Mitsubishi Electric QD77MS - Sub Functions; Common Functions

To Next Page

To Previous Page

3 - 5

Chapter 3 Specifications and Functions

Sub functions

When executing the main functions, control compensation, limits and functions can

be added. (Refer to Chapter 13 "Control Sub Functions".)

Common functions

Common control using the Simple Motion module for "parameter initialization" or

"backup of execution data" can be carried out. (Refer to Chapter 14 "Common

Functions".)

Main Page

Default Chapter3
- Safety Precautions3
- Conditions of Use for the Product13
- Introduction14
- Revisions15
- Table of Contents16
- Compliance with the Emc and Low Voltage Directives24
  - CPU Module24
  - For Programmable Controller System24
- Relevant Manuals24
- Manual Page Organization26
- Terms27
- Packing List28
- Section 1 Product Specifications and Handling29
Chapter 1 Product Outline31
- Positioning Control32
- Features of QD77MS32
- Purpose and Applications of Positioning Control36
- Mechanism of Positioning Control38
- Overview of Positioning Control Functions39
- Outline Design of Positioning System49
- Positioning System Using Simple Motion Module49
- Communicating Signals between QD77MS and each Module50
- Flow of System Operation54
- Flow of All Processes54
- Outline of Starting56
  - Flow of Starting56
  - Setting Method57
- Outline of Stopping58
- Outline for Restarting60
- When "[CD.6] Restart Command" Is on60
Chapter 2 System Configuration61
- General Image of System62
- Component List64
  - Specifications of Recommended Manual Pulse Generator65
  - Serial Absolute Synchronous Encoder Specifications66
- Applicable System68
- Restrictions by the SERIAL No. and Version71
Chapter 3 Specifications and Functions73
- Performance Specifications74
- List of Functions76
- QD77MS Control Functions76
- QD77MS Main Functions79
- QD77MS Sub Functions81
- QD77MS Common Functions83
- Combination of QD77MS Main Functions and Sub Functions86
- Specifications of Input/Output Signals with PLC CPU88
- List of Input/Output Signals with PLC CPU88
- Details of Input Signals (QD77MS PLC CPU)91
- Details of Output Signals (PLC CPU QD77MS)93
- Specifications of Interfaces with External Devices95
- Electrical Specifications of Input Signals95
- Manual Pulse Generator/Incremental Synchronous Encoder Input96
- Signal Layout for External Input Connection Connector97
- List of Input Signal Details99
- Interface Internal Circuit102
- External Circuit Design106
Chapter 4 Installation, Wiring and Maintenance of the Product119
- Outline of Installation, Wiring and Maintenance120
- Installation, Wiring and Maintenance Procedures120
- Names of each Part121
- Handling Precautions123
- Precautions for Installation125
- Precautions for Wiring126
- Wiring Example of Shielded Cable129
- Precautions for Wiring129
- Confirming the Installation and Wiring137
- Items to Confirm When Installation and Wiring Are Completed137
- Precautions for Maintenance138
- Disposal Instructions138
Chapter 5 Data Used for Positioning Control139
- Types of Data140
- Parameters and Data Required for Control140
  - Setting Data140
  - Monitor Data143
  - Control Data143
- Setting Items for Positioning Parameters144
- Checking the Positioning Parameters145
- Setting Items for OPR Parameters146
- Checking the OPR Parameters146
- Setting Items for Expansion Parameters147
- Setting Items for Servo Parameters147
- Setting Items for Positioning Data148
- Setting Items for Block Start Data150
- Setting Items for Condition Data151
- Types and Roles of Monitor Data152
  - Monitoring the Positioning System Operation History152
  - Monitoring the Axis Operation State154
  - Monitoring the Position154
  - Monitoring the Speed154
  - Monitoring the Status of Servo Amplifier155
  - Monitoring the State155
- Types and Roles of Control Data157
  - Setting and Resetting the Setting Data157
  - Controlling the Operation158
  - Controlling the Speed159
  - Change Operation Mode159
  - Making Settings Related to Operation159
- List of Parameters161
