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Mitsubishi Electric QD77MS - User Manual
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MELSEC-Q
QD77MS Simple Motion Module
User's Manual (Positioning Control)
-QD77MS2
-QD77MS4
-QD77MS16
2
Table of Contents
Main Page
Default Chapter
3
Safety Precautions
3
For Fire Prevention
4
Prevention of Electric Shocks
4
For Injury Prevention
5
Various Precautions
5
Parameter Settings and Programming
6
Transportation and Installation
7
Corrective Actions for Errors
11
Maintenance, Inspection and Part Replacement
11
About Processing of Waste
12
Conditions of Use for the Product
13
Introduction
14
Revisions
15
Table of Contents
16
Compliance with the Emc and Low Voltage Directives
24
CPU Module
24
For Programmable Controller System
24
Relevant Manuals
24
Simple Motion Module
24
Programming Tool
25
Servo Amplifier
25
Manual Page Organization
26
Terms
27
Packing List
28
Section 1 Product Specifications and Handling
29
Chapter 1 Product Outline
31
Positioning Control
32
Features of QD77MS
32
Wide Variety of Control Methods
32
Large Amount of Data
32
Synchronous Control
33
Mark Detection Function
33
High Maintainability
33
Support of Intelligent Function Module Dedicated Instructions
33
Setting, Monitoring, and Testing through GX Works2
34
Compatibility with the LD77MH/QD75MH
34
Forced Stop Function
34
Easy Application to the Absolute Position System
35
Purpose and Applications of Positioning Control
36
Punch Press
36
Palletizer
36
Compact Machining Center (ATC Magazine Positioning)
36
Lifter
37
Index Table (High-Accuracy Indexing of Angle)
37
Inner Surface Grinder
37
Mechanism of Positioning Control
38
Overview of Positioning Control Functions
39
Linear Control
39
2-Axis Linear Interpolation Control
40
Control Using the Increment System
40
Circular Interpolation Control
41
Fixed-Feed Control
42
Speed Control
42
Speed-Position Switching Control
43
Independent Positioning Control and Continuous Positioning Control
44
Continuous Positioning Control
45
Continuous Path Control
46
Block Positioning Control
47
Overview of Acceleration/Deceleration Processing Control
48
Acceleration/Deceleration Method
48
Acceleration Time, Deceleration Time, Sudden-Stop Deceleration Time
48
S-Curve Acceleration/Deceleration Processing Method
48
Outline Design of Positioning System
49
Positioning System Using Simple Motion Module
49
Communicating Signals between QD77MS and each Module
50
Flow of System Operation
54
Flow of All Processes
54
Outline of Starting
56
Flow of Starting
56
Setting Method
57
Outline of Stopping
58
Outline for Restarting
60
When "[CD.6] Restart Command" Is on
60
Chapter 2 System Configuration
61
General Image of System
62
Component List
64
Specifications of Recommended Manual Pulse Generator
65
Serial Absolute Synchronous Encoder Specifications
66
Applicable System
68
Number of Applicable Modules
68
Compatibility with Multiple CPU System
69
How to Check the Function Version and SERIAL No.
