Mitsubishi QD51-R24 User manual

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•SAFETY PRECAUTIONS •
(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 precautions 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.
[Disposal Precautions]
!DANGER
•Please refer to the manual for each station concerning the operating status of each station when
communications errors occur in the station. There is danger of accidents due to wrong outputs
or wrong operations.
•When connecting a peripheral device to the CPU module or performing control of a
programmable controller which is being run through a BASIC program, configure an interlock
circuit in the sequence program so that the system overall is operating on the safe side at all
times. Also before exercising other control (program change, operating status change (status
control)) on the running programmable controller, read the manual carefully and fully confirm
safety. Especially for the above control on the remote programmable controller from, an
immediate action may not be taken for programmable controller trouble due to a data
communication fault. In addition to configuring up the interlock circuit in the sequence program,
corrective and other actions to be taken as a system for the occurrence of a data
communication fault should be predetermined between and programmable controller CPU.
•Do not write data to the "System Area" in the intelligent function module's buffer memory.
Also, do not turn ON the "Use Prohibited" output signals among the output signals from the
programmable controller CPU to the intelligent function module.
If data are written to the "System Area" or output in response to "Use Prohibited" signals, there
is danger that the programmable controller system will malfunction.

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[Disposal Precautions]
!CAUTION
•Do not bunch the control wires or communication cables with the main circuit or power wires, or
install them close to each other. They should be installed 100mm (3.94 in.) or more away from
each other.
Not doing so could result in noise that would cause erroneous operation.
•If a BASIC program is registered in the flash ROM in the module, do not power OFF or reset the
programmable controller CPU at the station where the module is installed during registration.
If it is performed during registration, the data contents in the flash ROM will be erratic and it will
be necessary to reset the setting values, etc. in the buffer memory and register them again in
the flash ROM. It could also cause the module to break down or malfunction.
[Installation Precautions]
!CAUTION
•Use the programmable controller in an environment that meets the general specifications
contained in the user's manual of the CPU module to use.
Using this programmable controller in an environment outside the range of the general
specifications could result in electric shock, fire, erroneous operation, and damage to or
deterioration of the product.
•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.
Incorrect loading of the module can cause a malfunction, failure or drop.
When using the programmable controller in the environment of much vibration, tighten the
module with a screw.
•Tighten the screw in 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 screw or
module.
•Completely turn off the externally supplied power used in the system before mounting or
removing the module.
Not doing so could result in damage to the product.
•Do not directly touch the conductive area or electronic components of the module.
Doing so may cause malfunction or failure in the module.

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[Wiring Precautions]
!CAUTION
•When turning on the power supply or operating the module after installation or wiring work, be
sure that the module's terminal covers are correctly attached. Not attaching the terminal cover
could result in electric shock.
•External connections shall be crimped or pressure welded with the specified tools, or correctly
soldered.
Imperfect connections could result in short circuit, fires, or erroneous operation.
•Securely insatll the connector to the module.
•Be sure to fix communication cables leading from the module by placing them in the duct or
clamping them.
Cables not placed in the duct or without clamping may hang or shift, allowing them to be
accidentally pulled, which may cause a module malfunction and cable damage.
•When connecting cables, be sure to do so correctly after confirming the type of interface you are
connecting to. If connection is made to a different interface or if wiring is faulty, it could cause
the module or external device to break down.
•Tighten the terminal screws with the specified torque.
If the terminal screws are loose, it could result in short circuits, fire, or erroneous operation.
Tightening the terminal screws too far may cause damages to the screws and/or the module,
resulting in fallout, short circuits, or malfunction.
•When disconnecting the communications cable or power cable that is connected to the module,
do not disconnect it by grasping the cable with your hand and pulling it.
Disconnect cables with connectors attached by taking hold of the connector at the connection
with the module and pulling the connector. For cables connected to a terminal block, remove the
cable after loosening the terminal block screws.
If the cable is pulled while it is connected to the module, it could cause malfunction or damage
the module or the cable.
•Be sure there are no foreign substances such as sawdust or wiring debris inside the module.
Such debris could cause fires, damage, or erroneous operation.
•The module has an ingress prevention label on its top to prevent foreign matter, such as wire
offcuts, from entering the module during wiring.
