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.

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For Safe Operations
1. Prevention of electric shocks
DANGER
Never open the front case or terminal covers while the power is ON or the unit is running, as this
may lead to electric shocks.
Never run the unit with the front case or terminal cover removed. The high voltage terminal and
charged sections will be exposed and may lead to electric shocks.
Never open the front case or terminal cover at times other than wiring work or periodic
inspections even if the power is OFF. The insides of the module and servo amplifier are charged
and may lead to electric shocks.
Completely turn off the externally supplied power used in the system before mounting or removing
the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks.
When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and
then check the voltage with a tester, etc. Failing to do so may lead to electric shocks.
Be sure to ground the module, servo amplifier and servomotor (Ground resistance: 100 or
less). Do not ground commonly with other devices.
The wiring work and inspections must be done by a qualified technician.
Wire the units after installing the module, servo amplifier and servomotor. Failing to do so may
lead to electric shocks or damage.
Never operate the switches with wet hands, as this may lead to electric shocks.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to electric shocks.
Do not touch the module, servo amplifier, servomotor connector or terminal blocks while the
power is ON, as this may lead to electric shocks.
Do not touch the built-in power supply, built-in grounding or signal wires of the module and servo
amplifier, as this may lead to electric shocks.
2. For fire prevention
CAUTION
Install the module, servo amplifier, servomotor and regenerative resistor on incombustible.
Installing them directly or close to combustibles will lead to fire.
If a fault occurs in the module or servo amplifier, shut the power OFF at the servo amplifier's
power source. If a large current continues to flow, fire may occur.
When using a regenerative resistor, shut the power OFF with an error signal. The regenerative
resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead
to fire.
Always take heat measures such as flame proofing for the inside of the control panel where the
servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may
lead to fire.
Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this
may lead to fire.

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3. For injury prevention
CAUTION
Do not apply a voltage other than that specified in the instruction manual on any terminal.
Doing so may lead to destruction or damage.
Do not mistake the terminal connections, as this may lead to destruction or damage.
Do not mistake the polarity (+ / -), as this may lead to destruction or damage.
Do not touch the heat radiating fins of module or servo amplifier, regenerative resistor and
servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this
timing, these parts become very hot and may lead to burns.
Always turn the power OFF before touching the servomotor shaft or coupled machines, as these
parts may lead to injuries.
Do not go near the machine during test operations or during operations such as teaching.
Doing so may lead to injuries.
4. Various precautions
Strictly observe the following precautions. Mistaken handling of the unit may lead to faults,
injuries or electric shocks.
(1) System structure
CAUTION
Always install a leakage breaker on the module and servo amplifier power source.
If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in
the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor.
Install the emergency stop circuit externally so that the operation can be stopped immediately and
the power shut off.
Use the module, servo amplifier, servomotor and regenerative resistor with the correct
combinations listed in the instruction manual. Other combinations may lead to fire or faults.
Use the CPU module, base unit, and 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.

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CAUTION
The system must have a mechanical allowance so that the machine itself can stop even if the
stroke limits switch is passed through at the max. speed.
Use wires and cables that have a wire diameter, heat resistance and bending resistance
compatible with the system.
Use wires and cables within the length of the range described in the instruction manual.
The ratings and characteristics of the parts (other than module, servo amplifier and servomotor)
used in a system must be compatible with the module, servo amplifier and servomotor.
Install a cover on the shaft so that the rotary parts of the servomotor are not touched during
operation.
There may be some cases where holding by the electromagnetic 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.

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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.

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(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.

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(6) Usage methods
CAUTION
Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the
module, servo amplifier or servomotor.
Always execute a test operation before starting actual operations after the program or parameters
have been changed or after maintenance and inspection.
Do not attempt to disassemble and repair the units excluding a qualified technician whom our
company recognized.
Do not make any modifications to the unit.
Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using
wire shields, etc.
Electromagnetic obstacles may affect the electronic devices used near the module or servo
amplifier.
When using the CE Mark-compliant equipment design, refer to the "EMC Installation Guidelines"
(data number IB(NA)-67339) and refer to the corresponding EMC guideline information for the
servo amplifiers and other equipment.
Note that when the reference axis speed is designated for interpolation operation, the speed of
the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than
the speed limit value).
Use the units with the following conditions.
Item Conditions
Input power According to each instruction manual.
Input frequency According to each instruction manual.
Tolerable momentary
power failure According to each instruction manual.