Page 3: Safety Precautions
SAFETY PRECAUTIONS (Read these precautions before use.) Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product. For the safety precautions of the programmable controller system, please read the User's Manual for the CPU module.
Page 4 [INSTALLATION PRECAUTIONS] CAUTION Use the programmable controller in the environment conditions given in the general specifications of the User's Manual for the CPU module. Failure to do so may cause an electric shock, fire, malfunction, or damage to or deterioration of the product.
Page 5 [STARTUP/MAINTENANCE PRECAUTIONS] DANGER Be sure to shut off all phases of the external power supply used by the system before cleaning or retightening module fixing screw. Failure to do so may cause an electric shock. CAUTION Do not or remodel each of the modules. Doing so may cause failure, malfunctions, personal injuries and/or a fire.
Page 6: Revisions
Japanese Manual Version SH-080682-C This manual confers no industrial property rights or any rights of any other kind, nor does it confer any licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a...
Page 7: Table Of Contents
INTRODUCTION Thank you for purchasing the Mitsubishi programmable controller MELSEC-Q series. Before using the product, please read this manual carefully to develop full familiarity with the functions and performance of the Q series programmable controller to ensure correct use. CONTENTS SAFETY PRECAUTIONS••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••...
Page 8 3.3.1 List of I/O signals with programmable controller CPU••••••••••••••••••••••••••••••••••••••••••••••••••3 - 4 3.3.2 Details of input signal (QD72P3C3 programmable controller CPU) ••••••••••••••••••••••••••••••••3 - 6 3.3.3 Details of output signals (programmable controller CPU QD72P3C3) •••••••••••••••••••••••••••••3 - 8 List of Buffer Memory Addresses •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 3 - 10 Specifications of I/O Interfaces with External Device ••••••••••••••••••••••••••••••••••••••••••••••••••••••...
Page 9 6.3.2 Operation overview ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6 - 8 6.3.3 Starting the Intelligent function module utility •••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6 - 10 Initial Setting ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6 - 12 Auto Refresh Setting ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6 - 15 Monitoring/Test •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6 - 17 6.6.1 Monitoring/Test screen ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6 - 17 6.6.2 ACC/DEC time calculation function screen ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••...
Page 10 9.2.1 Relation between each control and positioning data •••••••••••••••••••••••••••••••••••••••••••••••••••9 - 7 9.2.2 1-axis linear control •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9 - 8 9.2.3 Speed control •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9 - 10 9.2.4 Current value change••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9 - 13 Multiple axes concurrent start control ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9 - 15 CHAPTER10 JOG OPERATION 10 - 1 to 10 - 7 10.1...
Page 11 External Dimensions •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• App - 1 Appendix 2 Operation Timing and Processing Time in Each Control••••••••••••••••••••••••••••••••••••••• App - 2 Appendix 3 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• App - 7 Appendix 4 Connection Examples with Stepping Motors Manufactured by ORIENTAL MOTOR CO., LTD.•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••App - 11...
Page 12: How To Read This Manual
(1) For programmable controller system To configure a system meeting the requirements of the EMC and Low Voltage Directives when incorporating the Mitsubishi programmable controller (EMC and Low Voltage Directives compliant) into other machinery or equipment, refer to Chapter 9 "EMC AND LOW VOLTAGE DIRECTIVES"...
Page 13: Generic Terms And Abbreviations
GENERIC TERMS AND ABBREVIATIONS Unless otherwise specified, this manual uses the following generic terms and abbreviations. Generic term and Description abbreviation Programmable Generic term for the programmable controller CPU to which the QD72P3C3 can be mounted. controller CPU QD72P3C3 Abbreviation for the QD72P3C3 type positioning module with built-in counter function Generic term for IBM-PC/AT-compatible personal computer in which "GX Configurator-PT"...
Page 14 Memo - 12...
Page 15: Part 1 Product Specifications And Handling
PART 1 PRODUCT SPECIFICATIONS AND HANDLING PART 1 consists for the following purposes (1) to (4). (1) To understand the outline of positioning control, and the QD72P3C3 specifications and functions (2) To perform actual work such as installation and wiring (3) To set parameters and data required for positioning control (4) To create a sequence program required for positioning control For details of each control, refer to "PART 2".
Page 16 Memo...
Page 17: Chapter1 Product Outline
This User's Manual describes the specifications, handling, and programming methods for the type QD72P3C3 positioning module with built-in counter function used together with the MELSEC-Q series CPU module. When applying any of the program examples introduced in this manual to the actual system, verify the applicability and confirm that no problem occurs in the system control.
Page 18 PRODUCT OUTLINE (4) Simple settings using the utility package The utility package (GX Configurator-PT) is sold separately. The utility package enables to make initial setting and auto refresh setting on the screen, which lead to load reduction of the sequence programs and simplicity in checking the setting status and operation status.
Page 19: Outline Of Positioning Control And Count Operation
PRODUCT OUTLINE Outline of Positioning Control and Count Operation 1.2.1 Mechanism of positioning control Positioning control using the QD72P3C3 is performed using "pulse signals". (The QD72P3C3 is a module that outputs pulses.) In a positioning control system using the QD72P3C3, a variety of software and external devices are used to play their roles as shown below.
Page 20 PRODUCT OUTLINE The following describes the operation principle of "position control" and "speed control". (1) Position control The total number of pulses required to move the specified distance is obtained in the following manner. Specified distance Number of pulses Total number of pulses required required for the motor to move the specified distance Movement amount of the...
Page 21: Design Outline Of Positioning Control System
PRODUCT OUTLINE 1.2.2 Design outline of positioning control system The following describes the outline of the operation of positioning control system, using the QD72P3C3. (1) Positioning control system using the QD72P3C3 Programmable Positioning module Drive unit Servo motor controller CPU QD72P3C3 Forward run pulse train...
Page 22 PRODUCT OUTLINE (b) Output pulse from the QD72P3C3 1) As shown in Figure 1.3, the number of pulses in a pulse train is small at the start, and then the number increases as the servomotor accelerates and its speed approaches the command speed. 2) The pulse frequency stabilizes once the speed reaches the command speed.
Page 23 PRODUCT OUTLINE 1) Movement amount per pulse The movement amount per pulse is determined by the feed screw lead, deceleration ratio, and pulse encoder resolution. The movement amount, therefore, will be: (Number of pulses output) (Movement amount per pulse). [ mm/pulse] 2) Command pulse frequency The command pulse frequency is determined by the movable section speed and movement amount per pulse.
Page 24: Design Outline Of Counter Function
PRODUCT OUTLINE 1.2.3 Design outline of counter function The following describes the outline of the count operation, using the counter function of the QD72P3C3. Positioning module Programmable QD72P3C3 Drive unit Servomotor controller CPU Forward run pulses Read/write, etc. Reverse run pulses Feedback pulses Initial setting/ Auto refresh setting...
Page 25: Communicating Signals Between Qd72P3C3 And Each Module
PRODUCT OUTLINE 1.2.4 Communicating signals between QD72P3C3 and each module The following shows the outline of the signal communication between the QD72P3C3 and programmable controller CPU, peripheral (GX Configurator-PT), and drive unit. (A peripheral is connected to the programmable controller CPU, and communicates signals with the QD72P3C3 via the programmable controller CPU.) For details of each I/O signals, refer to CHAPTER 3.
Page 26 PRODUCT OUTLINE (1) QD72P3C3 Programmable controller CPU The QD72P3C3 and programmable controller CPU communicate the following data via the base unit. Direction QD72P3C3 Programmable Programmable controller CPU Communication controller CPU QD72P3C3 Signals indicate the QD72P3C3 status: Signals related to commands: •Module READY signal (X0) •Programmable controller CPU READY •Axis/CH error occurrence signal (X1 to...
Page 27 PRODUCT OUTLINE (4) Encoder QD72P3C3 The input signals from the encoder are input to the QD72P3C3 via the external device connector. Encoder •Pulse train input (CH A/CH B) (5) Mechanical system inputs (switches) QD72P3C3 The input signals from the mechanical system inputs (switches) are input to the QD72P3C3 via the external device connector.
Page 28: Basic Operation Of Positioning Control
PRODUCT OUTLINE Basic Operation of Positioning Control 1.3.1 Outline of control start The following flowchart shows the outline of each control start. * Assume that module installation and required settings for system configuration have already been prepared. Flow of control start Setting of hardware Preparation Installation and connection of module...
Page 29: Outline Of Control Stop
PRODUCT OUTLINE 1.3.2 Outline of control stop A control stops in the following cases: (1) Each control ended normally. (2) An error occurred in the programmable controller CPU. (3) An error occurred in the QD72P3C3. (4) The axis stop signal (Y4 to Y6) from the programmable controller CPU is turned ON.
Page 30: Chapter2 System Configuration
SYSTEM CONFIGURATION CHAPTER2 SYSTEM CONFIGURATION This chapter describes the system configuration of the QD72P3C3. General Image of System The following is the general configuration including the QD72P3C3, programmable controller CPU, and peripheral, etc. (Numbers in the figure correspond to the ones in the table in "Section 2.2 Component List" on the next page.
Page 31: Component List
SYSTEM CONFIGURATION Component List A positioning system using the QD72P3C3 consists of the following components. Product name Model Remarks Positioning module QD72P3C3 GX Developer SW D5C-GPPW-E For details, refer to the GX Developer Operating Manual and "CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)". GX Configurator-PT SW D5C-QPTU-E IBM-PC/AT-compatible...