70
Checking on the Front of the Module
70
Confirming by the Software
70
Restrictions by the SERIAL No. and Version
71
Chapter 3 Specifications and Functions
73
Performance Specifications
74
List of Functions
76
QD77MS Control Functions
76
Main Functions
76
OPR Control
76
Sub Functions
77
Common Functions
77
QD77MS Main Functions
79
QD77MS Sub Functions
81
QD77MS Common Functions
83
Combination of QD77MS Main Functions and Sub Functions
86
Specifications of Input/Output Signals with PLC CPU
88
List of Input/Output Signals with PLC CPU
88
Details of Input Signals (QD77MS PLC CPU)
91
Details of Output Signals (PLC CPU QD77MS)
93
Specifications of Interfaces with External Devices
95
Electrical Specifications of Input Signals
95
Manual Pulse Generator/Incremental Synchronous Encoder Input
96
Signal Layout for External Input Connection Connector
97
List of Input Signal Details
99
Interface Internal Circuit
102
External Circuit Design
106
Chapter 4 Installation, Wiring and Maintenance of the Product
119
Outline of Installation, Wiring and Maintenance
120
Installation, Wiring and Maintenance Procedures
120
Names of each Part
121
Handling Precautions
123
Other Precautions
124
Main Body
124
Cable
124
Installation Environment
124
Precautions for Installation
125
Precautions for Wiring
126
Wiring Example of Shielded Cable
129
Precautions for Wiring
129
Grounding of FG Wire
130
Processing Example of Shielded Cables
131
Connections of FG Wire and each Shielded Cable
131
Assembling of Connector (A6CON1)
131
How to Ground Shielded Cable Using AD75CK
132
Precautions for SSCNET III Cable Wiring
133
Minimum Bend Radius
133
Tension
133
Lateral Pressure
133
Twisting
134
Disposal
134
Wiring Process of SSCNET III Cable
134
Bundle Fixing
135
Example of Measure against Noise for Compliance with the EMC Directive
136
Confirming the Installation and Wiring
137
Items to Confirm When Installation and Wiring Are Completed
137
Precautions for Maintenance
138
Disposal Instructions
138
Chapter 5 Data Used for Positioning Control
139
Types of Data
140
Parameters and Data Required for Control
140
Setting Data
140
Monitor Data
143
Control Data
143
Setting Items for Positioning Parameters
144
Checking the Positioning Parameters
145
Setting Items for OPR Parameters
146
Checking the OPR Parameters
146
Setting Items for Expansion Parameters
147
Setting Items for Servo Parameters
147
Setting Items for Positioning Data
148
Setting Items for Block Start Data
150
Setting Items for Condition Data
151
Types and Roles of Monitor Data
152
Monitoring the Positioning System Operation History
152
Monitoring the Axis Operation State
154
Monitoring the Position
154
Monitoring the Speed
154
Monitoring the Status of Servo Amplifier
155
Monitoring the State
155
Types and Roles of Control Data
157
Setting and Resetting the Setting Data
157
Controlling the Operation
158
Controlling the Speed
159
Change Operation Mode
159
Making Settings Related to Operation
159
List of Parameters
161
Basic Parameters 1
161
Unit Setting
162
Electronic Gear (Movement Amount Per Pulse)
162
Number of Pulses Per Rotation (AP)
164
Movement Amount Per Rotation (AL), [Pr.4] Unit Magnification (AM)
164
Bias Speed at Start
165
Precautionary Notes
166
Speed Limit Value
167
Basic Parameters 2
167
Detailed Parameters 1
168
Backlash Compensation Amount
170
Software Stroke Limit Upper Limit Value
171
Software Stroke Limit Lower Limit Value
171
Software Stroke Limit Selection
172
Software Stroke Limit Valid/Invalid Setting
172
Command In-Position Width
172
Torque Limit Setting Value
172
M Code on Signal Output Timing
173
Speed Switching Mode
174
Interpolation Speed Designation Method
174
Current Feed Value During Speed Control
175
Input Signal Logic Selection
175
External Input Signal Selection
176
Manual Pulse Generator/Incremental Synchronous Encoder Input Selection
177
A-Phase/B-Phase Mode
177
Pls/Sign
178
Speed-Position Function Selection
178
Forced Stop Valid/Invalid Selection
178
Detailed Parameters 2
179
Deceleration Time 1 to [Pr.30] Deceleration Time 3
181
JOG Speed Limit Value
181
JOG Operation Acceleration Time Selection
181
JOG Operation Deceleration Time Selection
181
Acceleration/Deceleration Process Selection
182
S-Curve Ratio
182
Sudden Stop Deceleration Time
183
Stop Group 3 Sudden Stop Selection
183
