Mitsubishi Electric QD77MS User manual

MELSEC-Q
QD77MS Simple Motion Module
User's Manual (Positioning Control)
-QD77MS2
-QD77MS4
-QD77MS16

A - 1
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.
The precautions given in this manual are concerned with this product only. Refer to the user's manual of
the CPU 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.

A - 2
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.

A - 3
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 Simple Motion 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 differs 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 the dynamic brake.
Make sure that the system considers the coasting amount even when using the dynamic brake.
In systems where perpendicular shaft dropping may be a problem during the forced stop,
emergency stop, servo OFF or power supply OFF, use both the dynamic brake and
electromagnetic brake.
The dynamic brake must be used only on errors that cause the forced stop, emergency stop, or
servo OFF. This brake must not be used for normal braking.
The brake (electromagnetic brake) assembled into the servomotor are for holding applications,
and must not be used for normal braking.

A - 4
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 brake 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
DANGER
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 and servo amplifier. 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.
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.

A - 5
DANGER
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.

A - 6
CAUTION
Store and use the unit in the following environmental conditions.
Environment
Conditions
Module/Servo amplifier Servomotor
Ambient
temperature According to each instruction manual. 0°C to +40°C (With no freezing) (32°F to +104°F)
Ambient humidity According to each instruction manual. 80% RH or less
(With no dew condensation)
Storage
temperature According to each instruction manual. -20°C to +65°C (-4°F to +149°F)
Atmosphere Indoors (where not subject to direct sunlight).
No corrosive gases, flammable gases, oil mist or dust must exist
Altitude According to each instruction manual
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.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine
are used for disinfecting and protecting wooden packaging from insects, they cause malfunction
when entering our products.
Please take necessary precautions to ensure that remaining materials from fumigant do not enter
our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
The module and the servo amplifier must not be used with parts which contain halogen-series
flame retardant materials (such as bromine) under coexisting conditions.

A - 7
(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.
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 position 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 by the forced stop, etc. if a hazardous state
occurs.
Before starting the operation, confirm the brake function.

A - 8
(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.

A - 9
(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 an electromagnetic brake 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.
24VDC
B
RA1 EMG
Servo motor
Electromagnetic
brake
Shut off with the
emergency stop
signal (EMG).
Shut off with servo ON signal OFF,
alarm, electromagnetic brake signal.
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.

A - 10
CAUTION
When the module or absolute position motor has been replaced, carry out a home position return
operation using the following method, otherwise position displacement could occur.
• After writing the servo data to the Simple Motion module using programming software, switch on
the power again, then perform a home position return operation.
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. Please contact with 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 and base or terminal block 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
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.

A - 11
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.

A - 12
INTRODUCTION
Thank you for purchasing our MELSEC-Q series programmable controllers.
This manual describes the functions and programming of the Simple Motion 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-Q series programmable controller to handle the product
correctly.
When applying the program examples introduced in this manual to the 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.
REMARK
• Unless otherwise specified, this manual describes the program examples in which
the I/O numbers of X/Y00 to X/Y1F are assigned for a Q series Simple Motion
module. I/O number assignment is required for using the program examples
described in the manual.
For I/O number assignment, refer to the following.
QnUCPU User's Manual (Function Explanation, Program Fundamentals)
Qn(H)/QnPH/QnPRHCPU User's Manual (Function Explanation, Program
Fundamentals)
• Operating procedures are explained using GX Works2.