- Basic Parameters 1161
  - Unit Setting162
  - 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 Start165
  - Precautionary Notes166
  - Speed Limit Value167
- Basic Parameters 2167
- Detailed Parameters 1168
  - Backlash Compensation Amount170
  - Software Stroke Limit Upper Limit Value171
  - Software Stroke Limit Lower Limit Value171
  - Software Stroke Limit Selection172
  - Software Stroke Limit Valid/Invalid Setting172
  - Command In-Position Width172
  - Torque Limit Setting Value172
  - M Code on Signal Output Timing173
  - Speed Switching Mode174
  - Interpolation Speed Designation Method174
  - Current Feed Value During Speed Control175
  - Input Signal Logic Selection175
  - External Input Signal Selection176
  - Manual Pulse Generator/Incremental Synchronous Encoder Input Selection177
  - A-Phase/B-Phase Mode177
  - Pls/Sign178
  - Speed-Position Function Selection178
  - Forced Stop Valid/Invalid Selection178
- Detailed Parameters 2179
  - Deceleration Time 1 to [Pr.30] Deceleration Time 3181
  - JOG Speed Limit Value181
  - JOG Operation Acceleration Time Selection181
  - JOG Operation Deceleration Time Selection181
  - Acceleration/Deceleration Process Selection182
  - S-Curve Ratio182
  - Sudden Stop Deceleration Time183
  - Stop Group 3 Sudden Stop Selection183
  - Positioning Complete Signal Output Time184
  - Allowable Circular Interpolation Error Width185
  - External Command Function Selection186
  - Speed Control 10 X Multiplier Setting for Degree Axis186
  - Restart Allowable Range When Servo off to on187
  - Servo Emergency Stop Processing187
  - Processing at Switching the Servo on Signal from off to on187
  - Operation Setting for Speed-Torque Control Mode190
  - Speed Initial Value Selection190
  - Condition Selection at Mode Switching190
  - External Command Signal Selection191
- OPR Basic Parameters191
  - OPR Method192
  - Near-Point Dog Method193
  - Count Method193
  - Data Set Method194
  - Scale Origin Signal Detection Method194
  - OPR Direction195
  - OP Address196
  - OPR Speed196
  - Creep Speed197
  - OPR Retry198
  - Operation for OPR Retry Function198
- OPR Detailed Parameters199
  - Setting for the Movement Amount after Near-Point Dog on200
  - OPR Acceleration Time Selection200
  - OPR Deceleration Time Selection201
  - OP Shift Amount201
  - OPR Torque Limit Value202
  - Operation Setting for Incompletion of OPR202
  - Start/Restart Impossible Control202
  - Speed Designation During OP Shift203
  - Dwell Time During OPR Retry203
- Expansion Parameters204
  - Operation Cycle Setting207
  - SSCNET Setting207
  - External Command Signal Compensation Valid/Invalid Setting208
- Servo Parameters209
  - Servo Series209
  - Parameters of MR-J4(W)-B/MR-JE-B209
  - Basic Setting Parameters210
  - Gain/Filter Setting Parameters211
  - Extension Setting Parameters212
  - I/O Setting Parameters213
  - Extension Setting 2 Parameters214
  - Special Setting Parameters215
  - Extension Setting 3 Parameters215
  - Option Setting Parameters216
  - Linear Servo Motor/DD Motor Setting Parameters216
  - Parameters of MR-J3(W)-B217
  - Gain/Filter Parameters218
  - Expansion Setting Parameters219
  - Input/Output Setting Parameters219
  - Extension Control Parameters220
- List of Positioning Data222
  - Guide to Buffer Memory Address223
  - Operation Pattern226
  - Control Method226
  - Acceleration Time No.226
  - Deceleration Time No.227
  - Axis to be Interpolated227
  - Positioning Address/Movement Amount227
  - Absolute (ABS) System, Current Value Changing227
  - Position-Speed Switching Control228
  - 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 Address232
  - Command Speed234
  - Dwell Time/Jump Designation Positioning Data No.235
  - M Code/Condition Data No./Number of LOOP to LEND Repetitions236
- List of Block Start Data238
  - Shape242
  - Special Start Instruction242
  - Parameter242
- List of Condition Data243
  - Condition Target248
  - Condition Operator248
  - Address248
- List of Monitor Data252
- Axis Monitor Data266