Positioning Complete Signal Output Time
184
Allowable Circular Interpolation Error Width
185
External Command Function Selection
186
Speed Control 10 X Multiplier Setting for Degree Axis
186
Restart Allowable Range When Servo off to on
187
Servo Emergency Stop Processing
187
Processing at Switching the Servo on Signal from off to on
187
Operation Setting for Speed-Torque Control Mode
190
Speed Initial Value Selection
190
Condition Selection at Mode Switching
190
External Command Signal Selection
191
OPR Basic Parameters
191
OPR Method
192
Near-Point Dog Method
193
Count Method
193
Data Set Method
194
Scale Origin Signal Detection Method
194
OPR Direction
195
OP Address
196
OPR Speed
196
Creep Speed
197
OPR Retry
198
Operation for OPR Retry Function
198
OPR Detailed Parameters
199
Setting for the Movement Amount after Near-Point Dog on
200
OPR Acceleration Time Selection
200
OPR Deceleration Time Selection
201
OP Shift Amount
201
OPR Torque Limit Value
202
Operation Setting for Incompletion of OPR
202
Start/Restart Impossible Control
202
Speed Designation During OP Shift
203
Dwell Time During OPR Retry
203
Expansion Parameters
204
Operation Cycle Setting
207
SSCNET Setting
207
External Command Signal Compensation Valid/Invalid Setting
208
Servo Parameters
209
Servo Series
209
Parameters of MR-J4(W)-B/MR-JE-B
209
Basic Setting Parameters
210
Gain/Filter Setting Parameters
211
Extension Setting Parameters
212
I/O Setting Parameters
213
Extension Setting 2 Parameters
214
Special Setting Parameters
215
Extension Setting 3 Parameters
215
Option Setting Parameters
216
Linear Servo Motor/DD Motor Setting Parameters
216
Parameters of MR-J3(W)-B
217
Gain/Filter Parameters
218
Expansion Setting Parameters
219
Input/Output Setting Parameters
219
Extension Control Parameters
220
List of Positioning Data
222
Guide to Buffer Memory Address
223
Operation Pattern
226
Control Method
226
Acceleration Time No.
226
Deceleration Time No.
227
Axis to be Interpolated
227
Positioning Address/Movement Amount
227
Absolute (ABS) System, Current Value Changing
227
Position-Speed Switching Control
228
When "[Pr.1] Unit Setting" Is "MM"
229
When "[Pr.1] Unit Setting" Is "Degree"
230
When "[Pr.1] Unit Setting" Is "PLS"
231
When "[Pr.1] Unit Setting" Is "Inch"
232
Arc Address
232
Command Speed
234
Dwell Time/Jump Designation Positioning Data No.
235
M Code/Condition Data No./Number of LOOP to LEND Repetitions
236
List of Block Start Data
238
Shape
242
Special Start Instruction
242
Parameter
242
List of Condition Data
243
Condition Target
248
Condition Operator
248
Address
248
List of Monitor Data
252
Axis Monitor Data
266
List of Control Data
296
Axis Control Data
304
Chapter 6 Sequence Program Used for Positioning Control
341
Precautions for Creating Program
342
Reading/Writing the Data
342
Restrictions to Speed Change Execution Interval
342
Process During Overrun
342
Control Unit
343
Communication with the Simple Motion Module
343
List of Devices Used
346
Inputs/Outputs, External Inputs/External Outputs, and Internal Relays
346
Creating a Program
356
General Configuration of Program
356
Positioning Control Operation Program
357
Positioning Program Examples
361
Program Details
393
Initialization Program
393
Start Details Setting Program
394
Start Program
396
Servo on Conditions
397
Starting Conditions
397
Starting by Inputting Positioning Start Signal
398
Operation When Starting
398
Starting Time Chart
399
Time Chart for Starting "Major Positioning Control"
401
Time Chart for Starting "Speed-Position Switching Control"
402
Time Chart for Starting "Position-Speed Switching Control"
403
Machine OPR Operation Timing and Process Time
404
Position Control Operation Timing and Process Time
405
Starting by Inputting External Command Signal
406
Restrictions
406
Data Required to be Set
406
Continuous Operation Interrupt Program
408
Operation During Continuous Operation Interruption
408
Control Data Requiring Settings
409
Restart Program
410
Restart Operation
410
Control Data Requiring Setting
411
Time Chart for Restarting
412
Stop Program
413
Stop Process
413
Types of Stop Processes
414
Deceleration Stop
414
Sudden Stop
414
Immediate Stop
414
Order of Priority for Stop Process
415
Inputting the Stop Signal During Deceleration
416
Memory Configuration and Data Process
417
