Mitsubishi Electric MELSEC-A/QnA Series - 7.6 AD70

7 POSITIONING MODULE REPLACEMENT
7 - 43
7.6.1 Performance specifications comparison
7.6 AD70
: Compatible, : Partial change required, ×: Incompatible
Item
Model
AD70 QD73A1
Compat-
ibility
Precautions for
replacement
Number of control axes 1 axis 1 axis
Positioning
data
Capacity 1 data 1 data
Setting
method
Sequence program Sequence program
Positioning
Mode
Position control mode
(Positioning, two-phase trapezoidal
positioning)
Speed-position control switch mode
Position control mode
(Positioning, two-phase trapezoidal
positioning)
Speed-position control switch mode
System
Position control mode:
Absolute system/incremental system
Speed-position control switch mode:
Incremental system
Position control mode:
Absolute system/incremental system
Speed-position control switch mode:
Incremental system
Position
command
-2147483648 to 2147483647 (pulse)
(32-bit signed binary)
-2147483648 to 2147483647 (pulse)
(32-bit signed binary)
Speed
command
1 to 400,000 (pulse/s) 1 to 4,000,000 (pulse/s)
The specification has
improved.
(Upward-compatibility)
Acceleration/
deceleration
Automatic trapezoidal acceleration/
deceleration
Automatic trapezoidal acceleration/
deceleration
Automatic
acceleration/
deceleration
Acceleration time: 2 to 9999 (ms)
Deceleration time: 2 to 9999 (ms)
Acceleration time: 2 to 9999 (ms)
Deceleration time: 2 to 9999 (ms)
In-position
range
1 to 2047 pulse 1 to 20479 pulse
The specification has
improved.
(Upward-compatibility)
Backlash
compensation
× ×
Error
correction
function
× ×
Speed command output
0 to ±10VDC
(Adjustable to set in the range of ±5 to
±10VDC)
0 to ±10VDC
(Adjustable to set in the range of ±5 to
±10VDC)
Positioning
feedback
pulse input
Pulse
frequency
Open collector : 100kpulse/s
TTL: 100kpulse/s
Differential output: 100kpulse/s
Open collector: 200kpulse/s
TTL: 200kpulse/s
Differential output: 1Mpulse/s
The specification has
improved.
(Upward-compatibility)
Connectable
encoder type
Open collector, TTL, or differential output Open collector, TTL, or differential output
Multiplica-tion
setting
The number of input feedback pulses can
be multiplied by 4, 2, 1, or 1/2.
The number of input feedback pulses can
be multiplied by 4, 2, 1, or 1/2.
OPR control Available (2 method) Available (2 method)
The setting method is
changed from a hardware
switch to PLC parameter of a
CPU module. The function is
the same though the setting
method is changed.
JOG operation
Starting time
Absolute system: 4.4ms
*1
Incremental system: 4.5ms
*1
JOG operation: 4.3ms
OPR (near-point dog method): 4.4ms
OPR (count method): 5.1ms
Absolute system: 1.2ms
*1
Incremental system: 1.2ms
*1
JOG operation: 1.2ms
OPR (near-point dog method): 1.2ms
OPR (count method): 1.2ms
The specification has
improved.
(Upward-compatibility)
M function × ×