- List of Control Data296
- Axis Control Data304
Chapter 6 Sequence Program Used for Positioning Control341
- Precautions for Creating Program342
- List of Devices Used346
- Inputs/Outputs, External Inputs/External Outputs, and Internal Relays346
- Creating a Program356
- General Configuration of Program356
- Positioning Control Operation Program357
- Positioning Program Examples361
- Program Details393
- Initialization Program393
- Start Details Setting Program394
- Start Program396
- Continuous Operation Interrupt Program408
  - Operation During Continuous Operation Interruption408
  - Control Data Requiring Settings409
- Restart Program410
- Stop Program413
- Configuration and Roles of QD77MS Memory418
- Details of Areas419
- Buffer Memory Area Configuration421
- Data Transmission Process423
Chapter 8 Two Types of OPR Control440
- Machine OPR440
- Outline of the Machine OPR Operation444
- Machine OPR Operation444
- Machine OPR Method445
- OPR Method (1): Near-Point Dog Method446
  - Precautions During Operation447
  - Operation Chart448
- OPR Method (2): Count Method 1)448
- OPR Method (3): Count Method 2)450
- OPR Method (4): Data Set Method452
- OPR Method (5): Scale Origin Signal Detection Method453
- Fast OPR456
- Outline of the Fast OPR Operation456
- Selection of the OPR Setting Condition458
- Outline of the OPR Setting Condition458
- Data Setting458
Chapter 9 Major Positioning Control459
- Outline of Major Positioning Controls460
- Data Required for Major Positioning Control462
  - Major Positioning Control Sub Functions462
  - Major Positioning Control from GX Works2462
- Operation Patterns of Major Positioning Controls463
  - Independent Positioning Control (Positioning Complete)464
  - Operation During Continuous Positioning Control465
  - Deceleration Stop Conditions During Continuous Path Control467
  - Speed Handling469
  - Speed Switching470
  - Standard Speed Switching Mode470
  - Speed Switching Condition471
  - Front-Loading Speed Switching Mode471
  - Operation for the Front-Loading Speed Switching Mode472
- Designating the Positioning Address473
  - Absolute System473
  - Incremental System473
- Confirming the Current Value474
  - Values Showing the Current Value474
  - Current Feed Value and Machine Feed Value474
  - Monitoring the Current Value475
- Control Unit "Degree" Handling476
  - Current Feed Value and Machine Feed Value Addresses476
  - Setting to Validate Software Stroke Limit476
  - Positioning Control Method When the Control Unit Is Set to "Degree"477
  - When the Software Stroke Limit Is Valid478
- Interpolation Control479
  - Meaning of Interpolation Control479
  - Setting the Positioning Data During Interpolation Control480
  - Starting the Interpolation Control481
  - Interpolation Control Continuous Positioning481
  - Speed During Interpolation Control481
  - Cautions in Interpolation Control481
  - Limits to Interpolation Control482
  - Axis Operation Status During Interpolation Control482
- Setting the Positioning Data484
- Relation between each Control and Positioning Data484
- 1-Axis Linear Control486
  - Positioning Data Setting Example487
  - 1-Axis Linear Control (INC Linear 1)488
- 2-Axis Linear Interpolation Control490
- 2-Axis Linear Interpolation Control (INC Linear 2)493
- 3-Axis Linear Interpolation Control496
- 3-Axis Linear Interpolation Control (INC Linear 3)499
- 4-Axis Linear Interpolation Control502
- 1-Axis Fixed-Feed Control507
- 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 Designation520
- 2-Axis Circular Interpolation Control with Center Point Designation526
- Circular Interpolation Error Compensation527
- 1-Axis Speed Control534
- 2-Axis Speed Control537
- 3-Axis Speed Control541
- 4-Axis Speed Control545
- Speed-Position Switching Control (INC Mode)550
- Speed-Position Switching Control (ABS Mode)561
- Position-Speed Switching Control570
- Current Value Changing580
- NOP Instruction585
- JUMP Instruction586
- Loop588
- Lend590
- High-Level Positioning Control 10- 1 to593
- Outline of High-Level Positioning Control594