Configuration and Roles of QD77MS Memory
418
Details of Areas
419
Buffer Memory Area Configuration
421
Data Transmission Process
423
Transmitting Data When Power Is Turned on or PLC CPU Is Reset
424
Transmitting Data with to Command from PLC CPU
424
Accessing with from Command from PLC CPU
425
Reading the Servo Parameter from the Servo Amplifier
425
Writing the Flash ROM by a PLC CPU Request
427
Writing the Flash ROM by a GX Works2 Request
427
Reading Data from Buffer Memory/Internal Memory to GX Works2
429
Writing Data from GX Works2 to Buffer Memory/Internal Memory
429
About the Communication Start with Servo Amplifier
431
Servo Parameter of the Buffer Memory/Internal Memory
432
Control Details and Setting
437
Chapter 8 Two Types of OPR Control
440
Machine OPR
440
OPR Request
441
When Not Using an Absolute Position System
441
When Using an Absolute Position System
441
Wiring the Near-Point Dog
442
OPR Sub Functions
443
When an OPR Is Not Required
443
OPR from GX Works2
443
Outline of the Machine OPR Operation
444
Machine OPR Operation
444
Machine OPR Method
445
OPR Method (1): Near-Point Dog Method
446
Precautions During Operation
447
Operation Chart
448
OPR Method (2): Count Method 1)
448
OPR Method (3): Count Method 2)
450
OPR Method (4): Data Set Method
452
OPR Method (5): Scale Origin Signal Detection Method
453
Fast OPR
456
Outline of the Fast OPR Operation
456
Operation Timing and Processing Time of Fast OPR
457
Operating Restrictions
457
Normal Timing Time
457
Selection of the OPR Setting Condition
458
Outline of the OPR Setting Condition
458
Data Setting
458
Chapter 9 Major Positioning Control
459
Outline of Major Positioning Controls
460
Data Required for Major Positioning Control
462
Major Positioning Control Sub Functions
462
Major Positioning Control from GX Works2
462
Operation Patterns of Major Positioning Controls
463
Independent Positioning Control (Positioning Complete)
464
Operation During Continuous Positioning Control
465
Deceleration Stop Conditions During Continuous Path Control
467
Speed Handling
469
Speed Switching
470
Standard Speed Switching Mode
470
Speed Switching Condition
471
Front-Loading Speed Switching Mode
471
Operation for the Front-Loading Speed Switching Mode
472
Designating the Positioning Address
473
Absolute System
473
Incremental System
473
Confirming the Current Value
474
Values Showing the Current Value
474
Current Feed Value and Machine Feed Value
474
Monitoring the Current Value
475
Control Unit "Degree" Handling
476
Current Feed Value and Machine Feed Value Addresses
476
Setting to Validate Software Stroke Limit
476
Positioning Control Method When the Control Unit Is Set to "Degree"
477
When the Software Stroke Limit Is Valid
478
Interpolation Control
479
Meaning of Interpolation Control
479
Setting the Positioning Data During Interpolation Control
480
Starting the Interpolation Control
481
Interpolation Control Continuous Positioning
481
Speed During Interpolation Control
481
Cautions in Interpolation Control
481
Limits to Interpolation Control
482
Axis Operation Status During Interpolation Control
482
Setting the Positioning Data
484
Relation between each Control and Positioning Data
484
1-Axis Linear Control
486
Positioning Data Setting Example
487
1-Axis Linear Control (INC Linear 1)
488
2-Axis Linear Interpolation Control
490
2-Axis Linear Interpolation Control (INC Linear 2)
493
3-Axis Linear Interpolation Control
496
3-Axis Linear Interpolation Control (INC Linear 3)
499
4-Axis Linear Interpolation Control
502
1-Axis Fixed-Feed Control
507
2-Axis Fixed-Feed Control (Interpolation)
510
3-Axis Fixed-Feed Control (Interpolation)
512
4-Axis Fixed-Feed Control (Interpolation)
517
2-Axis Circular Interpolation Control with Sub Point Designation
520
2-Axis Circular Interpolation Control with Center Point Designation
526
Circular Interpolation Error Compensation
527
1-Axis Speed Control
534
2-Axis Speed Control
537
3-Axis Speed Control
541
4-Axis Speed Control
545
Speed-Position Switching Control (INC Mode)
550
Speed-Position Switching Control (ABS Mode)
561
Position-Speed Switching Control
570
Current Value Changing
580
NOP Instruction
585
JUMP Instruction
586
Loop
588
Lend
590
High-Level Positioning Control 10- 1 to
593
Outline of High-Level Positioning Control
594
