 13
Appendix 9 List of buffer memory addresses...........................................................................................App- 16
INDEX Index- 1 to Index- 5
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Using This Manual
The symbols used in this manual are shown below.
Pr. ...... Symbol indicating positioning parameter and OPR parameter item.
OPR. ....... Symbol indicating OPR data item.
JOG. ....... Symbol indicating JOG data item.
Da. ...... Symbol indicating positioning data item.
Md. ...... Symbol indicating monitor data item.
Cd. ....... Symbol indicating control data item.
(A serial No. is inserted in the mark.)
Numeric values used in this manual
•The buffer memory addresses, error codes and warning codes are represented
in decimal.
•The X/Y devices are represented in hexadecimal.
•The setting data and monitor data are represented in either decimal or
hexadecimal. The data ended by "H" are represented in hexadecimal.
(Example) 10.........Decimal
10H......Hexadecimal
Compliance with the EMC and Low Voltage Directives
(1) For programmable controller system
To configure a system meeting the requirements of the EMC and Low Voltage
Directives when incorporating the Mitsubishi programmable controller (EMC and
Low Voltage Directives compliant) into other machinery or equipment, refer to
Chapter 9 "EMC AND LOW VOLTAGE DIRECTIVES" of the QCPU User's
Manual (Hardware Design, Maintenance and Inspection).
The CE mark, indicating compliance with the EMC and Low Voltage Directives, is
printed on the rating plate of the programmable controller.
(2) For the product
To make this product conform to the EMC and Low Voltage Directives, please
refer to Section 5.4.1 "Wiring precautions".
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Generic Terms and Abbreviations
Unless specially noted, the following generic terms and abbreviations are used in this
manual.
Generic term/abbreviation Details of generic term/abbreviation
Programmable controller
CPU
Generic term for programmable controller CPU on which QD70 can be mounted.
AD75 Generic term for type A1SD75P1-S3/P2-S3/P3-S3, AD75P1-S3/P2-S3/P3-S3 Positioning
module.
The module type is described to indicate a specific module.
QD70 Generic term for type QD70 positioning module QD70P4/QD70P8.
The module type is described to indicate a specific module.
QD75 Generic term for positioning module QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and
QD75D4.
The module type is described to indicate a specific module.
Peripheral device Generic term for DOS/V personal computer where following "GX Configurator-PT" and ""GX
Developer" have been installed.
GX Configurator-PT Abbreviation for GX Configurator-PT (SW1D5C-QPTU-E) utility package for QD70 positioning
module.
GX Developer Generic product name for the SWnD5C-GPPW-E, SWnD5C-GPPW-EA, SWnD5C-GPPW-EV
and SWnD5C-GPPW-EVA. ("n" is 4 or greater.)
"-A" and "-V" denote volume license product and upgraded product respectively.
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, axis 5, axis 6,
axis 7, axis 8
Indicates each axis connected to QD70.
1-axis, 2-axes, 3-axes,
4-axes, 5-axes, 6-axes,
7-axes, 8-axes
Indicates the number of axes. (Example: 2-axes = Indicates two axes such as axis 1 and axis
2, axis 2 and axis 3, and axis 3 and axis 1.)
Windows Vista®
Generic term for the following:
Microsoft®Windows Vista®Home Basic Operating System,
Microsoft®Windows Vista®Home Premium Operating System,
Microsoft®Windows Vista®Business Operating System,
Microsoft®Windows Vista®Ultimate Operating System,
Microsoft®Windows Vista®Enterprise Operating System
Windows®XP
Generic term for the following:
Microsoft®Windows®XP Professional Operating System,
Microsoft®Windows®XP Home Edition Operating System
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Component List
The component list of this product is given below.
Type Component Quantity
QD70P4 Type QD70P4 Positioning Module (4-axes open-collector output type) 1
QD70P8 Type QD70P8 Positioning Module (8-axes open-collector output type) 1
SW1D5C-QPTU-E GX Configurator-PT Version 1 (1-license product) (CD-ROM) 1
SW1D5C-QPTU-EA GX Configurator-PT Version 1 (Multiple-license product) (CD-ROM) 1
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SECTION 1 PRODUCT SPECIFICATIONS
AND HANDLING
Section 1 is configured for the following purposes (1) to (4).
