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Chapter 5 Data Used for Positioning Control

Storage buffer memory

address

(common for all axes)

Setting value

Default

value

QD77MS2

QD77MS4

QD77MS16

Set with a decimal.

Setting

value

Deceleration start flag valid

0: Deceleration start flag invalid

1: Deceleration start flag valid

0 1905 5905

Set with a decimal.

Setting

value

Stop command processing for deceleration

stop selection

0: Deceleration curve re-processing

1: Deceleration curve continuation

0 1907 5907

Safety Precautions2
Conditions of Use for the Product12
Introduction13
Revisions14
Table of Contents15
Compliance with the Emc and Low Voltage Directives22
Relevant Manuals22
Manual Page Organization24
Terms25
Packing List26
Section 1 Product Specifications and Handling28
Features of QD77MS31
Positioning Control31
Purpose and Applications of Positioning Control35
Mechanism of Positioning Control37
Overview of Positioning Control Functions38
Outline Design of Positioning System48
Communicating Signals between QD77MS and each Module49
Flow of All Processes53
Flow of System Operation53
Outline of Starting55
Outline of Stopping57
Outline for Restarting59
General Image of System61
Component List62
Applicable System64
How to Check the Function Version and SERIAL no66
Performance Specifications69
List of Functions71
QD77MS Control Functions71
QD77MS Main Functions74
QD77MS Sub Functions76
QD77MS Common Functions78
Combination of QD77MS Main Functions and Sub Functions79
List of Input/Output Signals with PLC CPU81
Specifications of Input/Output Signals with PLC CPU81
Plc Cpu)84
Details of Output Signals (PLC CPU QD77MS)86
Electrical Specifications of Input Signals88
Specifications of Interfaces with External Devices88
Signal Layout for External Input Signal Connector90
List of Input Signal Details92
Interface Internal Circuit95
External Circuit Design97
Installation, Wiring and Maintenance Procedures103
Outline of Installation, Wiring and Maintenance103
Names of each Part104
Handling Precautions106
Installation108
Precautions for Installation108
Precautions for Wiring109
Wiring109
Confirming the Installation and Wiring120
Items to Confirm When Installation and Wiring Are Completed120
Disposal Instructions121
Maintenance121
Precautions for Maintenance121
Parameters and Data Required for Control123
Types of Data123
Setting Items for Positioning Parameters126
Setting Items for OPR Parameters128
Setting Items for Expansion Parameters129
Setting Items for Servo Parameters129
Setting Items for Positioning Data130
Setting Items for Block Start Data132
Setting Items for Condition Data133
Types and Roles of Monitor Data134
Types and Roles of Control Data139
Basic Parameters 1143
List of Parameters143
Basic Parameters 2146
Detailed Parameters 1147
Detailed Parameters 2158
OPR Basic Parameters170
OPR Detailed Parameters178
Expansion Parameters183
Servo Parameters187
List of Positioning Data200
List of Block Start Data216
List of Condition Data222
List of Monitor Data233
System Monitor Data233
Axis Monitor Data247
List of Control Data273
System Control Data273
Axis Control Data281
Expansion Axis Control Data313
Precautions for Creating Program317
List of Devices Used321
Creating a Program331
General Configuration of Program331
Positioning Control Operation Program332
Positioning Program Examples336
Initialization Program368
Program Details368
Start Details Setting Program369
Start Program371
Continuous Operation Interrupt Program383
Restart Program385
Stop Program388
Configuration and Roles of QD77MS Memory393
Buffer Memory Area Configuration396
Data Transmission Process399
Outline of OPR Control415
Two Types of OPR Control415
Machine OPR418
Outline of the Machine OPR Operation418
Machine OPR Method419
OPR Method (1): Near-Point Dog Method420
OPR Method (2): Count Method 1)422
OPR Method (3): Count Method 2)424
OPR Method (4): Data Set Method426
OPR Method (5): Scale Origin Signal Detection Method427
Fast OPR430
Outline of the Fast OPR Operation430
Outline of the OPR Setting Condition432
Selection of the OPR Setting Condition432
Major Positioning Control 9- 1 to434
Outline of Major Positioning Controls435
Data Required for Major Positioning Control437
Operation Patterns of Major Positioning Controls438
Designating the Positioning Address448
Confirming the Current Value449
Control Unit "Degree" Handling451
Interpolation Control454
Relation between each Control and Positioning Data459
Setting the Positioning Data459
1-Axis Linear Control461
2-Axis Linear Interpolation Control465
3-Axis Linear Interpolation Control471
4-Axis Linear Interpolation Control477
1-Axis Fixed-Feed Control482
2-Axis Fixed-Feed Control (Interpolation)485
3-Axis Fixed-Feed Control (Interpolation)487
4-Axis Fixed-Feed Control (Interpolation)492
2-Axis Circular Interpolation Control with Sub Point Designation495
2-Axis Circular Interpolation Control with Center Point Designation501
1-Axis Speed Control509
2-Axis Speed Control512