Page 32: Applicable Systems
SYSTEM CONFIGURATION Applicable Systems This section describes applicable systems. (1) Applicable modules and base units, and No. of modules (a) When mounted with a CPU module The table below shows the CPU modules and base units applicable to the QD72P3C3 and quantities for each CPU model. Depending on the combination with other modules or the number of mounted modules, power supply capacity may be insufficient.
Page 33 SYSTEM CONFIGURATION * 1 Limited within the range of I/O points for the CPU module. * 2 Can be installed to any I/O slot of a base unit. * 3 For the coincidence detection interrupt function, use the Basic model QCPU module of function version B or later.
Page 34 SYSTEM CONFIGURATION (3) Supported software packages Relation between the system containing the QD72P3C3 and software package is shown in the following table. GX Developer is necessary when using the QD72P3C3. Software version GX Developer GX Configurator-PT Single CPU Version 7 or later Q00J/Q00/ system Multiple CPU...
Page 35: About Use Of The Qd72P3C3 With The Q12Prh/Q25Prhcpu
SYSTEM CONFIGURATION About Use of the QD72P3C3 with the Q12PRH/Q25PRHCPU Here, use of the QD72P3C3 with the Q12PRH/Q25PRHCPU is explained. (1) Dedicated instruction The dedicated instruction cannnot be used. (2) GX Configurator-PT connection GX Configurator-PT cannot be used when accessing the Q12PRH/Q25PRHCPU via an intelligent function module on an extension base unit from GX Developer.
Page 36: About Use Of The Qd72P3C3 With The Melsecnet/H Remote I/O Station
SYSTEM CONFIGURATION About Use of the QD72P3C3 with the MELSECNET/H Remote I/O Station This section describes when using the QD72P3C3 in the MELSECNET/H remote I/O station. (1) The number of mountable QD72P3C3 modules when using the MELSECNET/H remote I/O station For the number of mountable modules, refer to Section 2.3 (1)(b).
Page 37: How To Check The Function Version/Software Version
SYSTEM CONFIGURATION How to Check the Function Version/Software Version This section describes where to check the function version of the QD72P3C3 and software version of GX Configurator-PT. (1) Checking the function version of the QD72P3C3 (a) Checking the rating plate on the module side Check the version by the last character of "SERIAL".
Page 38 SYSTEM CONFIGURATION (2) Checking the software version of GX Configurator-PT The software version of GX Configurator- PT can be checked in GX Developer's "Product information" screen. [Operating procedure] GX Developer [Help] [Product information] (GX Developer screen) Software version 2.6 How to Check the Function Version/Software Version...
Page 39: Chapter3 Specifications And Functions
SPECIFICATIONS AND FUNCTIONS CHAPTER3 SPECIFICATIONS AND FUNCTIONS This chapter describes the performance specifications and functions of the QD72P3C3, and the specifications of the I/O signals to the programmable controller CPU and external device. For general specifications of the QD72P3C3, refer to the User's Manual for the CPU module.
Page 40: Function List
SPECIFICATIONS AND FUNCTIONS Function List The following table lists the functions of the QD72P3C3. Control method/function name Description Reference Mechanically establishes the positioning control start point using a Section Machine OPR control near-point dog or stopper. Section Performs positioning control to the OP address ( Current feed Md.1 Fast OPR control...
Page 41 SPECIFICATIONS AND FUNCTIONS Control method/function name Description Reference Can count from -1073741824 to 1073741823 and detect an Section Linear counter function overflow when the count range is overrun. 12.2 Counts repeatedly from 0 to the " Ring counter upper limit Pr.16 Section value".
Page 42 SPECIFICATIONS AND FUNCTIONS Specifications of I/O Signals with Programmable Controller CPU 3.3.1 List of I/O signals with programmable controller CPU The QD72P3C3 uses 32 input points and 32 output points for exchanging data with the programmable controller CPU. The I/O signals when the QD72PC3 is mounted in slot 0 of the main base unit are shown below.
Page 43: Specifications Of I/O Signals With Programmable Controller Cpu
SPECIFICATIONS AND FUNCTIONS IMPORTANT X07, X0B, X0F, X13, X17, X1B, X1F, Y07, Y0B, Y12, Y13, Y17, Y1B, Y1F are used by the system, and cannot be used by the user. If used, the operations of the QD72P3C3 are not ensured. 3.3 Specifications of I/O Signals with Programmable Controller CPU 3.3.1 List of I/O signals with programmable controller CPU...
Page 44: Details Of Input Signal (Qd72P3C3 Programmable Controller Cpu)
SPECIFICATIONS AND FUNCTIONS 3.3.2 Details of input signal (QD72P3C3 programmable controller CPU) The following table shows the details of input signals. Device Signal name Description (1) When the programmable controller CPU READY signal (Y0) is turned from OFF to ON, the parameter setting range is checked. If no error is found, this signal turns ON.
Page 45 SPECIFICATIONS AND FUNCTIONS Device Signal name Description OFF: Count value Coincidence detection Count value point setting, (1) This signal turns ON when " Count value" " Coincidence Md.3 Cd.7 large detection point setting". ON: Count value Coincidence detection point setting (1) This signal latches at ON when "...
Page 46: Details Of Output Signals (Programmable Controller Cpu Qd72P3C3)
SPECIFICATIONS AND FUNCTIONS 3.3.3 Details of output signals (programmable controller CPU QD72P3C3) The following table shows the details of output signals. Device Signal name Description (1) This signal notifies the QD72P3C3 that the programmable controller CPU is normal. It is turned ON/OFF with the sequence program. This signal is turned ON during positioning control, OPR control and JOG OFF: operation.
Page 47 SPECIFICATIONS AND FUNCTIONS Device Signal name Description OFF: Coincidence Coincidenc signal reset not e signal commanded (1) This signal is turned ON when resetting the count value coincidence (X15, reset ON: Coincidence X19, and X1D). command signal reset commanded OFF: Preset not Preset commanded (1) On the rising edge of this signal, "...
Page 48: List Of Buffer Memory Addresses
SPECIFICATIONS AND FUNCTIONS List of Buffer Memory Addresses The following is a list of buffer memory addresses. In addition, for the details, such as a setting value, of each buffer memory, refer to "Chapter 4 DATA USED FOR POSITIONING CONTROL". Buffer memory address for setting...
Page 49 SPECIFICATIONS AND FUNCTIONS Buffer memory address for setting Factory default Item Setting value, setting range Reference value Axis Axis Axis JOG speed 1 to 100000 (pulse/s) Section JOG.1 JOG ACC/DEC time 1 to 5000 (ms) 1000 JOG.2 New speed value 1 to 100000 (pulse/s) Cd.1 ACC/DEC time at speed...
Page 50: Specifications Of I/O Interfaces With External Device
SPECIFICATIONS AND FUNCTIONS Specifications of I/O Interfaces with External Device 3.5.1 Electrical specifications of I/O signals (1) Input specifications (a) Input specifications of external input device for positioning Rated input Operating ON voltage/ OFF voltage/ Input Response Signal name voltage/ voltage range current current...
Page 51 SPECIFICATIONS AND FUNCTIONS (b) Input specifications for the counter function Rated input Operating ON voltage/ OFF voltage/ Input Response Signal name voltage/ voltage current current resistance time current range 1.0VDC or Approx. 2.7VDC or more/ 5VDC 5VDC/18mA 4.5 to 5.5V less/0.5mA or 1 s or less 5.5mA or more...
Page 52 SPECIFICATIONS AND FUNCTIONS (2) Output specifications (a) Input specifications of external input device for positioning Operating Max. load Leakage Rated load Max. voltage Signal name load voltage current/inrush current Response time voltage drop at ON range current at OFF 50mA/point / 4.75 to 0.1mA 5 to 24VDC...
Page 53 SPECIFICATIONS AND FUNCTIONS *: Pulse rise/fall time (unit tr.tf: s Duty:%) ... Ambient air temperature is assumed to be ordinary temperature. Load voltage (V) 26.4 Cable length (m) Load Pulse current speed Duty Duty (Rise) (Fall) (Rise) (Fall) (mA) (kpps) 2.341 0.156 44.76...
Page 54: Signal Layout For External Device Connector
SPECIFICATIONS AND FUNCTIONS 3.5.2 Signal layout for external device connector The specifications of the connector section, which is the I/O interface for the QD72P3C3 and external device, are shown below. CON2 (for axis 3) CON1 (for axes 1 and 2) Pin layout Signal name Signal name...
Page 55: List Of I/O Signal Details
SPECIFICATIONS AND FUNCTIONS 3.5.3 List of I/O signal details The details of each signal for the QD72P3C3 external device connector are shown below. Signal details Signal name Pin No. Symbol (Negative logic is selected by external I/O signal logic selection) •Input the zero signal for machine OPR control.
Page 56: Internal Circuit Of I/O Interface
SPECIFICATIONS AND FUNCTIONS 3.5.4 Internal circuit of I/O interface The following shows the schematic diagram of the internal circuit of the interface for external device connection of the QD72P3C3. (for axis 1) External wiring Internal circuit Signal name classification 1/3W Zero signal PG0 1 2.2k...
Page 57 SPECIFICATIONS AND FUNCTIONS (1) Input signal ON/OFF status (a) Input signal ON/OFF status The input signal ON/OFF status is defined by the external wiring and logic setting. The following shows an example of the near-point dog signal (DOG). (The other input signals also perform the same operations as the near-point dog signal (DOG).) ON/OFF status of the near-point Logic...
Page 58: Chapter4 Data Used For Positioning Control
DATA USED FOR POSITIONING CONTROL CHAPTER4 DATA USED FOR POSITIONING CONTROL This chapter describes the specifications of the data to be set to the QD72P3C3. Data Types 4.1.1 Parameters and data required for control The parameters and data required to perform control with the QD72P3C3 include the following three types of data: "setting data", "monitor data", and "control data".