A - 13
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Feb., 2012 IB(NA)-0300185-A First edition
Sep., 2013 IB(NA)-0300185-B [Additional function]
Driver communication function, Inverter FR-A700 series, Synchronous
encoder via servo amplifier, Operation cycle setting for
QD77MS2/QD77MS4
[Additional correction/partial correction]
Safety precautions, Relevant manuals, Restrictions by the SERIAL
No. and version, Parameters, Monitor data, Control data, List of
errors, List of warnings, List of buffer memory address, Serial absolute
synchronous encoder cable
Nov., 2014 IB(NA)-0300185-C [Additional function]
Servo driver VCII series manufactured by Nikki Denso Co., Ltd.
(SSCNET /H compatible), MR-JE-B
[Additional correction/partial correction]
Restrictions by the SERIAL No. and version, Parameters, Monitor
data, List of errors, List of warnings
Nov., 2015 IB(NA)-0300185-D [Additional function]
Servo driver VPH series manufactured by Nikki Denso Co., Ltd.,
AlphaStep/5-phase stepping motor driver manufactured by
ORIENTAL MOTOR Co., Ltd.
[Additional correction/partial correction]
RELEVANT MANUALS, Function version, Restrictions by the
SERIAL No. and version, Parameters, Monitor data, Stop program,
Interpolation control, Speed limit function, Speed change function,
Override function, Skip function, Optional data monitor function,
Error and warning details, WARRANTY
Feb., 2017 IB(NA)-0300185-E [Additional function]
IAI electric actuator controller manufactured by IAI Corporation
[Additional correction/partial correction]
Restrictions by the SERIAL No. and version, Types of data,
Parameters, Monitor data, Control data, Configuration and roles of
QD77MS memory, Optional data monitor function, List of errors
Japanese Manual Version IB-0300184
This manual confers no industrial property 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.
2012 MITSUBISHI ELECTRIC CORPORATION

A - 14
CONTENTS
SAFETY PRECAUTIONS............................................................................................................................. A- 1
CONDITIONS OF USE FOR THE PRODUCT .............................................................................................A-11
INTRODUCTION............................................................................................................................................A-12
REVISIONS ....................................................................................................................................................A-13
CONTENTS....................................................................................................................................................A-14
COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES.......................................................A-22
RELEVANT MANUALS .................................................................................................................................A-22
MANUAL PAGE ORGANIZATION ................................................................................................................A-24
TERMS ...........................................................................................................................................................A-25
PACKING LIST...............................................................................................................................................A-26
Section 1 Product Specifications and Handling
1. Product Outline 1- 1 to 1-30
1.1 Positioning control....................................................................................................................................1- 2
1.1.1 Features of QD77MS ........................................................................................................................1- 2
1.1.2 Purpose and applications of positioning control...............................................................................1- 6
1.1.3 Mechanism of positioning control .....................................................................................................1- 8
1.1.4 Overview of positioning control functions .........................................................................................1- 9
1.1.5 Outline design of positioning system ................................................................................................ 1-19
1.1.6 Communicating signals between QD77MS and each module........................................................ 1-20
1.2 Flow of system operation......................................................................................................................... 1-24
1.2.1 Flow of all processes......................................................................................................................... 1-24
1.2.2 Outline of starting .............................................................................................................................. 1-26
1.2.3 Outline of stopping ............................................................................................................................ 1-28
1.2.4 Outline for restarting.......................................................................................................................... 1-30
2. System Configuration 2- 1 to 2-12
2.1 General image of system .........................................................................................................................2- 2
2.2 Component list .........................................................................................................................................2- 4
2.3 Applicable system ....................................................................................................................................2- 8
2.4 How to check the function version and SERIAL No. .............................................................................. 2-10
2.5 Restrictions by the SERIAL No. and version .......................................................................................... 2-11
3. Specifications and Functions 3- 1 to 3-46
3.1 Performance specifications......................................................................................................................3- 2
3.2 List of functions ........................................................................................................................................3- 4
3.2.1 QD77MS control functions................................................................................................................3- 4
3.2.2 QD77MS main functions ...................................................................................................................3- 7
3.2.3 QD77MS sub functions .....................................................................................................................3- 9
3.2.4 QD77MS common functions............................................................................................................. 3-11
3.2.5 Combination of QD77MS main functions and sub functions ........................................................... 3-14
3.3 Specifications of input/output signals with PLC CPU ............................................................................. 3-16
3.3.1 List of input/output signals with PLC CPU........................................................................................ 3-16