  - High-Level Positioning Control Sub Functions594
  - High-Level Positioning Control from GX Works2594
- Data Required for High-Level Positioning Control595
- Block Start Data" and "Condition Data" Configuration596
- High-Level Positioning Control Execution Procedure598
- Setting the Block Start Data599
- Relation between Various Controls and Block Start Data599
- Block Start (Normal Start)600
  - Block Start Data Setting Example600
  - Control Examples601
- Condition Start602
- Wait Start603
- Simultaneous Start604
- Repeated Start (for Loop)605
- Repeated Start (for Condition)606
- Restrictions When Using the NEXT Start607
- Setting the Condition Data608
- Relation between Various Controls and the Condition Data608
- Condition Data Setting Examples611
- Multiple Axes Simultaneous Start Control613
  - Control Details613
  - Multiple Axes Simultaneous Start Control Procedure614
  - Multiple Axes Simultaneous Start Control Function Setting Method615
  - Setting Examples616
- Start Program for High-Level Positioning Control618
- Example of a Start Program for High-Level Positioning Control619
  - Control Data that Require Setting619
  - Start Conditions619
  - Start Time Chart620
  - Creating the Program621
  - Manual Control623
- Outline of Manual Control624
- Three Manual Control Methods624
  - JOG Operation624
  - Inching Operation624
  - Manual Pulse Generator Operation625
  - Manual Control Sub Functions625
  - Carrying out Manual Control from GX Works2625
  - Monitoring Manual Control625
- Outline of JOG Operation626
- JOG Operation Timing and Processing Time628
- JOG Operation Execution Procedure629
- Setting the Required Parameters for JOG Operation630
- Creating Start Programs for JOG Operation632
- Required Control Data Setting632
- JOG Operation Example634
- Outline of Inching Operation637
  - Operations When Stroke Limit Error Occurs638
  - Inching Operation Timing and Processing Times639
- Inching Operation Execution Procedure640
- Setting the Required Parameters for Inching Operation641
- Creating a Program to Enable/Disable the Inching Operation642
- Inching Operation Example644
- Outline of Manual Pulse Generator Operation646
- Manual Pulse Generator Operation Execution Procedure650
- Setting the Required Parameters for Manual Pulse Generator Operation651
- Creating a Program to Enable/Disable the Manual Pulse Generator Operation652
- Outline of Speed-Torque Control656
- Setting the Required Parameters for Speed-Torque Control658
- Setting the Required Data for Speed-Torque Control659
- Required Control Data Setting for the Torque Control Mode660
- Operation of Speed-Torque Control661
  - Switching Method of Control Mode661
  - Precautions at Control Mode Switching662
  - Operation for "Position Control Mode Speed Control Mode Switching"662
  - Operation for Speed Control Mode676
  - Current Feed Value During Speed Control Mode676
  - Stop Cause During Speed Control Mode677
  - Operation for Torque Control Mode678
  - Speed During Torque Control Mode680
  - Current Feed Value During Torque Control Mode680
  - Stop Cause During Torque Control Mode681
  - Continuous Operation to Torque Control Mode682
  - Operation for Continuous Operation to Torque Control Mode682
  - Torque Command Setting Method683
  - Speed Limit Value Setting Method684
  - Precautions at Continuous Operation to Torque Control Mode684
  - Speed During Continuous Operation to Torque Control Mode685
  - Current Feed Value During Continuous Operation to Torque Control Mode685
  - Stop Cause During Continuous Operation to Torque Control Mode686
- Synchronous Control687
- Control Sub Functions 13- 1 to689
- Outline of Sub Functions690
- Sub Functions Specifically for Machine OPR692
- OPR Retry Function692
  - Setting the Dwell Time During an OPR Retry694
  - Setting the OPR Retry Function695
- OP Shift Function696
  - Setting Range for the OP Shift Amount697
  - Movement Speed During OP Shift697
  - Precautions During Control698
  - Setting the OP Shift Function698