Do not peel this label during wiring.
Before starting system operation, be sure to peel this label because of heat dissipation.

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[Startup and Maintenance precautions]
!CAUTION
•Do not disassemble or modify the modules.
Doing so could cause trouble, erroneous operation, injury, or fire.
•Completely turn off the externally supplied power used in the system before mounting or
removing the module. Not doing so could result in damage to the product.
•Do not install/remove the module to/from the base unit, or the terminal block to/from the module
more than 50 times after the first use of the product. (IEC 61131-2 compliant)
Failure to do so may cause malfunction.
•Do not touch the terminals while power is on.
Doing so could cause shock or erroneous operation.
•Switch off all phases of the externally supplied power used in the system when cleaning the
module or retightening the terminal or module fixing screws.
Not doing so could result in electric shock.
Undertightening of terminal screws can cause a short circuit or malfunction.
Overtightening of screws can cause damages to the screws and/or the module, resulting in
fallout, short circuits, or malfunction.
•Before touching the module, always touch grounded metal, etc. to discharge static electricity
from human body, etc.
Not doing so can cause the module to fail or malfunction.
[Operating Precautions]
!CAUTION
•When performing control (in particular, changing data, changing a program or changing the
operation status (status control)) of the programmable controller during operation using a BASIC
program, do so only after reading the user's manual thoroughly and taking adequate safety
precautions.
If there are errors when changing data, changing a program or in status control, it could result in
system malfunction, or cause mechanical damage or accidents.
[Disposal Precautions]
!CAUTION
•When disposing of this product, treat 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
Apr., 2000 SH(NA)-080089-A First printing
Sep., 2000 SH(NA)-080089-B Addition
Section 1.3, Section 2.3, 2.3.1, 2.3.2, 2.4
Dec., 2003 SH(NA)-080089-C Correction
Section 2.1, 6.2
Correction
SAFETY PRECAUTIONS, About Manuals, Conformation to the EMC
Directive and Low Voltage Instruction, About the Generic Terms and
Abbreviations, Chapter 1, Section 2.1, 2.3, 2.4, 2.5, Section 3.1, 3.2.1,
3.3.2(2), 3.8.1, Section5.1, 5.5.1
Term change
Before change After change
GPPW GX Developer
MELSECNET/10H MELSECNET/H
Oct., 2004 SH(NA)-080089-D
Feb., 2006 SH(NA)-080089-E Correction
SAFETY PRECAUTIONS, About Manuals, Conformation to the EMC
Directive and Low Voltage Instruction, How to read this manual, and
Configuration, Section 1.1 to 1.3, Section 2.1, 2.5, Section 3.1, 3.2.1,
3.3.1, 3.3.3, 3.4, 3.5, 3.5.1 to 3.5.7, 3.6 to 3.8, 3.8.1, 3.8.2, 3.9, 3.10,
3.10.1 to 3.10.3, 3.11, 3.11.1 to 3.11.4, 3.12.1, 3.13.1, 3.13.2,
Section 4.1, 4.2, 4.2.1, 4.2.2, 4.3, 4.3.2, 4.4.1, 4.4.5, 4.5, 4.5.3, 4.5.4,
4.8.2, Section 5.2 to 5.5, 5.5.2, 5.6.1, 5.6.2, Section 6.1, 6.2,
Appendix-1, Appendix-2, Appendix-2.1, Appendix-3
Deletion
Appendix-2.2 (incorporated into Appendix-2.1)
Oct.,2006 SH(NA)-080089-F Correction
SAFETY PRECAUTIONS, Section 2.1
Aug.,2008 SH(NA)-080089-G
Change of a term
"PLC" was changed to "programmable controller".
Correction
SAFETY PRECAUTIONS, Compliance with the EMC and Low Voltage
Directives, About The Generic Terms and Abbreviations, Section 1.2,
2.1, 2.3, 2.4, 2.6, 3.1 to 3.3, 5.1, 5.3 to 5.5, 5.6.2, 5.7, 6.2, Appendix-3
Japanese Manual Version SH-080092-H
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.
©2000 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION
Thank you for purchasing the MELSEC-Q series programmable controller.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Q series programmable controller you have purchased, so as to ensure correct use.