High-Level Positioning Control Sub Functions
594
High-Level Positioning Control from GX Works2
594
Data Required for High-Level Positioning Control
595
Block Start Data" and "Condition Data" Configuration
596
High-Level Positioning Control Execution Procedure
598
Setting the Block Start Data
599
Relation between Various Controls and Block Start Data
599
Block Start (Normal Start)
600
Block Start Data Setting Example
600
Control Examples
601
Condition Start
602
Wait Start
603
Simultaneous Start
604
Repeated Start (for Loop)
605
Repeated Start (for Condition)
606
Restrictions When Using the NEXT Start
607
Setting the Condition Data
608
Relation between Various Controls and the Condition Data
608
Condition Data Setting Examples
611
Multiple Axes Simultaneous Start Control
613
Control Details
613
Multiple Axes Simultaneous Start Control Procedure
614
Multiple Axes Simultaneous Start Control Function Setting Method
615
Setting Examples
616
Start Program for High-Level Positioning Control
618
Example of a Start Program for High-Level Positioning Control
619
Control Data that Require Setting
619
Start Conditions
619
Start Time Chart
620
Creating the Program
621
Manual Control
623
Outline of Manual Control
624
Three Manual Control Methods
624
JOG Operation
624
Inching Operation
624
Manual Pulse Generator Operation
625
Manual Control Sub Functions
625
Carrying out Manual Control from GX Works2
625
Monitoring Manual Control
625
Outline of JOG Operation
626
JOG Operation Timing and Processing Time
628
JOG Operation Execution Procedure
629
Setting the Required Parameters for JOG Operation
630
Creating Start Programs for JOG Operation
632
Required Control Data Setting
632
JOG Operation Example
634
Outline of Inching Operation
637
Operations When Stroke Limit Error Occurs
638
Inching Operation Timing and Processing Times
639
Inching Operation Execution Procedure
640
Setting the Required Parameters for Inching Operation
641
Creating a Program to Enable/Disable the Inching Operation
642
Inching Operation Example
644
Outline of Manual Pulse Generator Operation
646
Manual Pulse Generator Operation Execution Procedure
650
Setting the Required Parameters for Manual Pulse Generator Operation
651
Creating a Program to Enable/Disable the Manual Pulse Generator Operation
652
Outline of Speed-Torque Control
656
Setting the Required Parameters for Speed-Torque Control
658
Setting the Required Data for Speed-Torque Control
659
Required Control Data Setting for the Torque Control Mode
660
Operation of Speed-Torque Control
661
Switching Method of Control Mode
661
Precautions at Control Mode Switching
662
Operation for "Position Control Mode Speed Control Mode Switching"
662
Operation for Speed Control Mode
676
Current Feed Value During Speed Control Mode
676
Stop Cause During Speed Control Mode
677
Operation for Torque Control Mode
678
Speed During Torque Control Mode
680
Current Feed Value During Torque Control Mode
680
Stop Cause During Torque Control Mode
681
Continuous Operation to Torque Control Mode
682
Operation for Continuous Operation to Torque Control Mode
682
Torque Command Setting Method
683
Speed Limit Value Setting Method
684
Precautions at Continuous Operation to Torque Control Mode
684
Speed During Continuous Operation to Torque Control Mode
685
Current Feed Value During Continuous Operation to Torque Control Mode
685
Stop Cause During Continuous Operation to Torque Control Mode
686
Synchronous Control
687
Control Sub Functions 13- 1 to
689
Outline of Sub Functions
690
Sub Functions Specifically for Machine OPR
692
OPR Retry Function
692
Setting the Dwell Time During an OPR Retry
694
Setting the OPR Retry Function
695
OP Shift Function
696
Setting Range for the OP Shift Amount
697
Movement Speed During OP Shift
697
Precautions During Control
698
Setting the OP Shift Function
698
Functions for Compensating the Control
699
Backlash Compensation Function
699
Setting the Backlash Compensation Function
700
Electronic Gear Function
701
Basic Concept of the Electronic Gear
702
For "Ball Screw" + "Reduction Gear"
702
Near Pass Function
708
Functions to Limit the Control
710
Speed Limit Function
710
Setting the Speed Limit Function
711
Torque Limit Function
712
Torque Limit Function Operation
713
Setting the Torque Limit Function
714
Software Stroke Limit Function