Page 59 DATA USED FOR POSITIONING CONTROL Monitor data Data related to the operations of the running axes (e.g. the current positions, speeds, error status, and warning status) are monitored Monitor data for each axis. (Storage location: QD72P3C3 buffer memory) ( Md.1 to Md.8 ) Control data Operation-related settings are made and control Axis control data...
Page 60: Parameter Setting Items
DATA USED FOR POSITIONING CONTROL 4.1.2 Parameter setting items The following table shows the "parameter" setting items. Set "parameters" to each axis for all controls using the QD72P3C3. For details of each control, refer to "Chapter 8" to "Chapter 10". For details of each setting item, refer to "Section 4.2 Parameter List".
Page 61 DATA USED FOR POSITIONING CONTROL Checking the parameters Setting ranges of are checked when the "programmable controller CPU Pr.1 Pr.19 READY signal (Y0)" output from the programmable controller CPU to the QD72P3C3 is changed from OFF to ON. At this time, an error occurs in the parameter whose setting value is outside the range.
Page 62: Jog Data Setting Items
DATA USED FOR POSITIONING CONTROL 4.1.3 JOG data setting items The "JOG data" has to be set to perform "JOG operation". The following table shows the "JOG data" setting items. Set "JOG data" to each axis. For details of "JOG operation" and details of each setting item, refer to "CHAPTER 10 JOG OPERATION"...
Page 63: Types And Functions Of Monitor Data
DATA USED FOR POSITIONING CONTROL 4.1.5 Types and functions of monitor data The monitor data area in the buffer memory stores the data showing the status of the positioning control system. To operate the positioning control system, monitor these data as necessary.
Page 64: Parameter List
DATA USED FOR POSITIONING CONTROL Parameter List Buffer memory address for setting Factory Parameter Setting value, setting range default value Axis Axis Axis 1/CH1 2/CH2 3/CH3 Software stroke limit upper Pr.1 -1073741824 to 1073741823 (pulse) 1073741823 limit value Software stroke limit lower Pr.2 -1073741824 to 1073741823 (pulse) -1073741824...
Page 65 DATA USED FOR POSITIONING CONTROL * 1 Setting unit (pulse unit) for speed setting data changes according to the value set to " Speed Pr.4 limit value" as the table below. Setting value Pr.4 1 to 8000 8001 to 32000 32001 to 64000 64001 to 100000 of "Speed limit value"...
Page 66 DATA USED FOR POSITIONING CONTROL Software stroke limit upper limit value, Software stroke limit lower limit value Pr.1 Pr.2 [Setting contents] : Set the upper limit for the machine movement range. Pr.1 : Set the lower limit for the machine movement range. Pr.2 Software stroke Software stroke...
Page 67 DATA USED FOR POSITIONING CONTROL Bias speed at start Pr.5 [Setting contents] • Set the minimum starting speed for positioning control and JOG operation. • In case of using a motor such as a stepping motor, set this item to start the motor smoothly.
Page 68 DATA USED FOR POSITIONING CONTROL Positioning complete signal output time Pr.6 [Setting contents] • Set the output time of the positioning complete signal (X10 to X12) output from the QD72P3C3. • Positioning complete designates the status when the QD72P3C3 finishes outputting pulses.
Page 69 DATA USED FOR POSITIONING CONTROL Current feed value, count value simultaneous change function selection Pr.9 [Setting contents] Make setting to change " Current feed value" and " Count value" to the Md.1 Md.3 same value at current value change or presetting. 0: Values not changed The current feed value, count value simultaneous change function is not used.
Page 70 DATA USED FOR POSITIONING CONTROL OPR method Pr.10 [Setting contents] Set "OPR method" for performing machine OPR control. 0: Near-point dog After the axis decelerates at the near-point dog ON, it stops at the zero signal and method then the machine OPR control is completed. After the axis starts rotating at creep speed, it stops at the stopper and then the 1: Stopper 3 machine OPR control is completed at zero signal.
Page 71 DATA USED FOR POSITIONING CONTROL OPR direction Pr.11 [Setting contents] Set the direction to start movement when starting machine OPR control. 0: Forward direction..Moves in the direction that the address increases. (Arrow 2)) 1: Reverse direction..Moves in the direction that the address decreases. (Arrow 1)) Normally, OP is set near the lower limit switch or the upper limit switch.
Page 72 DATA USED FOR POSITIONING CONTROL OPR speed Pr.13 [Setting contents] Set the speed for OPR control. [Precautions] • Set "OPR speed" to equal to or less than " Speed limit value". If the "Speed Pr.4 limit value" is exceeded, "Out of OPR speed setting range" error (error code: 913) occurs.
Page 73 DATA USED FOR POSITIONING CONTROL Creep speed Pr.14 [Setting contents] • Set the creep speed (low speed immediately before stop after deceleration from OPR speed). • The creep speed has influence to detection tolerance in OPR method with near- point dog method, and has influence to the size of impact at collision in OPR method with the stopper 3.
Page 74 DATA USED FOR POSITIONING CONTROL ACC/DEC time at OPR Pr.15 [Setting contents] Set acceleration time from " Creep speed" to " OPR speed" and Pr.14 Pr.13 deceleration time from " OPR speed" to " Creep speed" during machine Pr.13 Pr.14 OPR control in near-point dog method.
Page 75 DATA USED FOR POSITIONING CONTROL Ring counter upper limit value Pr.16 [Setting contents] • Set the upper limit value of count range when the ring counter is selected for the counter format • For details of ring counter, refer to "Section 12.3 Ring Counter Function". : Select the counter format using the intelligent function module switch.
Page 76 DATA USED FOR POSITIONING CONTROL Positioning range upper limit value Pr.17 [Setting contents] • Set the upper limit value of positioning range when the ring counter is selected for the counter format and positioning control is performed in absolute system. When positioning control is performed at ring counter setting, the movable range in absolute system is from 0 to "...
Page 77 DATA USED FOR POSITIONING CONTROL Coincidence detection setting Pr.18 [Setting contents] Select whether to use the coincidence detection function. 0: Coincidence detection not request..The coincidence detection function is not used. 1: Coincidence detection requested..The coincidence detection function is used. [Precautions] If setting "1: Coincidence detection requested"...
Page 78: Jog Data List
DATA USED FOR POSITIONING CONTROL JOG Data List Buffer memory address for Factory default setting Item Setting value, setting range value Axis Axis Axis 1 to 100000 (pulse/s) JOG speed JOG.1 JOG ACC/DEC JOG.2 1 to 5000 (ms) 1000 time JOG speed JOG.1 [Setting contents]...
Page 79 DATA USED FOR POSITIONING CONTROL JOG ACC/DEC time JOG.2 [Setting contents] Set the ACC/DEC time for JOG operation. (This ACC/DEC time is used for both forward run JOG and reverse run JOG.) [Precautions] Set JOG ACC/DEC time within the range that the following formula is satisfied. If the condition is not satisfied, "Out of ACC/DEC time setting valid range"...
Page 80: Positioning Data List
DATA USED FOR POSITIONING CONTROL Positioning Data List Buffer memory address for Factory default setting Item Setting value, setting range value Axis Axis Axis 0: Positioning start (independent) Operation pattern Da.1 5000: Positioning start (continuous) 0: No control method 1: 1-axis linear control (ABS) 2: 1-axis linear control (INC) Control method Da.2...
Page 81 DATA USED FOR POSITIONING CONTROL Operation pattern Da.1 [Setting contents] Area to select a start method for positioning control. 0: Positioning start (independent) Select this item when performing positioning control whose movement amount is within 268435455pulses, regardless whether the system is the absolute system or incremental system.
Page 82 DATA USED FOR POSITIONING CONTROL Control method Da.2 [Setting contents] Set the "control method" for positioning control. 0: No control method 1: 1-axis linear control (ABS) 2: 1-axis linear control (INC) 3: Speed control (Forward run) 4: Speed control (Reverse run) 5: Current value change [Precautions] •...
Page 83 DATA USED FOR POSITIONING CONTROL Command speed Da.4 [Setting contents] Set the speed during positioning control. [Precautions] • If the set command speed exceeds " Speed limit value", positioning control Pr.4 is performed at the speed limit value. • Setting unit (pulse unit) changes according to the value set to " Speed limit Pr.4 value"...
Page 84 DATA USED FOR POSITIONING CONTROL Positioning address/movement amount Da.5 [Setting contents] Set an address or movement amount which is to be a set point for positioning control. The settable range depends on " Control method". Da.2 (refer to (a) and (b) below.) (a) 1-axis linear control (ABS), current value change Set a value (positioning address) for 1-axis linear control (ABS) or current value change using the absolute address (address from the OP).
Page 85: Monitor Data List
DATA USED FOR POSITIONING CONTROL Monitor Data List Storage buffer memory address Factory Item Stored data default Axis Axis Axis value •The current position using the position when OPR is completed as the base is stored. •Update timing: 2.5ms •On completion of machine OPR control, the OP address is stored. •Current feed value not updated/current feed value updated can be selected Current feed value Md.1...
Page 86 DATA USED FOR POSITIONING CONTROL Buffer memory address for Factory setting Item Stored data default Axis Axis Axis value The ON/OFF status of the following flags are stored. The following items are stored. •Speed control flag (for details, refer to "CHAPTER 9"). This flag turns ON at speed control start, and turns OFF at speed control stop.