CONTENTS
SAFETY PRECAUTIONS..............................................................................................................................A- 1
REVISIONS ....................................................................................................................................................A- 5
CONTENTS....................................................................................................................................................A- 6
About Manuals ...............................................................................................................................................A- 9
Conformation to the EMC Directive and Low Voltage Instruction ................................................................A- 9
How to read this manual, and Configuration .................................................................................................A-10
About The Generic Terms and Abbreviations...............................................................................................A-11
Meaning of Terms and Their Contents..........................................................................................................A-13
Product Configuration ....................................................................................................................................A-13
1 OVERVIEW 1- 1 to 1- 9
1.1 Operation Overview for QD51 (-R24)..................................................................................................... 1- 2
1.2 Features of QD51 (-R24) ........................................................................................................................ 1- 4
1.3 About the Function Added/Changed to the Function Version B ........................................................... 1- 9
2 SYSTEM CONFIGURATION AND USABLE FUNCTIONS 2- 1 to 2-11
2.1 Application Systems................................................................................................................................ 2- 1
2.2 Combining the Opposite Party's Device and the Programmable controller CPU................................. 2- 4
2.3 For Use in Multiple CPU System ............................................................................................................ 2- 6
2.4 For Use with Redundant CPUs .............................................................................................................. 2- 7
2.5 For Use at MELSECNET/H Remote I/O Station.................................................................................... 2- 8
2.6 How to confirm the function version ....................................................................................................... 2-10
3 SPECIFICATIONS 3- 1 to 3-66
3.1 Performance Specifications .................................................................................................................... 3- 1
3.2 RS-232 Interface Specifications ............................................................................................................. 3- 3
3.2.1 RS-232 connector specifications ..................................................................................................... 3- 3
3.2.2 RS-232 cable specifications............................................................................................................. 3- 4
3.3 RS-422/485 Interface Specifications ...................................................................................................... 3- 5
3.3.1 RS-422/485 terminal block specifications ....................................................................................... 3- 5
3.3.2 RS-422/485 cable specifications ..................................................................................................... 3- 6
3.3.3 Cautions during data communications with a RS-422/485 line...................................................... 3- 7
3.4 List of Commands and Functions in AD51H-BASIC.............................................................................. 3-10
3.5 QD51 (-R24) Internal Memory ................................................................................................................ 3-16
3.5.1 Program area.................................................................................................................................... 3-18
3.5.2 Buffer memory.................................................................................................................................. 3-20
3.5.3 Common memory............................................................................................................................. 3-23
3.5.4 Expansion register (ED0 to ED1023) .............................................................................................. 3-26

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3.5.5 Special register (ED9000 to ED9127) ............................................................................................. 3-31
3.5.6 Expansion relay (EM0 to EM1023).................................................................................................. 3-35
3.5.7 Special relay (EM9000 to EM9127)................................................................................................. 3-38
3.6 Receive Buffer......................................................................................................................................... 3-41
3.7 List of GX Developer Setting Items for the QD51 (-R24)....................................................................... 3-42
3.8 List of Input/Output Signals From/To the Programmable controller CPU............................................. 3-43
3.8.1 Input (X) detailed explanation .......................................................................................................... 3-45
3.8.2 Output (Y) detailed explanation ....................................................................................................... 3-49
3.9 Relationship between the QD51 (-R24) Start Condition and the Flash ROM Execution
Program Area.......................................................................................................................................... 3-53
3.10 QD51 (-R24) Operation when the Power is Turned On ...................................................................... 3-54
3.10.1 In the case of the programming mode........................................................................................... 3-54
3.10.2 In the case of the multitask debug mode ...................................................................................... 3-55
3.10.3 In the case of the run mode ........................................................................................................... 3-56
3.11 Running a Task (a created program) ................................................................................................... 3-57
3.11.1 Conditions for permitting running of a task and start conditions................................................... 3-57
3.11.2 Starting by turning the power on or by reset (start condition: START) ........................................ 3-58
3.11.3 Starting by an interrupt from the programmable controller CPU (Start Condition: IT)................. 3-60