3-Axis Speed Control516
4-Axis Speed Control520
Speed-Position Switching Control (INC Mode)525
Speed-Position Switching Control (ABS Mode)535
Position-Speed Switching Control544
Current Value Changing553
NOP Instruction558
JUMP Instruction559
Loop561
Lend563
High-Level Positioning Control 10- 1 to564
Outline of High-Level Positioning Control565
Data Required for High-Level Positioning Control566
Block Start Data" and "Condition Data" Configuration567
High-Level Positioning Control Execution Procedure569
Relation between Various Controls and Block Start Data570
Setting the Block Start Data570
Block Start (Normal Start)571
Condition Start573
Wait Start574
Simultaneous Start575
Repeated Start (for Loop)576
Repeated Start (for Condition)577
Restrictions When Using the NEXT Start578
Relation between Various Controls and the Condition Data579
Setting the Condition Data579
Condition Data Setting Examples582
Multiple Axes Simultaneous Start Control584
Start Program for High-Level Positioning Control589
Starting High-Level Positioning Control589
Example of a Start Program for High-Level Positioning Control590
Outline of Manual Control595
Three Manual Control Methods595
JOG Operation597
Outline of JOG Operation597
JOG Operation Execution Procedure600
Setting the Required Parameters for JOG Operation601
Creating Start Programs for JOG Operation603
JOG Operation Example605
Inching Operation608
Outline of Inching Operation608
Inching Operation Execution Procedure611
Setting the Required Parameters for Inching Operation612
Creating a Program to Enable/Disable the Inching Operation613
Inching Operation Example615
Manual Pulse Generator Operation617
Outline of Manual Pulse Generator Operation617
Manual Pulse Generator Operation Execution Procedure621
Setting the Required Parameters for Manual Pulse Generator Operation622
Creating a Program to Enable/Disable the Manual Pulse Generator Operation623
Outline of Speed-Torque Control627
Speed-Torque Control627
Setting the Required Parameters for Speed-Torque Control629
Setting the Required Data for Speed-Torque Control630
Operation of Speed-Torque Control632
Control Sub Functions 13- 1 to660
Outline of Sub Functions661
OPR Retry Function663
Sub Functions Specifically for Machine OPR663
OP Shift Function667
Backlash Compensation Function670
Functions for Compensating the Control670
Electronic Gear Function672
Near Pass Function680
Functions to Limit the Control682
Speed Limit Function682
Torque Limit Function684
Software Stroke Limit Function688
Hardware Stroke Limit Function694
Forced Stop Function698
Functions to Change the Control Details701
Speed Change Function701
Override Function708
Acceleration/Deceleration Time Change Function711
Torque Change Function716
Target Position Change Function720
Absolute Position System724
Other Functions726
Step Function726
Skip Function731
M Code Output Function734
Teaching Function738
Command In-Position Function744
Acceleration/Deceleration Processing Function747
Pre-Reading Start Function750
Deceleration Start Flag Function753
Stop Command Processing for Deceleration Stop Function756
Speed Control 10 X Multiplier Setting for Degree Axis Function759
Operation Setting for Incompletion of OPR Function762
Servo ON/OFF764
Follow up Function766
Outline of Common Functions769
Parameter Initialization Function770
Execution Data Backup Function772
External Signal Selection Function774
External I/O Signal Logic Switching Function777
History Monitor Function779
Amplifier-Less Operation Function780
Virtual Servo Amplifier Function786
Mark Detection Function789
Optional Data Monitor Function800
Module Error Collection Function804
Connect/Disconnect Function of SSCNET Communication805
QD75MH Initial Value Setting Function811
Interlock During Dedicated Instruction Is Executed815
List of Dedicated Instructions815
Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4816
Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4820
Zp.pfwrt824
Zp.pinit828
Checking Errors Using GX Works2833
Checking Errors Using a Display Unit836
Troubleshooting837
Error and Warning Details840
List of Errors847
QD77MS Detection Error847
Servo Amplifier Detection Error879
List of Warnings893
QD77MS Detection Warning893
Servo Amplifier Detection Warning905
Appendix 1 List of Buffer Memory Addresses911
Appendix 2 Connection with Servo Amplifiers938
Appendix 2.1 SSCNET Cables939
Appendix 2.2 SSCNET Cable (SC-J3BUS M-C) Manufactured by943
Appendix 3 Connection with External Device944
Appendix 3.1 Connector944
Appendix 3.2 External Input Signal Cable946
Appendix 3.3 Manual Pulse Generator (MR-HDP01)951
Appendix 4 Comparisons with Positioning Modules /LD77MH952
Appendix 4.1 Differences with QD75MH Models952
Appendix 4.2 Differences with LD77MH Models964
Appendix 5 When Using GX Works2968
Appendix 6 External Dimension Drawing969

Brand	Mitsubishi
Model	MELSEC-Q QD77MS
Category	Control Unit
Language	English

Mitsubishi MELSEC-Q QD77MS User Manual

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