Mitsubishi QD70P4 User manual

Type QD70
Positioning Module
User’s Manual
(Hardware)
QD70P4
QD70P8
Thank you for buying the Mitsubishi general-purpose programmable
controller MELSEC-Q Series.
Prior to use, please read both this manuals and detailed manual
thoroughly and familiarize yourself with the product.
MODEL QD70P-U-H-JE
MODEL
CODE 13JT42
IB(NA)-0800169-F(0808)MEE
2001 MITSUBISHI ELECTRIC CORPORATION

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zSAFETY PRECAUTIONS z
(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.
These instructions apply only to Mitsubishi equipment. Refer to CPU module
User's Manual for a description of the programmable controller system safety
instructions.
In this manual, the safety instructions are ranked as "DANGER" and "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.
[Installation Precautions]
CAUTION
zUse the programmable controller in an environment that meets the general specifications
contained in CPU module User's Manual 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.
zWhile 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.
Securely fix the module with screws if it is subject to vibration or shock during use.
Tighten the screw in the specified torque range.
Undertightening can cause a drop, short circuit or malfunction.
Overtightening of screws can cause damages to the screws and/or the module,
resulting in fallout, short circuits, or malfunction.
zCompletely turn off the externally supplied power used in the system when mounting or
removing the module.
Not doing so may cause damage to the module.
zDo not directly touch the module's conductive parts or electronic components.
Touching the conductive parts could cause an operation failure or give damage to the
module.
DANGER
CAUTION

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[Wiring Precautions]
DANGER
zCompletely turn off the externally supplied power used in the system when installing or
placing wiring.
Not doing so may cause electric shock or damage to the product.
CAUTION
zCheck the layout of the terminals and then properly route the wires to the module.
zSolder connectors for external device properly.
Insufficient soldering may cause malfunction.
zBe sure there are no foreign substances such as sawdust or wiring debris inside the
module. Such debris could cause fires, damage, or erroneous operation.
zThe 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.
zSecurely connect the connectors for the drive module to the connectors on the module
and firmly tighten the two screws.
zWhen removing the cable or power supply cable from the module, do not pull the cable.
When removing the cable with a connector, hold the connector on the side that is
connected to the module.
Pulling the cable that is still connected to the module may cause malfunction or damage to
the module or cable.
zThe cable used for connecting the QD70 external input/output signal and the drive module
should not be routed near or bundled with the main circuit cable, power cable and/or other
such load-carrying cables other than those for the PLC. These cables should be
separated by at least 100 mm (3.94 in.). They can cause electrical interference, surges
and inductance that can lead to mis-operation.

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Revisions
* The manual number is noted at the lower left of the back cover.
Print Date *Manual Number Revision
Mar., 2001 IB(NA)-0800169-A First edition
Jun., 2001 IB(NA)-0800169-B Addition
About Manuals
Partial correction
Section 2.2
Dec., 2001 IB(NA)-0800169-C Partial correction
Chapter 1, Section 2.1
Jul., 2002 IB(NA)-0800169-D Partial correction
Chapter 1, Section 2.1
Feb., 2007 IB(NA)-0800169-E Partial correction
Section 2.2, Chapter 3, Chapter 5
Aug., 2008 IB(NA)-0800169-F Partial correction
SAFETY PRECAUTIONS, Compliance
with the EMC and Low Voltage Directives,
ABOUT MANUAL, Chapter 1, Chapter 2,
Chapter 3, Chapter 4, Chapter 5,
Chapter 6, Chapter 7
This manual confers no industrial property rights or any rights of any other kind, nor does it
confer any patent licenses. Mitsubishi electric Corporation cannot be held responsible for
any problems involving industrial property rights which may occur as a result of using the
contents noted in this manual.
2001 MITSUBISHI ELECTRIC CORPORATION

