Mitsubishi Electric MELSEC Q Series User manual

MELSEC-Q QD73A1 Positioning Module
User's Manual
-QD73A1

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) When using a servo amplifier with Servo ON signal, connect the signal to the module. When using
a servo amplifier whose control cannot be stopped through Servo ON signal, satisfy the following.
• Analog voltage must be 0V (motor stop) to power off the programmable controller.
(2) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting
operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured
external to the programmable controller.
(3) OPR (Original Point Return) is controlled by two kinds of data: OPR direction and OPR speed.
Deceleration starts when the near-point dog turns on. If an incorrect OPR direction is set, motion
control may continue without deceleration. To prevent machine damage caused by this, configure
an interlock circuit external to the programmable controller.
●Do not write any data to the "system area" of the buffer memory in the intelligent function module.
Also, do not use any "use prohibited" signal as an output signal from the CPU module to the intelligent
function module. Doing so may cause malfunction of the programmable controller system.
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
[Installation Precautions]
CAUTION
●Do not install the connection cables for external I/O signals and for the drive unit together with the
main circuit lines, power cables, or load circuit lines of a device other than the programmable
controller.
Keep a distance of 100mm or more between them.
Failure to do so may result in malfunction due to noise, surges, and induction.
CAUTION
●Use the programmable controller in an environment that meets the general specifications in the user’s
manual for the CPU module used.
Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the
product.
●To mount the module, while pressing the module mounting lever located in the lower part of the
module, fully insert the module fixing projection(s) into the hole(s) in the base unit and press the
module until it snaps into place.
Incorrect mounting may cause malfunction, failure or drop of the module.
When using the programmable controller in an environment of frequent vibrations, fix the module with
a screw.
●Tighten the screws within the specified torque range.
Undertightening can cause drop of the screw, short circuit or malfunction.
Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction.
●Securely connect the drive unit connector and external device connector to the connector on the
module. Poor contact may cause incorrect input or output.
●Do not directly touch any conductive parts and electronic components of the module.
Doing so can cause malfunction or failure of the module.
●Shut off the external power supply (all phases) used in the system before mounting or removing the
module. Failure to do so may result in damage to the product.

3
[Wiring Precautions]
WARNING
●Shut off the external power supply (all phases) used in the system before installation and wiring.
Failure to do so may result in electric shock or cause the module to fail or malfunction.
●After installation and wiring, attach the included terminal cover to the module before turning it on for
operation. Failure to do so may result in electric shock.
CAUTION
●Check the rated voltage and terminal layout before wiring to the module, and connect the cables
correctly.
Connecting a power supply with a different voltage rating or incorrect wiring may cause a fire or
failure.
●Use applicable solderless terminals and tighten them within the specified torque range.
If any spade solderless terminal is used, it may be disconnected when the terminal screw comes
loose, resulting in failure.
●Tighten the connector screws within the specified torque range.
Undertightening can cause short circuit, fire, or malfunction.
Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or
malfunction.
●Connectors for external devices must be crimped with the tool specified by the manufacturer or must
be correctly soldered.
Incomplete connections may cause short circuit, fire, or malfunction.
●Place the cables in a duct or clamp them.
If not, dangling cable may swing or inadvertently be pulled, resulting in damage to the module 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]
[Precaution during operation]
[Disposal Precaution]
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, do not mount/remove the module to/from the base unit, and the
terminal block to/from the module more than 50 times (IEC 61131-2 compliant) respectively.
Exceeding the limit may cause malfunction.
●Before testing operation, set a low 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.
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 MELSEC-Q series programmable controllers.
This manual describes the operating procedure, system configuration, parameter settings, functions, programming,
and troubleshooting of the QD73A1 positioning module (hereafter abbreviated as QD73A1).
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the MELSEC-Q series programmable controller to handle the product correctly.
When applying the program examples introduced in this manual to an actual system, ensure the applicability and
confirm that it will not cause system control problems.
Relevant module: QD73A1
Remark
●Unless otherwise specified, this manual describes the program examples in which the I/O numbers of X/Y10 to X/Y2F are
assigned for the QD73A1.
For I/O number assignment, refer to the following manuals.
QnUCPU Users Manual (Function Explanation, Program Fundamentals)
Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program Fundamentals)
●Operating procedures are explained using GX Works2. When using GX Developer, refer to the following.
Page 275, Appendix 4

7
COMPLIANCE WITH EMC AND LOW VOLTAGE
DIRECTIVES
(1) Method of ensuring compliance
To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated
into other machinery or equipment, certain measures may be necessary. Please refer to one of the following
manuals.
• QCPU User's Manual (Hardware Design, Maintenance and Inspection)
• Safety Guidelines
(This manual is included with the CPU module or base unit.)
The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage
Directives.
(2) Additional measures
To ensure that this product maintains EMC and Low Voltage Directives, please refer to Page 64, Section 4.6.1.

8
RELEVANT MANUALS
(3) CPU module user's manual
(4) Operating manual
Manual name
<manual number (model code)> Description
QCPU User's Manual (Hardware Design, Maintenance and
Inspection)
<SH-080483ENG, 13JR73>
Specifications of the hardware (CPU modules, power supply modules,
base units, extension cables, and memory cards), system maintenance
and inspection, troubleshooting, and error codes
QnUCPU Users Manual (Function Explanation, Program
Fundamentals)
<SH-080807ENG, 13JZ27> Functions, methods, and devices for programming
Qn(H)/QnPH/QnPRHCPU User's Manual (Function
Explanation, Program Fundamentals)
<SH-080808ENG, 13JZ28>
Manual name
<manual number (model code)> Description
GX Works2 Version1 Operating Manual (Common)
<SH-080779ENG, 13JU63>
System configuration, parameter settings, and online operations (common
to Simple project and Structured project) of GX Works2
GX Developer Version 8 Operating Manual
<SH-080373E, 13JU41>
Operating methods of GX Developer, such as programming, printing,
monitoring, and debugging