716
Current Value Changing
717
Software Stroke Limit Check Details
718
Precautions During Software Stroke Limit Check
720
Setting the Software Stroke Limit Function
721
Invalidating the Software Stroke Limit
721
Setting When the Control Unit Is "Degree"
722
Current Value Address
722
Setting the Software Stroke Limit
722
Hardware Stroke Limit Function
723
Wiring the Hardware Stroke Limit
725
When the Hardware Stroke Limit Function Is Not Used
726
Forced Stop Function
727
Wiring the Forced Stop
728
Operation for the Forced Stop Function
728
Wiring When Using the Forced Stop
728
Setting the Forced Stop
729
How to Check the Forced Stop
729
Functions to Change the Control Details
730
Speed Change Function
730
Speed Change Operation
731
Speed Change During Continuous Path Control
731
Restarting Speed after Speed Change Made During Position Control
732
Speed Change at New Speed Value "0"
732
Setting the Speed Change Function from the PLC CPU
733
Time Chart for Changing the Speed from the PLC CPU
734
Time Chart for Changing the Speed Using an External Command Signal
735
Override Function
737
Precaution During Control
738
Setting the Override Function
738
Time Chart for Changing the Speed Using the Override Function
739
Acceleration/Deceleration Time Change Function
740
Operation During an Acceleration/Deceleration Time Change
741
Setting the Acceleration/Deceleration Time Change Function
744
Torque Change Function
745
Setting the Torque Change Function Start Signal
748
Target Position Change Function
749
Method of Setting Target Position Change Function from PLC CPU
751
Absolute Position System
753
Opr
754
Other Functions
755
Step Function
755
Step Mode
756
Step Start Information
756
Using the Step Operation
757
Operation During Step Execution by Deceleration Unit Step
758
Operation During Step Execution Positioning Data No. Unit Step
758
Step Function Settings
759
Skip Function
760
Relation between the Skip Function and Various Controls
760
Operation When a Skip Signal Is Input During Positioning Control
761
Setting the Skip Function from the PLC CPU
762
Setting the Skip Function Using an External Command Signal
763
M Code Output Function
764
AFTER Mode
765
M Code on Signal off Request
765
Teaching Function
768
Teaching Timing
768
Data Used in Teaching
769
Teaching Procedure
770
Command In-Position Function
774
Command In-Position Width Check
775
Setting the Command In-Position Function
776
Confirming the Command In-Position Flag
776
Acceleration/Deceleration Processing Function
777
"Acceleration/Deceleration Time 0 to 3" Control Details and Setting
777
Speed Change During S-Curve Acceleration/Deceleration Processing
779
Pre-Reading Start Function
780
Controls
780
Program Examples
782
Deceleration Start Flag Function
783
Operation of Deceleration Start Flag at Block Start
784
Deceleration Start Flag Function Setting Method
785
Checking of Deceleration Start Flag
785
Stop Command Processing for Deceleration Stop Function
786
Deceleration Curve Re-Processing
786
Deceleration Curve Continuation
786
Speed Control 10 X Multiplier Setting for Degree Axis Function
789
Operation Setting for Incompletion of OPR Function
792
Servo ON/OFF
794
Servo off (Servo Operation Disabled)
795
Follow up Function
796
Outline of Common Functions
798
Parameter Initialization Function
800
Execution Data Backup Function
802
External Signal Selection Function
805
Program Example
809
External I/O Signal Logic Switching Function
811
History Monitor Function
813
Start History
813
Error History, Warning History
813
Current Value History
814
Latest Backup Data
815
Backup Data at the Power Disconnection
815
Backup Data at the Power on
815
Home Position Return Data
816
Amplifier-Less Operation Function
817
Buffer Memory List
821
Virtual Servo Amplifier Function
824
Driver Communication Function
828
I/O Signals of Slave Axis
832
Data Used for Positioning Control of Slave Axis
832
Servo Parameter
834
Mark Detection Function
836
Operation for Mark Detection Function
838
Continuous Detection Mode
838
Specified Number of Detection Mode
838
How to Use Mark Detection Function
839
List of Buffer Memory
841
Mark Detection Setting Parameters
842
Mark Detection Signal Setting
843
Mark Detection Signal Compensation Time
843
Mark Detection Data Type
843
Mark Detection Data Axis No.