Page 87: Control Data List
DATA USED FOR POSITIONING CONTROL Control Data List 4.6.1 Axis control data Buffer memory address for Factory setting Item Stored data default Axis Axis Axis value Set the new speed for JOG operation or speed control. By turning ON " Speed change request", the axis operates at the Cd.3 speed set to this buffer memory.
Page 88 DATA USED FOR POSITIONING CONTROL * 1: Setting unit (pulse unit) changes according to the value set to " Speed limit value" as the table Pr.4 below. Setting value of 1 to 8000 8001 to 32000 32001 to 64000 64001 to 100000 "...
Page 89: Chapter5 Procedures And Settings Before Operation
PROCEDURES AND SETTINGS BEFORE OPERATION CHAPTER5 PROCEDURES AND SETTINGS BEFORE OPERATION This chapter describes the operating procedures before operation, part names, and setting and wiring method of the QD72P3C3. Handling Precautions This section describes precautions on handling the QD72P3C3. DANGER Be sure to shut off all phases of the external power supply used by the system before cleaning or retightening module fixing screw.
Page 90 PROCEDURES AND SETTINGS BEFORE OPERATION (1) Main body • The main body case is made of plastic. Do not drop nor apply strong impact onto the case. • Do not remove the printed-circuit board of the QD72P3C3 from the case. Doing so may cause a failure.
Page 91: Procedures Before Operation
PROCEDURES AND SETTINGS BEFORE OPERATION Procedures Before Operation The following flowchart shows the procedures for operating the QD72P3C3. Start Module installation Install the QD72P3C3 in the specified slot. Wiring Wire external devices to the QD72P3C3. (Refer to Section 5.4.) Intelligent function module switch setting Set the switches using GX Developer.
Page 92: Part Names
PROCEDURES AND SETTINGS BEFORE OPERATION Part Names (1) The following explains the part names of the QD72P3C3. áÇ Name Description RUN LED ERR. LED AX LED Refer to the next page. A LED B LED Connector for connecting a drive unit, encoder, and External device connector mechanical system inputs 5.3 Part Names...
Page 93 PROCEDURES AND SETTINGS BEFORE OPERATION (2) The LED display changes according to the operation status of the QD72P3C3 and Axis/CH as follows. Operation Descriptio Descriptio Display contents Display contents Operation status status •RUN LED is CH1 CH2 CH3 CH1 CH2 CH3 OFF.
Page 94 PROCEDURES AND SETTINGS BEFORE OPERATION External device connector Purchase the connector for the QD72P3C3 separately. The following tables show the recommended connector types and crimp tool. (a) Connector types Type Model Soldering type, straight out A6CON1 Crimp type, straight out A6CON2 Soldering type, usable for both straight out and A6CON4...
Page 95: Wiring
PROCEDURES AND SETTINGS BEFORE OPERATION Wiring This section describes how to wire a drive unit and mechanical system inputs to the QD72P3C3. The following describes the precautions for wiring the QD72P3C3. Read these precautions together with "Section 5.1 Handling Precautions" to ensure work safety. 5.4.1 Wiring precautions (1) Correctly wire cables to the QD72P3C3 after checking the terminal...
Page 96 PROCEDURES AND SETTINGS BEFORE OPERATION (8) When the QD72P3C3 connection cable is located close to the power line (less than 100mm (3.94inch)), use a shielded cable for noise suppression. Be sure to ground the shield of shielded cables to a control panel on the QD72P3C3 side.
Page 97 PROCEDURES AND SETTINGS BEFORE OPERATION Connector (A6CON1) assembly Cover the cables including th conductive tape with heat-sh 5.4 Wiring 5.4.1 Wiring precautions...
Page 98 (10)To conform the wiring to the EMC and Low Voltage Directives, ground the shielded cables to a control panel using the AD75CK cable clamp (manufactured by Mitsubishi Electric Corporation). In a control panel 20 (7.87) to 30cm (11.81inch )
Page 99 PROCEDURES AND SETTINGS BEFORE OPERATION [Wiring examples using duct (improper example and improved example)] Wiring duct Relay Relay Drive Drive Relay unit unit Control panel Programmable QD72 controller CPU P3C3 Noise source The drive units are (Power system, placed near the noise etc.) source.
Page 100: Wiring Check
PROCEDURES AND SETTINGS BEFORE OPERATION Wiring Check 5.5.1 Check items at wiring completion Check the following items after installation and wiring of the QD72P3C3 are completed. • Is the module correctly wired?.........."Connection check" By performing "connection check", "whether the QD72P3C3 recognizes the external I/O signals, such as near-point dog signal and upper/lower limit signals"...
Page 101 PROCEDURES AND SETTINGS BEFORE OPERATION (2) Checking using GX Configurator-PT Monitor the external I/O signal status on the [Monitor/Test] screen. (For details, refer to "Section 6.6 Monitoring/Test".) (Example) Checking the external I/O signals of Axis 1 (Axis #1 OPR Monitor) (GX Configurator-PT screen) IMPORTANT If the QD72P3C3 has a failure or does not recognize necessary signals, such as...
Page 102: Intelligent Function Module Switch Setting
PROCEDURES AND SETTINGS BEFORE OPERATION Intelligent Function Module Switch Setting Pulse I/O mode, external I/O signal logic, and counter format can be set to the QD72P3C3 with intelligent function module switch setting of GX Developer. The switch setting is made on the [I/O assignment] tab in the [PLC Parameter] screen of GX Developer.
Page 103 PROCEDURES AND SETTINGS BEFORE OPERATION [Setting example] Setting contents Target Switch Setting item signal name setting Axis 3 Axis 2 Axis 1 CW/CCW Pulse output mode PULSE/SIGN mode PULSE F mode PULSE R Switch 1 Pulse output logic selection :6126 Deviation counter clear output logic selection CLEAR Zero signal input logic selection...
Page 104 PROCEDURES AND SETTINGS BEFORE OPERATION (b) Pulse input mode Sets the pulse input mode applicable to the encoder and pulse generator used. The following shows the examples of each pulse input mode. Pulse input Count timing mode For addition Counts on the rising edge ( ) of count CW/CCW...
Page 105 PROCEDURES AND SETTINGS BEFORE OPERATION (2) Operating procedure Set the switches on the [I/O assignment] tab in the [PLC Parameter] screen of GX Developer. (a) [I/O assignment] tab Set the following to the slot to which the QD72P3C3 is mounted. [Type]: Select [Intelli].
Page 106: Simple Reciprocating Operation
PROCEDURES AND SETTINGS BEFORE OPERATION Simple Reciprocating Operation Before operating the system, check the operation of the drive unit. (Operation must be checked after confirming that the installation, wiring, intelligent function module switch setting, and connection of the QD72P3C3 are normal. For details of the drive unit, refer to the manual of the drive unit used.) The following describes the method of "simple reciprocating operation".
Page 107 PROCEDURES AND SETTINGS BEFORE OPERATION [Program example] One scan Axis/CH1 Programm- OFF after error oc- able currence controller signal READY signal Module READY signal speed operation flag JOG ACC/ DEC time Forward Module Axis 1 run JOG READY BUSY operation command signal signal...
Page 108 PROCEDURES AND SETTINGS BEFORE OPERATION (4) Checking operation status (a) Checking using GX Developer Read the following monitor data using the monitor function (Buffer memory batch). Buffer memory address Axis monitor data Monitor contents Axis Axis Axis Monitors the current position. Current feed value Md.1 Monitors the current speed.
Page 109 PROCEDURES AND SETTINGS BEFORE OPERATION (b) Checking using GX Configurator-PT Monitor the "current feed value", "current speed", "axis operation status", and "axis error code" on the [Monitor/Test] screen. (For details, refer to "Section 6.6 Monitoring/Test".) (Example) Operation monitor of Axis 1 (Axis #1 Monitor/Test) (GX Configurator-PT screen) 5.7 Simple Reciprocating Operation - 21...
Page 110: Chapter6 Utility Package (Gx Configurator-Pt)
UTILITY PACKAGE (GX Configurator-PT) CHAPTER6 UTILITY PACKAGE (GX Configurator-PT) The QD72P3C3 utility package (GX Configurator-PT) is software designed to make initial setting, auto refresh setting, monitor and others of the QD72P3C3 using dedicated screens, without being conscious of the I/O signals and buffer memory. Use the utility package together with GX Developer (SW4D5C-GPPW-E or later).
Page 111: Installing And Uninstalling The Utility Package
UTILITY PACKAGE (GX Configurator-PT) Installing and Uninstalling the Utility Package For how to install or uninstall the utility package, refer to "Method of installing the MELSOFT Series" included in the utility package. 6.2.1 Handling precautions The following explains the precautions on using the Utility package. (1) For safety Since the utility is add-in software for GX Developer, read "Safety Precautions"...
Page 112 UTILITY PACKAGE (GX Configurator-PT) (5) Switching between two or more Intelligent function module utilities When two or more Intelligent function module utility screens cannot be displayed side by side, select a screen to be displayed on the top of others using the task bar. (6) Number of parameters that can be set in GX Configurator-PT When multiple intelligent function modules are mounted, the number of parameter settings must not exceed the following limit.
Page 113: Operating Environment
UTILITY PACKAGE (GX Configurator-PT) 6.2.2 Operating environment This section explains the operating environment of the personal computer that runs GX Configurator-PT. Item Description Installation (Add-in) target Add-in to GX Developer Version 4 (English version) or later. Computer Windows -based personal computer Refer to the following table "Used operating system and performance required for Required memory personal computer".
Page 114 UTILITY PACKAGE (GX Configurator-PT) Used operating system and performance required for personal computer Performance required for personal computer Operating system Memory 32MB or more Windows Pentium 133MHz or more 32MB or more Windows Pentium 133MHz or more 32MB or more Windows Pentium 150 MHz or more...