(1) To understand the outline of positioning control, and the QD70 specifications
and functions
(2) To carry out actual work such as installation and wiring
(3) To set parameters and data required for positioning control
(4) To create a sequence program required for positioning control
Read "Section 2" for details on each control.
CHAPTER 1 PRODUCT OUTLINE ................................................................................. 1- 1 to 1- 14
CHAPTER 2 SYSTEM CONFIGURATION ..................................................................... 2- 1 to 2- 9
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS ...................................................... 3- 1 to 3- 13
CHAPTER 4 DATA USED FOR POSITIONING CONTROL.......................................... 4- 1 to 4- 31
CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION............................. 5- 1 to 5- 20
CHAPTER 6 UTILITY PACKAGE.................................................................................... 6- 1 to 6- 19
CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL .......... 7- 1 to 7- 20
SECTION 1
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MEMO
SECTION 1
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MELSEC-Q
1 PRODUCT OUTLINE
CHAPTER 1 PRODUCT OUTLINE
This User's Manual provides the specifications, handling, programming methods and
other information of the QD70 positioning module used with the MELSEC-Q series
CPU module.
When diverting any of the program examples introduced in this manual to the actual
system, fully verify that there are no problems in the controllability of the target system.
1.1 Positioning control
1.1.1 Features of QD70
The following are the features of the QD70.
(1) Wide assortment of 4-axes and 8-axes modules
The QD70 is a positioning module used in a multi-axes system that does not
need complex control.
It is not compatible with the MELSEC-A series AD70 positioning module in I/O
signals, functions, etc.
(2) About positioning control functions
(a) The QD70 has a number of functions required for a positioning control
system, such as positioning control to any position and equal-speed control.
1) You can set up to 10 pieces of positioning data, which include
positioning address, control method, operation pattern and like, per axis.
These positioning data are used to exercise positioning control axis-by-
axis.
2) Axis-by-axis positioning control allows linear control (up to 8 axes can be
controlled simultaneously).
This control can perform positioning termination with one piece of
positioning data or exercise continuous positioning control by continuous
execution of multiple pieces of positioning data.
(b) As the control method, any of position control, speed-position switching
control and current value changing may be specified in each positioning
data.
(c) The following six different OPR methods are available for "machine OPR
control": near-point dog method (one method), stopper (three methods) and
count (two methods).
(d) Varying finely in speed to ensure smooth acceleration/deceleration, the
QD70 is suitable for connection to a stepping motor.
(e) You can change the I/O signal logic according to the specifications of the
external device.
This allows the input signals to be used with either of "normally open" and
"normally closed" contacts, and the output signals to be used according to
the specifications of the drive unit.
(3) Fast start processing
Processing at a position control start has been speeded up to shorten the start
processing time of one axis to 0.1ms.
At a simultaneous start of multiple axes (the positioning start signals are turned
ON at the same time within one scan), there are no starting delays between the
axes.
(4) Ease of maintenance
In the QD70, error definitions have been subdivided to improve maintenance
performance.
(5) Ease of utility package settings
The optionally available utility package (GX Configurator-PT) allows initial setting
and auto refresh setting to be made on the screen, reducing sequence programs
and facilitating the confirmation of the setting status and operating status.
1
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MELSEC-Q
1 PRODUCT OUTLINE
1.1.2 Mechanism of positioning control
Positioning control using the QD70 is exercised using "pulse signals". (The QD70 is a
module that outputs pulses.)
In a positioning control system using the QD70, a variety of software and external
devices are used to play their roles as shown below.
The QD70 imports various signals, parameters and data, and exercises control with
the programmable controller CPU to realize complex positioning control.
Stores the created program.
The QD70 outputs the positioning start signal and
axis stop signal following the stired program.
QD70 errors, etc., are detected.
Programmable
controller
CPU
Peripheral device
GX Developer/
GX Configurator-PT
QD70
positioning
module
Drive
unit
Stores the parameter and data
Outputs to the drive unit according to the
instructins from the programmable
controller CPU.