844
Latch Data Range Lower Limit Value
845
Mark Detection Mode Setting
845
Number of Mark Detection Clear Request
846
Mark Detection Invalid Flag
846
Latch Data Range Change Request
846
Mark Detection Monitor Data
847
Number of Mark Detection
847
Mark Detection Data Storage Area 1 to 32
847
Optional Data Monitor Function
848
Module Error Collection Function
852
Connect/Disconnect Function of SSCNET Communication
853
Procedure to Connect/Disconnect
855
QD75MH Initial Value Setting Function
859
QD75MH Initial Value Setting Method
860
Hot Line Forced Stop Function
861
Dedicated Instructions
863
List of Dedicated Instructions
864
Interlock During Dedicated Instruction Is Executed
864
Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4
865
Positioning Start Program
868
Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4
869
Zp.pfwrt
873
Zp.pinit
877
Troubleshooting
881
Checking Errors Using GX Works2
882
Checking Errors on the "Module's Detailed Information" Screen
882
Checking Errors on the "Error History" Screen
882
Error and Solution, Intelligent Module Information
883
Troubleshooting Using the Leds
885
Troubleshooting When a Motor Does Not Rotate
886
Troubleshooting When a Motor Does Not Rotate as Intended
887
Error and Warning Details
889
Servo Amplifier Detection Errors
890
Types of Error Codes
890
Error Storage
890
Types of Warnings
892
Simple Motion Module Detection System Warnings
892
Simple Motion Module Detection Axis Warnings
892
Servo Amplifier Detection Warnings
892
Warning Storage
893
Resetting Errors and Warnings
894
How to Clear Errors or Warnings
894
Confirming the Error and Warning Definitions
894
Confirming the Error Definitions
894
List of Errors
896
QD77MS Detection Error
896
Servo Amplifier Detection Error
932
List of Warnings
934
QD77MS Detection Warning
934
Servo Amplifier Detection Warning
946
Appendix 1 List of Buffer Memory Addresses
948
Appendix 2 Connection with Servo Amplifiers
974
Appendix 2.1 SSCNET Cables
975
Appendix 2.2 Serial Absolute Synchronous Encoder Cable
979
Appendix 2.3 SSCNET Cable (SC-J3BUS_M-C) Manufactured by
982
Appendix 3 Connection with External Device
983
Appendix 3.1 Connector
983
Appendix 3.2 External Input Signal Cable
985
Appendix 3.3 Manual Pulse Generator (MR-HDP01)
991
Appendix 4 Comparisons with Positioning Modules/Ld77Mh Models
992
Appendix 4.1 Differences with QD75MH Models
992
Appendix 4.2 Differences with LD77MH Models
1006
Appendix 5 When Using GX Works2
1011
Appendix 6 Compatible Devices with SSCNET (/H)
1012
Appendix 6.1 Servo Driver VCII Series/Vph Series Manufactured by Nikki Denso Co., Ltd
1012
Appendix 6.2 Inverter FR-A700 Series
1019
ORIENTAL MOTOR Co., Ltd
1028
Appendix 6.4 IAI Electric Actuator Controller Manufactured by IAI Corporation
1037
Appendix 6.5 Connection with MR-JE-B
1045
Appendix 7 External Dimension Drawing
1046
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Mitsubishi Electric QD77MS Specifications
General
Brand
Mitsubishi Electric
Model
QD77MS
Category
Controller
Language
English
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