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CONTENTS
1. Overview ........................................................................................................1
2. Specifications.................................................................................................2
2.1 Performance Specifications .....................................................................2
2.2 Electrical Specifications ...........................................................................2
3. Handling.........................................................................................................3
3.1 Handling Precautions ...............................................................................4
4. Part Identification Nomenclature ....................................................................5
5. Wiring.............................................................................................................7
5.1 Wiring Precautions ...................................................................................7
5.2 Input/output interface internal circuit.........................................................9
6. Switch setting for intelligent function module................................................10
7. External Dimensions ....................................................................................11
ABOUT MANUAL
The following manual is related to this product.
In necessary, order it by quoting the details in the table below.
Detailed Manual
Manual name Manual No.
(Model code)
Type QD70 Positioning Module User’s Manual SH-080171
(13JR39)
Compliance with the EMC and Low Voltage Directives
(1) For programmable controller system
To configure a system meeting the requirements of the EMC and Low
Voltage Directives when incorporating the Mitsubishi programmable
controller (EMC and Low Voltage Directives compliant) into other
machinery or equipment, refer to Chapter 9 "EMC AND LOW VOLTAGE
DIRECTIVES" of the QCPU User's Manual (Hardware Design,
Maintenance and Inspection).
The CE mark, indicating compliance with the EMC and Low Voltage
Directives, is printed on the rating plate of the programmable controller.
(2) For the product
To make this product conform to the EMC directive and low voltage
instruction, please refer to Chapter 5 "Wiring".

1
1. Overview
This manual explains how to handle the Positioning Module, model numbers
QD70P4 and QD70P8 (hereinafter collectively referred to as the QD70).
After unpacking the QD70, please verify that the corresponding product as listed
below is enclosed in the package.
Type Component Quantity
QD70P4 Type QD70P4 Positioning Module (4-axis open-collector output
type) 1
QD70P8 Type QD70P8 Positioning Module (8-axis open-collector output
type) 1
SW1D5C-
QPTU-E GX Configurator-PT Version 1 (1-license product) (CD-ROM) 1
SW1D5C-
QPTU-EA GX Configurator-PT Version 1 (Multiple-license product) (CD-ROM) 1
The user should arrange for a connector for external wiring since it is not
provided in the package.
* Connector types
A6CON1 (Soldering type, straight out)
A6CON2 (Pressure displacement type, straight out)
A6CON4 (Soldering type, usable for straight out and diagonal out)
* Pressure-displacement tool
Model name: FCN-363T-T005/H
Supplier’s offices :
FUJITSU AMERICA,INC.
250E Caribbean Drive Sunnyvale, CA 94089 U.S.A
Tel: [phone]
FUJITSU EUROPE B.V.
Jupiterstaat 13-15, our 2132 Hoofddorp, The Netherland
Tel: [phone]
FUJITSU EUROPE B.V. Zweiniederlassung Deutschland
Schatzbogen 86 D-81829 Munchen Germany
Tel: [phone]
FUJITSU EUROPE (UK)
Network House, Morres Drive, Maidenhead, Berkshire, SL6 4FH United
Kingdom
Tel: [phone]
FUJITSU EUROPE B.V.
127 Chemin Des Bassins, Europarc, Cleteril 94035 Cleterll 94035
France
Tel: [phone]
FUJITSU ASIA PACIFIC PTE LIMITED
102E Pasir Panjang Road, #04-01 Citilink Warehouse Complex,
Singapore 118529
Tel: [phone]
FUJITSU HONG KONG CO., LTD.
Suite 913 Ocean Centre, 5 Canton Road, TST, Kowloon, Hong Kong
Tel: [phone]

2
2. Specifications
2.1 Performance Specifications
Specification
Item QD70P4 QD70P8
No. of control axes 4 axes 8 axes
Pulse output method Open collector output
Max. output pulse 200 kpps
Max. connection distance
between QD70 and drive unit 2m
Applicable wire size 0.3 mm2(for use of A6CON1 or A6CON4),
AWG#24 (for use of A6CON2)
External device connection
connector A6CON1, A6CON2, A6CON4 (option)
No. of occupied I/O points 32points
(I/O assignment: intelligent function module 32 points)
Internal current consumption
(5VDC) 0.55A 0.74A
External 24V current
consumption (24VDC) 0.065A 0.12A
Weight 0.15kg 0.17kg
2.2 Electrical Specifications
(1) Input specifications
Signal name
Rated input
voltage
/current
Working
voltage
range
ON voltage
/current
OFF voltage
/current
Input
resistance
Response
time
Zero signal (PG0) 5VDC /18mA 4.5 to
5.5VDC
2.7VDC or
more/5.5mA
or more
1.0VDC or
less/0.5mA
or less
Approx.
270
0.1ms or
less
Near-point dog signal
(DOG)
Speed-position
switching
signal(CHG)
24VDC/5mA 19.2 to
26.4VDC
17.5VDC or
more/3mA or
more
7VDC or less
/0.9mA or
less
Approx.
6.8k
1ms or
less
(2) Output specifications
Signal name
Rated
load
voltage
Working
load voltage
range
Max. load
current/rush
current
Max. voltage
drop at ON
Leakage
current at
OFF
Response
time
Pulse output
(CW/PULSE)
5 to
24VDC
4.75 to
30VDC
50mA/1 point/
200mA 10ms
or less
0.5VDC(TYP) 0.1mA
or less -
Deviation counter
clear (CLEAR)
5 to
24VDC
4.75 to
30VDC
0.1A/1 point/
0.4A 10ms or
less
1VDC(TYP)
2.5VDC(MAX)
0.1mA
or less
2ms or
less
(resistance
load)
(3) External power source (For driving the pulse output circuit)
Signal name Rated input voltage Current consumption
External power source input
(+24V/24G)
24VDC
(+20%/-15)(Ripple rate within 5%)
QD70P4:0.065A,
QD70P8:0.12A
For the general specifications of the QD70, see User’s Manual for the CPU
module used.