Page 115: Utility Package Operation
UTILITY PACKAGE (GX Configurator-PT) Utility Package Operation 6.3.1 Common utility package operations (1) Control keys Special keys that can be used for operation of the utility package and their applications are shown in the table below. Application Cancels the current entry in a cell. Closes the window.
Page 116 UTILITY PACKAGE (GX Configurator-PT) Steps 1) to 3) shown in Figure 6.1 are performed as follows: 1) From GX Developer, select: [Project] [Open project] / [Save] / [Save as] 2) On the intelligent function module selection screen of the utility, select: [Intelligent function module parameter] [Open parameters] / [Save parameters]...
Page 117: Operation Overview
UTILITY PACKAGE (GX Configurator-PT) 6.3.2 Operation overview GX Developer screen [Tools] - [Intelligent function utility] - [Start] Screen for selecting a target intelligent function module Refer to Section 6.3.3. Enter "Start I/O No.", and select "Module type" and "Module model name". Initial setting Auto refresh Initial setting screen...
Page 118 UTILITY PACKAGE (GX Configurator-PT) [Online] - [Monitor/Test] Select monitor/test module screen Select a module to be Monitor/Test monitored/tested. Monitor/Test screen Refer to Section 6.6. 6.3 Utility Package Operation 6.3.2 Operation overview...
Page 119: Starting The Intelligent Function Module Utility
UTILITY PACKAGE (GX Configurator-PT) 6.3.3 Starting the Intelligent function module utility [Operating procedure] Intelligent function module utility is started from GX Developer. [Tools] [Intelligent function utility] [Start] [Setting screen] [Explanation of items] (1) Activation of other screens Following screens can be displayed from the intelligent function module utility screen. (a) Initial setting screen Initial setting "Start I/O No.
Page 120 UTILITY PACKAGE (GX Configurator-PT) (2) Command buttons Deletes the initial setting and auto refresh setting of the selected module. Delete Closes this screen. (3) Menu bar (a) File menu Intelligent function module parameters of the project opened by GX Developer are handled.
Page 121: Initial Setting
UTILITY PACKAGE (GX Configurator-PT) Initial Setting [Purpose] Make initial setting axis-by-axis for the QD72P3C3 to operate. The following items are data that need initial setting. Parameters OPR data Positioning data Counter function parameter This initial setting makes sequence program setting unnecessary. For more information on the setting details, refer to "CHAPTER 4 DATA USED FOR POSITIONING CONTROL".
Page 122 UTILITY PACKAGE (GX Configurator-PT) (Initial setting for positioning data and counter function parameter) Move to sub window. Axis #1 Positioning data setting Select items to be moved to sub window. Counter function parameter setting [Explanation of items] (1) Setting item list Setting item Axis #1 Parameter setting Axis #1 OPR data setting...
Page 123 UTILITY PACKAGE (GX Configurator-PT) POINT Initial settings are stored in an intelligent function module parameter file. After being written to the CPU module, the initial setting is made effective by either (1) or (2). (1) Cycle the RUN/STOP switch of the CPU module: STOP STOP RUN.
Page 124: Auto Refresh Setting
UTILITY PACKAGE (GX Configurator-PT) Auto Refresh Setting [Purpose] Configure the QD72P3C3's buffer memory for automatic refresh. There are the following setting items as the auto refresh setting parameters. Current feed value Current speed Count value Axis operation status Axis/CH error code Axis/CH warning code This auto refresh setting eliminates the need for reading by sequence programs.
Page 125 UTILITY PACKAGE (GX Configurator-PT) (2) Items "Module side Buffer size": Displays the buffer memory size of the setting item. "Module side Transfer word count": Displays the number of words to be transferred. "Transfer direction": " " indicates that data are written from the programmable controller CPU to the buffer memory.
Page 126: Monitoring/Test
UTILITY PACKAGE (GX Configurator-PT) Monitoring/Test 6.6.1 Monitoring/Test screen [Purpose] Start buffer memory monitoring/testing and I/O signal monitoring/testing from this screen. (Refer to "Section 4.5 List of monitor data" for details of monitor data.) [Operating procedure] Select monitor/test module screen "Start I/O No. "...
Page 127 UTILITY PACKAGE (GX Configurator-PT) [Setting screen] (Axis Monitor/Test, OPR Monitor, Counter function Monitor/Test) Select items to be moved to sub window. Axis #1 OPR Monitor Axis #1 Monitor/Test Counter function Monitor/Test 6.6 Monitoring/Test - 18 6.6.1 Monitoring/Test screen...
Page 128 UTILITY PACKAGE (GX Configurator-PT) (X/Y Monitor) Move to sub window. X/Y Monitor Select items to be moved to sub window. [Explanation of items] (1) Setting item list Setting item Module READY Programmable controller CPU READY Axis #1 Operation status Axis #2 Operation status Axis #3 Operation status Axis #1/CH 1 Error occurrence(X01) Axis #2/CH 2 Error occurrence(X02)
Page 129 UTILITY PACKAGE (GX Configurator-PT) (3) Command button Displays the current value of the item selected. Current value display (This is used to check the text that cannot be displayed in the current value field. However, in this utility package, all items can be displayed in the display fields). Creates a file containing the screen data in text file format.
Page 130: Acc/Dec Time Calculation Function Screen
UTILITY PACKAGE (GX Configurator-PT) 6.6.2 ACC/DEC time calculation function screen [Purpose] The QD72P3C3 processes acceleration as integer. Therefore, the difference may be generated between actual ACC/DEC time and set ACC/DEC time. With this function, actual ACC/DEC time can be calculated by entering parameters required for calculating ACC/DEC time.
Page 131 UTILITY PACKAGE (GX Configurator-PT) [Explanation of items] • Enter parameters required for calculating acceleration into the "Setting" 1. to 4. Parameters entered to the "Setting" 1. to 3. depend on control contents. Control Parameter entered Parameter entered to 2. Parameter entered to 3. contents to 1.
Page 132: Chapter7 Sequence Program Used For Positioning Control
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL CHAPTER7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL This chapter describes sequence programs of the positioning control system using the QD72P3C3. Precautions for Creating Program (1) System configuration Unless otherwise specified, the sequence programs in this chapter are for the following system.
Page 133 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (2) Communication with QD72P3C3 There are two methods for communication with the QD72P3C3 using the sequence program: a method using an "intelligent function device" and a method using the FROM/TO instruction. When using the FROM/TO instruction for communication with the QD72P3C3, change the circuit incorporating the "intelligent function device"...
Page 134 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Remark For the intelligent function device, refer to the QCPU User's Manual (Function Explanation, Program Fundamentals). In addition, for the details of instructions used in the sequence program, refer to the QCPU(Q mode)/QnACPU Programming Manual (Common Instructions). 7.1 Precautions for Creating Program...
Page 135: List Of Devices Used
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL List of Devices Used In "Section 7.4 Positioning Control Program Examples", the devices to be used are assigned as indicated in the following table. The I/O numbers for the QD72P3C3 indicate those when the QD72P3C3 is mounted in the slot 0 of the main base.
Page 136 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device Device name Axis 1/ Axis 2/ Axis 3/ Application ON details OPR request OFF command OPR request OFF being commanded Machine OPR control command Machine OPR control being commanded Fast OPR control command Fast OPR control being commanded 1-axis linear control start command 1-axis linear control start being commanded...
Page 137 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (2) Internal relays of the QD72P3C3 Device Device name Axis 1/ Axis 2/ Axis 3/ Application ON details Initial data setting complete Initial data setting complete OPR request OFF command OPR request OFF being commanded OPR request OFF command pulse OPR request OFF commanded OPR request OFF command storage...
Page 138 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (3) Data registers (for Axis 1) Device name Device Stored data Setting value 100000000pulse Software stroke limit upper limit Pr.1 -100000000pulse Software stroke limit lower limit Pr.2 0 (No update) Current feed value during speed control Pr.3 100000pulse/s Speed limit value...
Page 139 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Device name Device Stored data Setting value D120 OPR request flag ( Status: bit1) Md.7 Varies depending on the operation Start method Cd.5 2000pulse/s New speed value Cd.1 1000ms Data ACC/DEC time at speed change Cd.2 resister Speed change request...
Page 140: Creating A Program
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Creating a Program This section describes "positioning control operation programs" actually used. The programs designed to perform the functions described in "PART 2 CONTROL DETAILS AND SETTING" are installed in the "positioning control operation programs" described in Section 7.3.2.
Page 141: Positioning Control Operation Program
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7.3.2 Positioning control operation program The following are individual programs which comprise the "positioning control operation programs". When creating a program, refer to each section of the corresponding program and "Section 7.4 Positioning Control Program Examples" and create an operation program according to the positioning control system.
Page 142 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Continued from previous page Start method setting Programs needed to exercise program "OPR control" and "Positioning control" No. 7 Start method setting program Start program No. 8 Positioning control start program Program needed to exercise JOG operation program "JOG operation"...
Page 143 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL From previous page Counter function program No.13 Count operation program No.14 Program needed when using the Count coincidence process program coincidence detection function No.15 Program needed when using the preset Preset execution program No.16 * Program needed when using the counter Overflow detection process program function with linear counter...
Page 144: Positioning Control Program Examples
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Positioning Control Program Examples This section describes the examples of positioning control program for "Axis 1". [No.1] to [No.4] parameter and data setting program When setting the parameters or data with the sequence program, set them in the QD72P3C3 using the TO instruction from the programmable controller CPU.