3.11.4 Starting by a start request from another task (Start condition: BOOT, ON)................................. 3-61
3.12 Running a BASIC Program by Multitask Processing........................................................................... 3-63
3.12.1 Multitask processing....................................................................................................................... 3-63
3.13 BASIC Program Priority Order (Priority)............................................................................................... 3-64
3.13.1 Synchronizing execution between BASIC programs (Event control) ........................................... 3-65
3.13.2 Sharing equipment (Resources) by multitasking .......................................................................... 3-66
4 ABOUT QD51 (-R24) FUNCTIONS 4- 1 to 4-24
4.1 List of Functions ...................................................................................................................................... 4- 1
4.2 Communications with a Console / Terminal........................................................................................... 4- 2
4.2.1 Communications with a console ...................................................................................................... 4- 3
4.2.2 Communications with a terminal...................................................................................................... 4- 6
4.3 Printing by a Printer................................................................................................................................. 4-10
4.3.1 Printing from a printer connected to an interface that is not set in the console ............................. 4-11
4.3.2 Printing from a printer connected to the console ............................................................................ 4-13
4.4 Communications with the External Device............................................................................................. 4-14
4.4.1 If data are being sent ....................................................................................................................... 4-14
4.4.2 If data are received........................................................................................................................... 4-15
4.5 Communications with the Programmable controller CPU ..................................................................... 4-16
4.5.1 ON/OFF data communications by general output (X/Y)................................................................. 4-17
4.5.2 Reading and writing data from/to buffer memory............................................................................ 4-18
4.5.3 Reading and writing data from/to the programmable controller CPU ............................................ 4-19
4.5.4 Reading and writing data from/to the programmable controller CPU's expansion file register..... 4-20
4.6 Reading and Writing Data from/to the Buffer Memory of Another Intelligent Function Module/
Special Function Module ........................................................................................................................ 4-21
4.7 Reading and Writing Clock Data ............................................................................................................ 4-22
4.8 Data Communications Between Tasks .................................................................................................. 4-23
4.8.1 ON/OFF data communications by expansion relay (EM) ............................................................... 4-23
4.8.2 Data communications by expansion register (ED).......................................................................... 4-24

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4.8.3 Data communications by common memory.................................................................................... 4-24
5 SETTINGS AND PROCEDURES UP UNTIL OPERATION 5- 1 to 5-17
5.1 Handling Precautions.............................................................................................................................. 5- 1
5.2 Settings and Procedures Up Until Operation ......................................................................................... 5- 2
5.3 Names of Parts and Functions ............................................................................................................... 5- 3
5.4 Connection with a Console, Debugger................................................................................................... 5- 4
5.5 Connection with the External Device...................................................................................................... 5- 5
5.5.1 Connecting to the RS-232 interface ................................................................................................ 5- 6
5.5.2 Connecting to the RS-422/485 interface ......................................................................................... 5- 8
5.6 Setting from the GX Developer............................................................................................................... 5-11
5.6.1 I/O assignment settings.................................................................................................................... 5-11
5.6.2 Switch setting for I/O and intelligent function module ..................................................................... 5-12
5.6.3 Intelligent function module interrupt point settings .......................................................................... 5-16
5.7 Maintenance, Checks ............................................................................................................................. 5-17
6 EXCLUSIVE COMMANDS 6- 1 to 6- 2
6.1 Exclusive Command List and Available Devices ................................................................................... 6- 1
6.2 Z(P). YCHECK ........................................................................................................................................ 6- 2
7 TROUBLESHOOTING 7- 1 to 7- 3
7.1 About QD51 (-R24) Status Checks ........................................................................................................ 7- 1
7.1.1 Checking the LED lighting status, communications error status and QD51 (-R24) switch
setting status .................................................................................................................................... 7- 1
7.1.2 Errors that occur in BASIC............................................................................................................... 7- 3
APPENDIX App- 1 to App- 7
Appendix-1 Comparison of Functions with Previous Modules ................................................................App- 1
Appendix-2 About Use of Programs from Previous Modules ..................................................................App- 2
Appendix 2.1 About use of A1SD51S, AD51H-S3 programs ..............................................................App- 2
Appendix-3 External Dimensions .............................................................................................................App- 6
INDEX Index- 1 to Index- 2