Receives pulses commands from QD70,
and drives the motor.
Carries out the actual work according to
commands from the drive unit
Motor
Workpiece
Using GX Developer, create
control sequence and conditions
as sequence program.
Adding in GX Configurator-PT
enables initial setting of
parameters and data.
Input near-point dog signal and speed
-position switching signal to QD70.
Mechanical
system inputs
(Switches)
1
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MELSEC-Q
1 PRODUCT OUTLINE
The principle of "position control" and "speed control" operation is shown below.
Position control
The total No. of pulses required to move the designated distance is obtained in the
following manner.
Total No. of pulses
required to move
designated distance
Designated distance
Movement amount of machine (load)
side when motor rotates once
No. of pulses
required for motor to
rotate once
=
The No. of pulses required for the motor to rotate once is the "encoder resolution"
described in the motor catalog specification list.
When this total No. of pulses is issued from the QD70 to the drive unit, control to move
the designated distance can be executed.
The machine side movement amount when one pulse is issued to the drive unit is
called the "movement amount per pulse". This value is the min. value for the workpiece
to move, and is also the electrical positioning control precision.
Speed control
Though the above "total No. of pulses" is an element needed to control the
movement amount, speed must be controlled to perform equal-speed operation.
This "speed" is controlled by the "pulse frequency" output from the QD70 to the drive
unit.
Speed=Pulses frequency
Movement amount=No. of puleses
Feedback pulses=
Pulses
g
enerated b
y
detecto
r
Positioning
module
Servo
amplifiter
Servo
motor
Detector
Feedback pulses
Pulse
encoder
A
ta td
0.4 0.41.2
(s)
Pulse frequency
[pps] This area is hte total
No. of commanded
pulses.
Movement amount t = 2
Fig. 1.1 Relationship between position control and speed control
POINT
•The "movement amount per pulse" is the value determined on the machine side.
(Refer to Section 1.1.3.)
•The QD70 uses the "total No. of pulses" to control the position, and uses the
"pulse frequency" to control the speed.
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MELSEC-Q
1 PRODUCT OUTLINE
1.1.3 Outline design of positioning control system
The outline of the positioning control system operation and design, using the QD70, is
shown below.
(1) Positioning control system using QD70
Positioning module
QD70
Programmable controller
CPU
M
PLG
GX Configurator-PT
Program
Intelligent
function module
parameter
Read, write, etc.
Monitor date read
Initial setting /Auto rofresh setting/Monitor
Drive unit
Buffer
memories
/XY
device
Forward run
pulse train
Reverse run
pulse train
Deviation
counter
D/A
converter
Speed
command Servo
amplifiter
Interface
Feedback pulse
Servomotor
Fig. 1.2 Outline of the operation of positioning control system using QD70
(a) Positioning operation by the QD70
1) The QD70 output is a pulse train.
The pulse train output by the QD70 is counted by and stored in the
deviation counter in the drive unit.
The D/A converter outputs an analog DC current proportionate to the
count maintained by the deviation counter (called "pulse droop"). The
analog DC current serves as the servomotor speed control signal.
2) The servomotor rotation is controlled by the speed control signal from
the drive unit.
As the servomotor rotates, the pulse encoder (PLG) attached to the
servomotor generates feedback pulses, the frequency of which is
proportionate to the rotation speed.
The feedback pulses are fed back to the drive unit and decrements the
pulse droop, the pulse count maintained by the deviation counter.
The motor keeps on rotating as the pulse droop is maintained at a
certain level.
3) When the QD70 terminates the output of a pulse train, the servomotor
decelerates as the pulse droop decreases and stops when the count
drops to zero.
Thus, the servomotor rotation speed is proportionate to the pulse
frequency, while the overall motor rotation angle is proportionate to the
total number of pulses output by the QD70.
Therefore, when a movement amount per pulse is given, the overall
movement amount can be determined by the number of pulses in the
pulse train.
The pulse frequency, on the other hand, determines the servomotor
rotation speed (feed speed).
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