Page 145 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No.2 OPR parameter setting program 1 scan ON after RUN method direction address speed Creep speed ACC/DEC time at OPR method 7.4 Positioning Control Program Examples - 14...
Page 146 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No.3 Counter parameter, data setting program Ring counter 1 scan ON upper limit after RUN value Positioning range upper limit value Coincidence detection setting Count value at OPR Ring counter upper limit value Preset value setting Coincidence detection...
Page 147 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No.4 Positioning data setting program (1) 1-axis linear control setting 1 scan ON Operation after RUN pattern (Position control) Control method (Position control) ACC/DEC time (Position control) Command speed (Position control) Positioning address/ movement amount (Position control)
Page 148 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No.5 Programmable controller CPU READY signal [Y0] ON program (MO contact is not needed when GX Configurator-PT is used to set the initial setting of parameters and data.) 1 scan OFF Initial data Axis/CH 1 Programmable after RUN setting...
Page 149 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No.7 Start pattern setting program (1) Machine OPR control machine Start method control command (2) Fast OPR control Fast OPR Status OPR request control flag command Fast OPR request control flag command Start method Fast OPR control command...
Page 150 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (6) Turning OFF fast OPR control command and fast OPR control command storage (When not using fast OPR) Machine Fast OPR control control command command 1-axis Fast OPR linear control control command start storage command Speed control...
Page 151 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No.9 JOG operation program operation speed flag ACC/DEC time Forward Module Axis 1 BUSY run JOG READY signal operation command signal flag Reverse run JOG command Reverse Forward run JOG operation run JOG command command flag Forward...
Page 152 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No. 10 Speed change program Speed Speed change change command command pulse Speed Axis 1 BUSY Speed change signal change command command pulse storage Speed Speed change change command value storage ACC/DEC time at speed change Speed...
Page 153 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL No.12 Stop program Stop Stop command command pulse Stop Axis 1 BUSY Axis 1 command signal stop signal pulse Axis 1 BUSY Axis 1 Stop signal command stop signal No. 13 Count operation program Module Count Count...
Page 154: Program Details
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Program Details 7.5.1 Initialization program (1) OPR request OFF program This program forcibly turns OFF the "OPR request flag" ( Status: b1) which is Md.7 When using a system that does not require OPR control, configure the program to cancel the "OPR request"...
Page 155: Start Method Setting Program
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7.5.2 Start method setting program This program is designed to set a control to be performed out of "OPR control" or "Positioning control". Data requires setting Set " Start method" according to the control to be started. Cd.5 Buffer memory address Setting item...
Page 156 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7.5.3 Start program This program is designed to start OPR control or positioning control using the positioning start signal (Y8 to YA). (For details of OPR control and positioning control, refer to CHAPTER 8 and CHAPTER 9.) Buffer memory Drive unit Positioning data...
Page 157: 7.5.3 Start Program
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Operation when starting (1) When the positioning start signal (Y8 to YA) is turned ON, the start complete signal (XC to XE) and BUSY signal (X8 to XA) turn ON, and the OPR control or positioning control starts. It can be seen that the axis is operating when the BUSY signal is ON.
Page 158 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL POINT The BUSY signal (X8 to XA) turns ON even when position control of movement amount 0 is performed. However, since the ON time is short, the ON status may not be detected in the sequence program. (The ON status of the start complete signal (XC to XE) and the positioning complete signal (X10 to X12) can be detected in the sequence program.) start timing chart...
Page 159 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL (6) Fast OPR control start timing chart Positioning start signal O FF O FF (Y8 to YA) O FF O FF Programmable controller CPU READY signal (Y0) O FF O FF Module READY signal (X0) Start complete signal O FF O FF...
Page 160 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL POINT For positioning control and OPR control, multiple axes can be started simultaneously. In this case, turn ON the positioning start signal (Y8 to YA) of the target axes within the same scan. (However, after multiple axes have been started simultaneously, they cannot be stopped simultaneously.) - 29 7.5 Program Details...
Page 161: Auxiliary Program
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7.5.4 Auxiliary program Speed change program This program is used to change the speed within " Speed limit value" range during Pr.4 the constant speed of the speed control and JOG operation. Set the new speed in " New speed value".
Page 162: Program Example When The Coincidence Detection Interrupt Function Is Used
SEQUENCE PROGRAM USED FOR POSITIONING CONTROL Program Example when the Coincidence Detection Interrupt Function is Used This section describes a program example to start an interrupt program upon detecting coincidence of coincidence detection point No.1 of channel 1. (1) Interrupt pointer setting Set the values at [PLC parameter] - [PLC system] - [Intelligent function module setting] - [Interrupt pointer setting] in the [Project data list] on GX Developer.
Page 163: Part 2 Control Details And Setting
PART 2 CONTROL DETAILS AND SETTING PART 2 consists for the following purposes (1) to (3). (1) To Understand the operation and restrictions of each control (2) To perform the required settings in each control (3) To deal with errors The required settings in each control include parameter setting, positioning data setting, and control data setting by the sequence program.
Page 164 Memo...
Page 165: Chapter8 Opr Control
OPR CONTROL CHAPTER8 OPR CONTROL This chapter describes details of the QD72P3C3 OPR control. Outline of OPR Control 8.1.1 Two types of OPR control "OPR control" is control to establish a position (=OP) which is to be a reference when performing positioning control.
Page 166: Machine Opr Control
OPR CONTROL Machine OPR Control 8.2.1 Outline of the machine OPR operation IMPORTANT (1) Always set the OP in the same direction as viewed from any position in the workpiece moving area (set the OP near the upper or lower limit of the machine).
Page 167 OPR CONTROL " OP address" is a fixed value set by the user. Pr.12 Machine OPR control Near-point dog Figure 8.1 Example of a machine OPR control 8.2 Machine OPR Control 8.2.1 Outline of the machine OPR operation...
Page 168: Opr Method For Machine Opr Control
OPR CONTROL 8.2.2 OPR method for machine OPR control This machine OPR control specifies a way to establish machine OP (method for judging the OP position and machine OPR control completion) according to configuration and application of the positioning control system. The following table shows the two methods that can be used for this OPR method.
Page 169: Opr Method (1): Near-Point Dog Method
OPR CONTROL 8.2.3 OPR method (1): Near-point dog method The following describes an operation outline of the OPR method "near-point dog method". (1) Operation chart By turning ON the positioning start signal (Y8 to YA), machine OPR control is started. (Acceleration starts in the direction set in "...
Page 170 OPR CONTROL (2) Restrictions A pulse generator with a zero signal is required. When using a pulse generator without a zero signal, provide a zero signal outside. (3) Precautions during operation (a) In OPR control, if a zero signal is ON when the near-point dog turns from ON to OFF, an error occurs.
Page 171 OPR CONTROL (c) The following chart describes the operation when the near-point dog is OFF and no near-point dog exists in the OPR direction at the start of OPR control. Deceleration starts when the upper limit switch turns ON. Pr.13 OPR speed Pr.13 Pr.14...
Page 172: Opr Method (2): Stopper 3
OPR CONTROL 8.2.4 OPR method (2): Stopper 3 The following describes an operation outline of the OPR method "stopper 3". The "stopper 3" is effective when a near-point dog cannot be installed. (Note that the axis operates at " Creep speed" from the start. Therefore, it will take time to complete the Pr.14 machine OPR control.) (1) Operation chart...
Page 173 OPR CONTROL (2) Restrictions (a) Always set torque limit to the motor. If the torque limit is not set, the motor may be a failure when the workpiece contacts against the stopper. (For torque limit, refer to the manual for the drive unit.) (b) Use an external input signal as the zero signal.
Page 174: Fast Opr Control
OPR CONTROL Fast OPR Control 8.3.1 Outline of the fast OPR control operation Fast OPR control operation In fast OPR control, positioning control is performed to " Current feed value" stored Md.1 in the QD72P3C3 by machine OPR control. By setting "9001" in " Start method"...
Page 175 OPR CONTROL Precautions during operation (a) Perform fast OPR control after performing machine OPR control and the machine OP is established. If fast OPR control is started without performing machine OPR control, "Machine OPR not performed" error (error code: 203) occurs. (b) In fast OPR control, "OPR complete flag"...
Page 176: Count Value Selection Function At Opr
OPR CONTROL Count Value Selection Function at OPR This function stores " OP address" to " Count value" when OPR is completed. Pr.12 Md.3 To use this function, set " Count value selection at OPR" to "1: OP address set to Pr.19 count value".
Page 177: Chapter9 Positioning Control
POSITIONING CONTROL CHAPTER9 POSITIONING CONTROL This chapter describes details of the QD72P3C3 positioning control (control functions using positioning data). Outline of Positioning Control "Positioning control" is a control using "positioning data" stored in the QD72P3C3. Position control, speed control, and current value change are performed by setting the necessary items to the "positioning data".
Page 178: Positioning Control Operation Patterns
POSITIONING CONTROL 9.1.2 Positioning control operation patterns Depending on movement amount, positioning control has two operation patterns: "positioning start (independent)" and "positioning start (continuous)". Select the operation pattern at " Operation pattern". Da.1 [" Operation pattern" setting contents] Da.1 Setting contents "...
Page 179 POSITIONING CONTROL POINT • Positioning data of the QD72P3C3 is started by setting "0" to " Start Cd.5 method". • The BUSY signal (X8 to XA) turns ON even when position control of movement amount 0 is performed. However, since the ON time is short, the ON status may not be detected in the sequence program.
Page 180: Specifying The Positioning Address
POSITIONING CONTROL 9.1.3 Specifying the positioning address The following two methods are available for commanding a position in control using positioning data. Absolute system A position based on the OP (absolute address) is specified and positioning control is performed. This address is regarded as the positioning address. (The start point can be anywhere.) Start point Address...