A - 15
3.3.2 Details of input signals (QD77MS PLC CPU) ............................................................................ 3-19
3.3.3 Details of output signals (PLC CPU QD77MS).......................................................................... 3-21
3.4 Specifications of interfaces with external devices................................................................................... 3-23
3.4.1 Electrical specifications of input signals ........................................................................................... 3-23
3.4.2 Signal layout for external input connection connector ..................................................................... 3-25
3.4.3 List of input signal details .................................................................................................................. 3-27
3.4.4 Interface internal circuit ..................................................................................................................... 3-30
3.5 External circuit design .............................................................................................................................. 3-34
4. Installation, Wiring and Maintenance of the Product 4- 1 to 4-20
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- 8
4.3.1 Precautions for wiring........................................................................................................................4- 8
4.4 Confirming the installation and wiring...................................................................................................... 4-19
4.4.1 Items to confirm when installation and wiring are completed .......................................................... 4-19
4.5 Maintenance............................................................................................................................................. 4-20
4.5.1 Precautions for maintenance ............................................................................................................ 4-20
4.5.2 Disposal instructions ......................................................................................................................... 4-20
5. Data Used for Positioning Control 5- 1 to 5-202
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 expansion parameters...........................................................................................5- 9
5.1.5 Setting items for servo parameters...................................................................................................5- 9
5.1.6 Setting items for positioning data...................................................................................................... 5- 10
5.1.7 Setting items for block start data ...................................................................................................... 5-12
5.1.8 Setting items for condition data ........................................................................................................ 5-13
5.1.9 Types and roles of monitor data ....................................................................................................... 5-14
5.1.10 Types and roles of control data ...................................................................................................... 5-19
5.2 List of parameters .................................................................................................................................... 5-23
5.2.1 Basic parameters 1 ........................................................................................................................... 5-23
5.2.2 Basic parameters 2 ........................................................................................................................... 5-29
5.2.3 Detailed parameters 1....................................................................................................................... 5-30
5.2.4 Detailed parameters 2....................................................................................................................... 5-41
5.2.5 OPR basic parameters...................................................................................................................... 5-53
5.2.6 OPR detailed parameters ................................................................................................................. 5-61
5.2.7 Expansion parameters ...................................................................................................................... 5-66
5.2.8 Servo parameters.............................................................................................................................. 5-71
5.3 List of positioning data ............................................................................................................................. 5-84
5.4 List of block start data ............................................................................................................................ 5-100
5.5 List of condition data .............................................................................................................................. 5-105
5.6 List of monitor data................................................................................................................................. 5-114

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5.6.1 System monitor data ....................................................................................................................... 5-114
5.6.2 Axis monitor data............................................................................................................................. 5-128
5.7 List of control data.................................................................................................................................. 5-158
5.7.1 System control data ........................................................................................................................ 5-158
5.7.2 Axis control data.............................................................................................................................. 5-166
6. Sequence Program Used for Positioning Control 6- 1 to 6-76
6.1 Precautions for creating program ............................................................................................................6- 2
6.2 List of devices used..................................................................................................................................6- 6
6.3 Creating a program .................................................................................................................................. 6-16
6.3.1 General configuration of program..................................................................................................... 6-16
6.3.2 Positioning control operation program.............................................................................................. 6-17
6.4 Positioning program examples ................................................................................................................ 6-21
6.5 Program details ........................................................................................................................................ 6-53
6.5.1 Initialization program ......................................................................................................................... 6-53
6.5.2 Start details setting program ............................................................................................................. 6-54
6.5.3 Start program..................................................................................................................................... 6-56
6.5.4 Continuous operation interrupt program........................................................................................... 6-68
6.5.5 Restart program ................................................................................................................................ 6-70
6.5.6 Stop program..................................................................................................................................... 6-73
7. Memory Configuration and Data Process 7- 1 to 7-20
7.1 Configuration and roles of QD77MS memory.........................................................................................7- 2
7.1.1 Configuration and roles of QD77MS memory ..................................................................................7- 2
7.1.2 Buffer memory area configuration ....................................................................................................7- 5
7.2 Data transmission process ......................................................................................................................7- 7