- Functions for Compensating the Control699
- Backlash Compensation Function699
- Setting the Backlash Compensation Function700
- Electronic Gear Function701
  - Basic Concept of the Electronic Gear702
  - For "Ball Screw" + "Reduction Gear"702
- Near Pass Function708
- Functions to Limit the Control710
- Speed Limit Function710
- Setting the Speed Limit Function711
- Torque Limit Function712
  - Torque Limit Function Operation713
  - Setting the Torque Limit Function714
- Software Stroke Limit Function716
  - Current Value Changing717
  - Software Stroke Limit Check Details718
  - Precautions During Software Stroke Limit Check720
  - Setting the Software Stroke Limit Function721
  - Invalidating the Software Stroke Limit721
  - Setting When the Control Unit Is "Degree"722
  - Current Value Address722
  - Setting the Software Stroke Limit722
- Hardware Stroke Limit Function723
  - Wiring the Hardware Stroke Limit725
  - When the Hardware Stroke Limit Function Is Not Used726
- Forced Stop Function727
  - Wiring the Forced Stop728
  - Operation for the Forced Stop Function728
  - Wiring When Using the Forced Stop728
  - Setting the Forced Stop729
  - How to Check the Forced Stop729
- Functions to Change the Control Details730
- Speed Change Function730
  - Speed Change Operation731
  - Speed Change During Continuous Path Control731
  - Restarting Speed after Speed Change Made During Position Control732
  - Speed Change at New Speed Value "0"732
  - Setting the Speed Change Function from the PLC CPU733
  - Time Chart for Changing the Speed from the PLC CPU734
  - Time Chart for Changing the Speed Using an External Command Signal735
- Override Function737
  - Precaution During Control738
  - Setting the Override Function738
  - Time Chart for Changing the Speed Using the Override Function739
- Acceleration/Deceleration Time Change Function740
  - Operation During an Acceleration/Deceleration Time Change741
  - Setting the Acceleration/Deceleration Time Change Function744
- Torque Change Function745
- Setting the Torque Change Function Start Signal748
- Target Position Change Function749
- Method of Setting Target Position Change Function from PLC CPU751
- Absolute Position System753
- Opr754
- Other Functions755
- Step Function755
  - Step Mode756
  - Step Start Information756
  - Using the Step Operation757
  - Operation During Step Execution by Deceleration Unit Step758
  - Operation During Step Execution Positioning Data No. Unit Step758
  - Step Function Settings759
- Skip Function760
  - Relation between the Skip Function and Various Controls760
  - Operation When a Skip Signal Is Input During Positioning Control761
  - Setting the Skip Function from the PLC CPU762
  - Setting the Skip Function Using an External Command Signal763
- M Code Output Function764
  - AFTER Mode765
  - M Code on Signal off Request765
- Teaching Function768
  - Teaching Timing768
  - Data Used in Teaching769
  - Teaching Procedure770
- Command In-Position Function774
  - Command In-Position Width Check775
  - Setting the Command In-Position Function776
  - Confirming the Command In-Position Flag776
- Acceleration/Deceleration Processing Function777
  - "Acceleration/Deceleration Time 0 to 3" Control Details and Setting777
  - Speed Change During S-Curve Acceleration/Deceleration Processing779
- Pre-Reading Start Function780
  - Controls780
  - Program Examples782
- Deceleration Start Flag Function783
  - Operation of Deceleration Start Flag at Block Start784
  - Deceleration Start Flag Function Setting Method785
  - Checking of Deceleration Start Flag785
- Stop Command Processing for Deceleration Stop Function786
  - Deceleration Curve Re-Processing786
  - Deceleration Curve Continuation786
- Speed Control 10 X Multiplier Setting for Degree Axis Function789
- Operation Setting for Incompletion of OPR Function792
- Servo ON/OFF794
- Servo off (Servo Operation Disabled)795
- Follow up Function796
- Outline of Common Functions798
- Parameter Initialization Function800
- Execution Data Backup Function802