Page 181: Checking The Current Value
POSITIONING CONTROL 9.1.4 Checking the current value Values representing the current value In the QD72P3C3, the following address is used as a value representing the position. This address (current feed value) is stored in the monitor data area and is used in monitoring such as current value display.
Page 182 POSITIONING CONTROL Restrictions If the stored "current feed value" is used for control, tolerance occurs by 2.5ms at update timing of the current value. Monitoring the current value The "current feed value" is stored in the following buffer memory and can be read using the "DFRO(P) instruction"...
Page 183: Positioning Data Setting
POSITIONING CONTROL Positioning Data Setting 9.2.1 Relation between each control and positioning data The setting requirements and description for the setting items of the positioning data to be set differ depending on " Control method". Da.2 The following table shows the positioning data setting items of each control. For operation details and settings of each control, refer to Section 9.2.2 or the subsequent sections.
Page 184: 1-Axis Linear Control
POSITIONING CONTROL 9.2.2 1-axis linear control In 1-axis linear control (" Control method" = 1-axis linear control (ABS), 1-axis linear Da.2 control (INC)), one motor is used to perform position control in set axis direction. [1] 1-axis linear control (ABS) Operation chart In 1-axis linear control of absolute system, addresses established by a machine OPR control are used.
Page 185 POSITIONING CONTROL [2] 1-axis linear control (INC) Operation chart In 1-axis linear control of incremental system, addresses established by a machine OPR control are used. Position control is performed from the current stop position (starting address) for the movement amount set in " Positioning address/movement amount".
Page 186: Speed Control
POSITIONING CONTROL 9.2.3 Speed control In "speed control" (" Control method" = Speed (forward run), Speed (reverse run)), Da.2 pulses are continued outputting at the speed set in " Command speed" until the axis Da.4 stop signal (Y4 to Y6) is input in axis direction set for positioning data. The speed control has two types: control that starts in forward direction "speed control (forward run)"...
Page 187 POSITIONING CONTROL Current feed value during speed control " Current feed value" during speed control differs depending on " Current feed Md.1 Pr.3 value during speed control" setting as follows. " Current feed value during speed Pr.3 Current feed value Md.1 control"...
Page 188 POSITIONING CONTROL Positioning data setting example The following table shows a setting example when "speed control in forward run" is set in positioning data of axis 1. Setting item Setting example Setting contents Positioning start (independent) or Set "0: Positioning start (independent)" or "5000: Operation pattern Da.1 positioning start...
Page 189: Current Value Change
POSITIONING CONTROL 9.2.4 Current value change Current value change performs a control to change " Current feed value" to any Md.1 address. Operation chart The following chart shows the operation timing of current value change. Turning ON the positioning start signal (Y8 to YA) changes " Current feed value"...
Page 190 POSITIONING CONTROL Positioning data setting example The following table shows a setting example when "current value change" is set in positioning data of axis 1. Setting item Setting example Setting contents Set positioning start (independent) assuming Positioning start position control whose movement amount is Operation pattern Da.1 (independent)
Page 191: Multiple Axes Concurrent Start Control
POSITIONING CONTROL Multiple axes concurrent start control The QD72P3C3 allows the axes to be started concurrently on a pulse level by turning ON the positioning start signal (Y8 to YA) within the same scan during positioning control. Precautions (a) The speed limit function is valid on an axis basis. (b) To perform stop processing, the stop command (axis stop signal (Y4 to Y6) ON) must be issued to each axis.
Page 192: Chapter10 Jog Operation
JOG OPERATION CHAPTER10 JOG OPERATION This chapter describes details of the QD72P3C3 JOG operation. 10.1 Outline of JOG Operation IMPORTANT When performing JOG operation near the out of moving range, provide a safety circuit externally. If an external safety circuit is not provided, the workpiece may advance over the moving range, resulting in an accident.
Page 193 JOG OPERATION JOG operation In JOG operation, while the forward run JOG start signal (YC, YE, and Y10) or the reverse run JOG start signal (YD, YF, and Y11) is ON, the QD72P3C3 outputs pulses to the drive unit, and moves the workpiece in the specified direction. The following describes an example of JOG operation.
Page 194 JOG OPERATION JOG operation monitor When using GX Developer to directly monitor the buffer memory, refer to "Section 4.5 Monitor Data List". When using the monitor function of GX Configurator-PT to monitor, refer to "Section 6.6 Monitoring/Test". Precautions during operation Before starting JOG operation, grasp the following points.
Page 195: Jog Operation Execution Procedure
JOG OPERATION 10.2 JOG Operation Execution Procedure The following shows the procedures for JOG operation. * Using GX Developer, set the JOG data and Preparation create a sequence program for executing the JOG operation. Set the JOG data. ( JOG. 1 JOG.
Page 196: Jog Operation Example
JOG OPERATION 10.3 JOG Operation Example (1) When the "axis stop signal" (Y4 to Y6) is turned ON during JOG operation When the "axis stop signal" (Y4 to Y6)" is turned ON during JOG operation, JOG operation results in a "deceleration stop". If turning ON the JOG start signal (YC to Y11) while the axis stop signal (Y4 to Y6) is ON, "Stop signal ON at start"...
Page 197 JOG OPERATION (2) When the forward run JOG command signal and the reverse run JOG command signal are simultaneously turned ON When the "forward run JOG start signal (YC, YE, Y10)" and "reverse run JOG start signal (YD, YF, Y11)" are simultaneously turned ON in one axis, the priority is given to the former.
Page 198 JOG OPERATION (3) When the "JOG start signal (YC to Y11)" is turned ON again during deceleration caused by turning the "JOG start signal (YC to Y11)" from ON to OFF When the "JOG start signal (YC to Y11)" is turned ON again during deceleration caused by turning the "JOG start signal (YC to Y11)"...
Page 199: Chapter11 Auxiliary Function
AUXILIARY FUNCTION CHAPTER11 AUXILIARY FUNCTION 11.1 Outline of the Auxiliary Function This function limits a control and add functions when performing OPR control, positioning control, and JOG operation. These auxiliary functions are performed by parameter setting, sequence programs, etc. The "auxiliary function" has the following functions. Table 11.1 Auxiliary function list Auxiliary function Description...
Page 200: Speed Limit Function
AUXILIARY FUNCTION 11.2 Speed Limit Function If the command speed exceeds the "Speed limit value" during control, this function limits the command speed to within the "Speed limit value" setting range. (1) Relation between the speed limit function and each control The following table shows the relation between the "speed limit function"...
Page 201: Speed Change Function
AUXILIARY FUNCTION 11.3 Speed Change Function This function changes the speed within " Speed limit value" during the constant speed Pr.4 of speed control or JOG operation. Set the new speed in " New speed value". The speed is changed according to Cd.1 "...
Page 202 AUXILIARY FUNCTION (2) Precautions during control (a) When turning ON the axis stop signal (Y4 to Y6) or OFF the JOG start signal (YC to Y11) during acceleration/deceleration using the speed change function, the axis continues decelerating at the accelerated velocity at the acceleration/deceleration until it reaches to "...
Page 203 AUXILIARY FUNCTION (b) The speed cannot be changed in the following cases. (The speed change request is ignored.) • During deceleration started by turning ON the axis stop signal (Y4 to Y6) • During deceleration started by turning OFF the JOG start signal (YC to Y11) (c) If speed change request is made during position control, OPR control or acceleration/deceleration, "Speed change disabled"...
Page 204: Software Stroke Limit Function
AUXILIARY FUNCTION 11.4 Software Stroke Limit Function This function sets the upper/lower limits of workpiece movable range using the address Current feed value) established by the machine OPR control and disables the Md.1 movable command if it is issued to out of the setting range. •...
Page 205 AUXILIARY FUNCTION (2) Software stroke limit check details Check details Processing at error " Current feed value" out of the software stroke limit range is defined as an Md.1 "error". An "error" occurs. (Error code: 516, 517) " Positioning address/movement amount" (value of current value change) Da.5 out of the software stroke limit range is defined as an "error".
Page 206 AUXILIARY FUNCTION (4) Precautions during software stroke limit check • A machine OPR control must be performed beforehand for the "software stroke limit function" to work properly. • Due to processing inside of the QD72P3C3, the software stroke limit check may delay by 2.5ms at maximum.
Page 207: Hardware Stroke Limit Function
AUXILIARY FUNCTION 11.5 Hardware Stroke Limit Function DANGER When wiring hardware stroke limit is required, wire it in negative logic and use normally closed contact. Setting positive logic and using normally open contact may result in serious accident. This function stops control (deceleration stop) by a signal input from the limit switch. To use this function, install limit switches to the upper limit/lower limits within physically movable range.
Page 208 AUXILIARY FUNCTION (2) Hardware stroke limit wiring To use the hardware stroke limit function, wire the terminals of the QD72P3C3 upper limit/lower limit signals as the figure below. (When "upper limit/lower limit signal input logic selection" in "intelligent function module switch setting" are default values) QD72P3C3 Note) Wire the limit switch installed in the current feed value increase direction and the limit switch installed in address decrease direction as as upper limit and lower limit,...
Page 209: Acc/Dec Process Function
AUXILIARY FUNCTION 11.6 ACC/DEC Process Function This function adjusts the acceleration/deceleration when OPR control, positioning control or JOG operation is performed. Adjusting the acceleration/deceleration processing according to used equipment and control enables finer control. Settable adjustment items regarding acceleration/deceleration, "speed at start", "target speed", "ACC/DEC time", and "ACC/DEC method".