3
3. Handling
DANGER
zInstall a safety circuit external to the programmable controller that keeps the entire system
safe even when there are problems with the external power supply or the programmable
controller. Otherwise, trouble could result from erroneous output or erroneous operation.
(1) Configure an emergency stop circuit and interlock circuit such as a positioning upper
limit/lower limit to prevent mechanical damage outside the programmable controller.
(2) The machine OPR operation is controlled by the OPR direction and OPR speed data.
Deceleration starts when the near-point dog turns ON. Thus, if the OPR direction is
incorrectly set, deceleration will not start and the machine will continue to travel.
Configure an interlock circuit to prevent mechanical damage outside the
programmable controller.
(3) When the module detects an error, deceleration stop will take place.
Make sure that the OPR data and positioning data are within the parameter setting
values.
CAUTION
zUse the programmable controller in an environment that meets the general specifications
contained in CPU module User's Manual.
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.
zWhile 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 module in the environment subject to much vibration, secure the module
with a screw.
Tighten the screw in the specified torque range.
Insufficient tightening may lead to dropping, short-circuit, or malfunctioning.
Excessive tightening may damage the screw or module, leading to dropping, short-circuit,
or malfunctioning.
zCompletely turn off the externally supplied power used in the system before mounting or
removing the module. Not doing so may cause damage to the module.
zDo not directly touch the module's conductive parts or electronic components.
Touching the conductive parts could cause an operation failure or give damage to the
module.

4
3.1 Handling Precautions
(1) Since the module case is made of resin, do not drop it or subject it to strong
impact.
(2) Tighten the screws such as module fixing screws within the following
ranges.
If the screw is too loose, it may cause the module to fallout, short circuits, or
malfunction.
If the screws are tightened too much, it may cause damage to the screw
and/or the module, resulting in fallout, short circuits or malfunction.
Screw location Tightening torque range
Module fixing screws (M3 screw)*1 0.36 to 0.48 N m
Connector screw (M2.6 screw) 0.20 to 0.29 N m
*1 The module can be easily fixed onto the base unit using the hook at the top of
the module.
However, it is recommended to secure the module with the module fixing
screw if the module is subject to significant vibration or shock.

5
4. Part Identification Nomenclature
(1) Part identification nomenclature
(a) QD70P4 (b) QD70P8
1)
2)
1)
2)
No. Name No. Name
1) Axis display LED 2) External device connection
connector
(2) LED display contents
Display Attention point Description
RUN AX5AX1
AX6AX2
AX7AX3
ERR.AX8AX4
RUN is OFF.
ERR. and AX1 to AX8
states are unfixed.
Hardware failure.
RUN AX5AX1
AX6AX2
AX7AX3
ERR.AX8AX4
RUN illuminates.
ERR. is OFF.
The module
operates
normally.
RUN AX5AX1
AX6AX2
AX7AX3
ERR.AX8AX4
ERR. illuminates. System error.
RUN AX5AX1
AX6AX2
AX7AX3
ERR.AX8AX4
AX1 to AX8 are OFF. The axes are
stopped or on
standby.
RUN AX5AX1
AX6AX2
AX7AX3
ERR.AX8AX4
AX1 (or other axis)
illuminates.
The
corresponding
axis is in
operation.
QD70P8
RUN
ERR.
AX2
AX1
AX4
AX3
AX6
AX5
AX8
AX7
RUN AX5AX1
AX6AX2
AX7AX3
ERR.AX8AX4
ERR. flashes. AX1 (or
otheraxis) flashes.
An error occurs
on the
corresponding
axis.
The symbols in the Display column indicate the following statuses:
: Turns OFF, : Illuminates, : Flashes