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QD70P4
Mitsubishi QD70P4 User Manual
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7 - 10
7 - 10
MELSEC-Q
7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
(5) Turning
OFF fast OPR control comma
nd and fast OPR cont
rol command storage
(Not needed
when fast OPR control is no
t used)
No.7 Positioning
control start program
(M
4 and M5 co
ntacts are not needed when f
ast OPR control is
not carried out)
(M8 contact is not needed when JOG operation is not
pe
rformed)
No.8 JOG operation program
116
118
Table of Contents
Default Chapter
2
Safety Instructions
2
Revisions
5
Table of Contents
6
About Manuals
10
Using this Manual
10
Conformation to the EMC Directive and Low Voltage Instruction
10
Generic Terms and Abbreviations
11
Component List
11
Section 1 Product Specifications and Handling
12
1 Product Outline
14
Positioning Control
14
Features of QD70
14
Mechanism of Positioning Control
15
Outline Design of Positioning Control System
17
Communicating Signals between QD70 and each Module
20
Positioning Control
22
Outline of Starting
22
Outline of Stopping
23
2 System Configuration
24
General Image of System
24
Component List
25
Applicable System
26
How to Check the Function Version and the Software Version
27
3 Specifications and Functions
29
Performance Specifications
29
List of Functions
30
Specifications of Input/Output Signal with PLC CPU
32
List of Input/Output Signals with PLC CPU
32
Details of Input Signal
33
Plc Cpu)
33
Specifications of Input/Output Interfaces with External Device
35
Electrical Specifications of Input/Output Signals
35
Signal Layout for External Device Connection Connector
37
List of Input/Output Signal Details
38
Input/Output Interface Internal Circuit
39
4 Data Used for Positioning Control(List of Buffer Memory Addresses)
40
Type of Data
40
Parameters and Data Required for Control
40
Setting Items for Parameters
42
Setting Items for OPR Data
43
Setting Items for JOG Data
44
Setting Items for Positioning Data
45
Type and Roles of Monitor Data
46
Type and Roles of Control Data
47
List of Parameters
48
List of OPR Data
53
List of JOG Data
59
List of Positioning Data
60
List of Monitor Data
66
Axis Monitor Data
66
Module Information Monitor Data
68
List of Control Data
69
Axis Control Data
69
5 Setup and Procedures before Operation
71
Handling Precautions
71
Procedures before Operation
73
Part Identification Nomenclature
74
Wiring
77
Wiring Precautions
77
Confirming the Wiring
82
Confirmation Items at Completion of Wiring
82
Switch Setting for Intelligent Function Module
84
Simple Reciprocating Operation
88
6 UTILITY PACKAGE(GX Configurator-PT)
91
Utility Package Functions
91
Installing and Uninstalling the Utility Package
92
User Precautions
92
Operating Environment
94
Explanation of Utility Package Operations
95
How to Perform Common Utility Package Operations
95
Operation Overview
97
Starting the Intelligent Function Module Utility
99
Initial Setting
101
Auto Refresh Setting
103
Monitor/Test
105
Monitor/Test Screen
105
7 Sequence Program Used for Positioning Control
108
Precautions for Creating Program
108
List of Devices Used
110
Creating a Program
112
General Configuration of Program
112
Positioning Control Operation Program
113
Positioning Control Program Examples
115
Program Details
119
Initialization Program
119
Start Method Setting Program
120
Start Program
120
Sub Program
125
Section 2 Control Details and Setting
128
8 Opr Control
130
Outline of OPR Control
130
Two Types of OPR Control
130
Machine OPR Control
131
Outline of the Machine OPR Operation
131
Machine OPR Method
132
OPR Method (1): Near-Point Dog Method
133
OPR Method (2): Stopper 1
135
OPR Method (3): Stopper 2
137
OPR Method (4): Stopper 3
139
OPR Method (5): Count 1
141
OPR Method (6): Count 2
143
Fast OPR Control
145
Outline of the Fast OPR Control Operation
145
9 Positioning Control
146
Outline of Positioning Controls
146
Data Required for Positioning Control
146
Operation Patterns of Positioning Controls
147
Designating the Positioning Address
153
Confirming the Current Value
154
Setting the Positioning Data
155
Relation between each Control and Positioning Data
155
1-Axis Linear Control
156
Speed-Position Switching Control
158
Current Value Changing
161
Multiple Axes Simultaneous Start Control
162
10 Jog Operation
163
Outline of JOG Operation
163
JOG Operation Execution Procedure
165
JOG Operation Example
166
11 Sub Functions
169
Outline of Sub Functions
169
Speed Limit Function
169
Speed Change Function
170
Software Stroke Limit Function
173
Acceleration/Deceleration Processing Function
176
Restart Function
180
12 Common Functions
182
Outline of Common Functions
182
External I/O Signal Switching Function
182
External I/O Signal Monitor Function
183
13 Troubleshooting
185
Error and Warning Details
185
List of Errors
187
List of Warnings
195
LED Display Function
197
Confirming the Error Definition Using System Monitor of GX Developer
198
Appendix
199
Appendix 1 External Dimension Drawing
199
Appendix 2 Operation Timing and Processing Time in each Control
200
Appendix 3 Connection Examples with Servo Amplifiers Manufactured by MITSUBISHI Electric Corporation
204
Appendix 3.1 Connection Example of QD70P and MR-H a
204
Appendix 3.2 Connection Example of QD70P and MR-J2/J2S- a
205
Appendix 3.3 Connection Example of QD70P and MR-C a
206
App
206
Appendix 4.1 Connection Example of QD70P and VEXTA UPD
207
Appendix 5 Connection Examples with Servo Amplifiers Manufactured by Matsushita Electric Industrial Co., Ltd
208
Appendix 6 Connection Examples with Servo Amplifiers Manufactured by Yamayo Electric Co., Ltd
209
Appendix 6.1 Connection Example of QD70P and PZ Series
209
Appendix 7 Connection Examples with Servo Amplifiers Manufactured by Yasukawa Electric Co., Ltd
210
Appendix 7.1 Connection Example of QD70P and Σ- Series
210
Appendix 8 Comparisons with Type QD75 Positioning Module
211
Appendix 9 List of Buffer Memory Addresses
214
4
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Mitsubishi QD70P4 Specifications
General
Brand
Mitsubishi
Model
QD70P4
Category
Controller
Language
English
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