- External Signal Selection Function805
- Program Example809
- External I/O Signal Logic Switching Function811
- History Monitor Function813
  - Start History813
  - Error History, Warning History813
  - Current Value History814
  - Latest Backup Data815
  - Backup Data at the Power Disconnection815
  - Backup Data at the Power on815
  - Home Position Return Data816
- Amplifier-Less Operation Function817
- Buffer Memory List821
- Virtual Servo Amplifier Function824
- Driver Communication Function828
  - I/O Signals of Slave Axis832
  - Data Used for Positioning Control of Slave Axis832
  - Servo Parameter834
- Mark Detection Function836
  - Operation for Mark Detection Function838
  - Continuous Detection Mode838
  - Specified Number of Detection Mode838
  - How to Use Mark Detection Function839
  - List of Buffer Memory841
  - Mark Detection Setting Parameters842
  - Mark Detection Signal Setting843
  - Mark Detection Signal Compensation Time843
  - Mark Detection Data Type843
  - Mark Detection Data Axis No.844
  - Latch Data Range Lower Limit Value845
  - Mark Detection Mode Setting845
  - Number of Mark Detection Clear Request846
  - Mark Detection Invalid Flag846
  - Latch Data Range Change Request846
  - Mark Detection Monitor Data847
  - Number of Mark Detection847
  - Mark Detection Data Storage Area 1 to 32847
- Optional Data Monitor Function848
- Module Error Collection Function852
- Connect/Disconnect Function of SSCNET Communication853
- Procedure to Connect/Disconnect855
- QD75MH Initial Value Setting Function859
- QD75MH Initial Value Setting Method860
- Hot Line Forced Stop Function861
- Dedicated Instructions863
- List of Dedicated Instructions864
- Interlock During Dedicated Instruction Is Executed864
- Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4865
- Positioning Start Program868
- Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4869
- Zp.pfwrt873
- Zp.pinit877
- Troubleshooting881
- Checking Errors Using GX Works2882
  - Checking Errors on the "Module's Detailed Information" Screen882
  - Checking Errors on the "Error History" Screen882
  - Error and Solution, Intelligent Module Information883
  - Troubleshooting Using the Leds885
  - Troubleshooting When a Motor Does Not Rotate886
  - Troubleshooting When a Motor Does Not Rotate as Intended887
- Error and Warning Details889
  - Servo Amplifier Detection Errors890
  - Types of Error Codes890
  - Error Storage890
  - Types of Warnings892
  - Simple Motion Module Detection System Warnings892
  - Simple Motion Module Detection Axis Warnings892
  - Servo Amplifier Detection Warnings892
  - Warning Storage893
  - Resetting Errors and Warnings894
  - How to Clear Errors or Warnings894
  - Confirming the Error and Warning Definitions894
  - Confirming the Error Definitions894
- List of Errors896
- QD77MS Detection Error896
- Servo Amplifier Detection Error932
- List of Warnings934
- QD77MS Detection Warning934
- Servo Amplifier Detection Warning946
Appendix 1 List of Buffer Memory Addresses948
Appendix 2 Connection with Servo Amplifiers974
Appendix 2.1 SSCNET Cables975
Appendix 2.2 Serial Absolute Synchronous Encoder Cable979
Appendix 2.3 SSCNET Cable (SC-J3BUS_M-C) Manufactured by982
Appendix 3 Connection with External Device983
Appendix 3.1 Connector983
Appendix 3.2 External Input Signal Cable985
Appendix 3.3 Manual Pulse Generator (MR-HDP01)991
Appendix 4 Comparisons with Positioning Modules/Ld77Mh Models992
Appendix 4.1 Differences with QD75MH Models992
Appendix 4.2 Differences with LD77MH Models1006
Appendix 5 When Using GX Works21011
Appendix 6 Compatible Devices with SSCNET (/H)1012
Appendix 6.1 Servo Driver VCII Series/Vph Series Manufactured by Nikki Denso Co., Ltd1012
Appendix 6.2 Inverter FR-A700 Series1019
- ORIENTAL MOTOR Co., Ltd1028
Appendix 6.4 IAI Electric Actuator Controller Manufactured by IAI Corporation1037
Appendix 6.5 Connection with MR-JE-B1045
Appendix 7 External Dimension Drawing1046

Mitsubishi Electric QD77MS - Sub Functions; Common Functions

Table of Contents

Related product manuals