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Section 2 Control Details and Setting
8. OPR Control 8- 1 to 8-20
8.1 Outline of OPR control .............................................................................................................................8- 2
8.1.1 Two types of OPR control .................................................................................................................8- 2
8.2 Machine OPR ...........................................................................................................................................8- 6
8.2.1 Outline of the machine OPR operation.............................................................................................8- 6
8.2.2 Machine OPR method.......................................................................................................................8- 7
8.2.3 OPR method (1): Near-point dog method ........................................................................................8- 8
8.2.4 OPR method (2): Count method 1) ................................................................................................. 8- 10
8.2.5 OPR method (3): Count method 2) .................................................................................................. 8-12
8.2.6 OPR method (4): Data set method ................................................................................................... 8-14
8.2.7 OPR method (5): Scale origin signal detection method................................................................... 8-15
8.3 Fast OPR.................................................................................................................................................. 8-18
8.3.1 Outline of the fast OPR operation..................................................................................................... 8-18
8.4 Selection of the OPR setting condition .................................................................................................. 8-20
8.4.1 Outline of the OPR setting condition ................................................................................................ 8-20
9. Major Positioning Control 9- 1 to 9-134
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 .................................................................................................................... 9-26
9.2.1 Relation between each control and positioning data ....................................................................... 9-26
9.2.2 1-axis linear control ........................................................................................................................... 9-28
9.2.3 2-axis linear interpolation control ...................................................................................................... 9-32
9.2.4 3-axis linear interpolation control ...................................................................................................... 9-38
9.2.5 4-axis linear interpolation control ...................................................................................................... 9-44
9.2.6 1-axis fixed-feed control .................................................................................................................... 9-49
9.2.7 2-axis fixed-feed control (interpolation) ............................................................................................ 9-52
9.2.8 3-axis fixed-feed control (interpolation) ............................................................................................ 9-54
9.2.9 4-axis fixed-feed control (interpolation) ........................................................................................... 9-59
9.2.10 2-axis circular interpolation control with sub point designation ..................................................... 9-62
9.2.11 2-axis circular interpolation control with center point designation ................................................. 9-68
9.2.12 1-axis speed control ........................................................................................................................ 9-76
9.2.13 2-axis speed control ........................................................................................................................ 9-79
9.2.14 3-axis speed control ........................................................................................................................ 9-83
9.2.15 4-axis speed control ........................................................................................................................ 9-87
9.2.16 Speed-position switching control (INC mode)................................................................................ 9-92
9.2.17 Speed-position switching control (ABS mode)............................................................................. 9-103
9.2.18 Position-speed switching control .................................................................................................. 9-112
9.2.19 Current value changing................................................................................................................. 9-122
9.2.20 NOP instruction ............................................................................................................................. 9-127
9.2.21 JUMP instruction ........................................................................................................................... 9-128

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9.2.22 LOOP............................................................................................................................................. 9-130
9.2.23 LEND ............................................................................................................................................. 9-132
10. High-Level Positioning Control 10- 1 to 10-30
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 ............................................................................................. 10-21
10.6 Start program for high-level positioning control .................................................................................. 10-26
10.6.1 Starting high-level positioning control........................................................................................... 10-26
10.6.2 Example of a start program for high-level positioning control ..................................................... 10-27
11. Manual Control 11- 1 to 11-32
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 ................................................................................................................ 11-12
11.3 Inching operation.................................................................................................................................. 11-15
11.3.1 Outline of inching operation .......................................................................................................... 11-15
11.3.2 Inching operation execution procedure ........................................................................................ 11-18
11.3.3 Setting the required parameters for inching operation ................................................................ 11-19
11.3.4 Creating a program to enable/disable the inching operation.......................................................11-20
11.3.5 Inching operation example............................................................................................................ 11-22
11.4 Manual pulse generator operation....................................................................................................... 11-24
11.4.1 Outline of manual pulse generator operation ............................................................................... 11-24
11.4.2 Manual pulse generator operation execution procedure ............................................................. 11-28
11.4.3 Setting the required parameters for manual pulse generator operation ..................................... 11-29
11.4.4 Creating a program to enable/disable the manual pulse generator operation............................ 11-30
12. Expansion Control 12- 1 to 12-34
12.1 Speed-torque control ...........................................................................................................................12- 2
12.1.1 Outline of speed-torque control ....................................................................................................12- 2