Page 210 AUXILIARY FUNCTION (2) Precautions (a) When the target speed is 1 (pulse/s), the set ACC/DEC time is ignored. (b) If the ACC/DEC pattern which does not have the constant speed part and whose movement amount is small for the ACC/DEC time, the axis does not operate at the set ACC/DEC time.
Page 211: Calculating The Actual Acc/Dec Time
AUXILIARY FUNCTION 11.6.1 Calculating the actual ACC/DEC time "Acceleration " and "time taken to the actual acceleration/deceleration" during acceleration/deceleration operation can be calculated by the "ACC/DEC time calculation function" in GX Configurator-PT. (1) Calculating using GX Configurator-PT (a) Enter parameters required for calculating acceleration into the "Setting" 1. to 4. Parameters entered to the "Setting"...
Page 212 AUXILIARY FUNCTION (2) Calculation example of "5.Acceleration" and "9.Actual ACC/DEC time" Calculating formula for "5. Acceleration" is shown below. (1) Target speed 2) Speed at start) 5) Acceleration 3) ACC/DEC time Pulse unit* Pulse unit changes according to the value set to "4. Speed limit value ( )"...
Page 213 AUXILIARY FUNCTION [Calculation example 1: "9. Actual ACC/DEC time" is longer than "3. ACC/DEC time"] 1) Target speed 2) Speed at start 3) ACC/DEC 3) ACC/DEC time time 9) Actual ACC/DEC time 9) Actual ACC/DEC time When "1. Target speed" is 100000pps, "2. Speed at start" is 100pps, "3. ACC/DEC time"...
Page 214 AUXILIARY FUNCTION [Calculation example 2: "9. Actual ACC/DEC time" is shorter than "3. ACC/DEC time"] 1) Target speed 2) Speed at start 3) ACC/DEC 3) ACC/DEC time time 9) Actual ACC/DEC time 9) Actual ACC/DEC time When "1. Target speed" is 100000pps, "2. Speed at start" is 100pps, "3. ACC/DEC time"...
Page 215: Chapter12 Counter Function
COUNTER FUNCTION CHAPTER12 COUNTER FUNCTION This chapter describes the counter function of the QD72P3C3. 12.1 Outline of Counter Function 12.1.1 Types of pulse input method There are four kinds of the pulse input methods: CW/CCW pulse input and 2-phase pulse input (1, 2 or 4 multiples).
Page 216: Reading Count Values
COUNTER FUNCTION IMPORTANT * 1: The module may not be able to operate normally if each I/O signal logic is set incorrectly. Pay special attention when changing the setting from the default value. * 2: When using the input method of either 1 multiple of 2 phases or 2 multiples of 2 phases, be sure to input 2-phase pulses.
Page 217: Linear Counter Function
COUNTER FUNCTION 12.2 Linear Counter Function (1) Linear counter operation When the linear counter is selected, counting is operated in a range between - 1073741824 (lower limit value) and 1073741823 (upper limit value). Present counter value Overflow 1073741823 Subtraction Addition 1073741824 Overflow (2) Overflow...
Page 218: Ring Counter Function
COUNTER FUNCTION 12.3 Ring Counter Function (1) Ring counter operation (a) When the ring counter is selected, counting is repeated within the range between 0 and " Ring counter upper limit value -1". Pr.16 No overflow occurs when the ring counter is selected. Md.3Count value Pr.16 Ring counter upper limit value Subtraction...
Page 219 COUNTER FUNCTION (Example) By setting the same value in " Ring counter upper limit value" and Pr.16 " Positioning range upper limit value", the angle of the rotation target can be Pr.17 controlled, checking the actual position at the same time. The following shows the operation when controlling a rotation target which rotates once with 3000 pulses.
Page 220: Count Enable Function
COUNTER FUNCTION 12.4 Count Enable Function The following shows the relationship between the count enable command (Y1C to Y1E) and " Count value". Md.3 Module READY signal (X0) Count enable command (Y1C to Y1E) Pulses actually input Md.3 Count value Input pulses stored to Count value Count...
Page 221: Coincidence Detection Function
COUNTER FUNCTION 12.5 Coincidence Detection Function This function compares " Count value" with a count value set in advance, and Md.3 outputs signals when the values coincide. The coincidence detection can be set for each channel in units of one points. (1) Operation of coincidence detection To use the coincidence detection function, set "...
Page 222 COUNTER FUNCTION POINT • When the first programmable controller CPU READY signal (Y0) is turned ON after power-ON, the count value coincidence (X15, X19, and X1D) turns ON since " Coincidence detection point setting" is set to zero. Cd.7 Therefore, write any value other than zero to " Coincidence Cd.7 detection point setting"...
Page 223 COUNTER FUNCTION (b) It takes approx. 150 s from when the QD72P3C3 detects coincidence until it makes an interrupt request to a programmable controller CPU. (c) Set the interrupt factors (SI) and interrupt pointers of the programmable controller CPU on the screen displayed by selecting [PLC parameter] - [PLC system] - "Intelligent function module setting"...
Page 224 COUNTER FUNCTION (d) The following two methods are available for using particular SI numbers only. 1) Using the interrupt pointer setting with parameters Only the interrupt factors, starting from the "Start SI No." for the number set at "Interrupt pointer No. of module" in the [Intelligent function module interrupt pointer setting] screen, are used.
Page 225: Preset Function
COUNTER FUNCTION 12.6 Preset Function This function replaces " Count value" to an arbitrary value. Md.3 An arbitrary value to be replaced is called a preset value. This function is used to start counting pulses from the preset value. (1) Preset function operation The preset function is activated by turning the preset command (Y18 to Y1A) ON.
Page 226: 12.7 Current Feed Value, Count Value Simultaneous Change Function
COUNTER FUNCTION 12.7 Current Feed Value, Count Value Simultaneous Change Function This function stores the same value in " Current feed value" and " Count Md.1 Md.3 value" by performing current value change or preset function. For details of current value change, refer to "Section 9.2.4 Current value change". For details of preset function, refer to "Section 12.6 Preset Function".
Page 227 COUNTER FUNCTION (b) Current feed value changed together at preset (Setting value of : 2) Pr.9 Positioning address/ Da.5 3000 movement amount Cd.6 Preset value setting 1000 Current value change execution (Positioning start signal (Y8 to YA)) Preset command (Y18 to Y1A) Indefinite Current feed value 3000...
Page 228 COUNTER FUNCTION POINT The current feed value, count value simultaneous change function can be executed regardless of the ON/OFF status of the count enable command (Y1C to Y1E). - 14 12.7 Current Feed Value, Count Value Simultaneous Change Function...
Page 229: Response Delay Time
COUNTER FUNCTION 12.8 Response Delay Time When using the counter function, response delay time needs to be considered. (1) Operation and control affected by response delay time Response delay time is the maximum time to perform the following operation and control.
Page 230: Chapter13 Common Function
COMMON FUNCTION CHAPTER13 COMMON FUNCTION This chapter describes details of the common function of the QD72P3C3. 13.1 Outline of Common Function "Common function" is the generic term for functions operable as necessary, regardless of the control method. These common functions can be executed using GX Developer. For details of GX Developer, refer to the GX Developer Operating Manual.
Page 231: External I/O Signal Logic Switching Function
COMMON FUNCTION 13.2 External I/O Signal Logic Switching Function This function changes the external I/O signal logic to match the device connected to the QD72P3C3. The following table shows the external I/O signals whose logic is switchable. Signal name Symbol Remarks classification Zero signal...
Page 232 COMMON FUNCTION 13.3 External I/O Signal Monitor Function This function monitors the module information, external I/O signal information, and intelligent function module switch setting status on the screen displayed by clicking the "H/ W Information" button on the [Module's Detailed Information] screen, which can be displayed from the [System Monitor] screen of GX Developer (SW7D5C-GPPW-E or later).
Page 233: External I/O Signal Monitor Function
COMMON FUNCTION [H/W SW Information] The setting status of the intelligent function module switches is displayed. Item Signal name Corresponding switch Value PLS OUT Pulse output mode 0 to 2 bits MODE PLS OUT Pulse output logic 4 to 6 bits selection Switch 1 Deviation counter clear...
Page 234: Chapter14 Dedicated Instructions
DEDICATED INSTRUCTIONS CHAPTER14 DEDICATED INSTRUCTIONS 14.1 Dedicated Instruction List and Applicable Devices (1) Dedicated instruction list Dedicated Application Description Reference instruction Selects positioning control, machine OPR Section Positioning start control, and fast OPR control for the specified ZP.PSTRT 14.3 axis of the QD72P3C3 and starts the control. Sets the positioning data to the specified axis of Direct Section...
Page 235: Interlock For Dedicated Instruction Execution
DEDICATED INSTRUCTIONS 14.2 Interlock for Dedicated Instruction Execution Dedicated instructions cannot be executed to different axes simultaneously. If that occurs, the second and subsequent instructions are ignored due to an interlock of the programmable controller CPU. (No error occurs.) The following shows the timing of interlock for the positioning start dedicated instruction (ZP.PSTRT ).
Page 236: Zp.pstrt1, Zp.pstrt2, Zp.pstrt3
DEDICATED INSTRUCTIONS 14.3 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3 Selects the start method (positioning control, machine OPR control or fast OPR control) for the specified axis and starts the positioning control. Applicable device Link direct device Intelligent Internal device Constant function Setting File Index module data...
Page 237 DEDICATED INSTRUCTIONS (2) Control data Setting Device Item Setting data Set by range (S) +0 System area Stores the status at completion. •0: Normal completion (S) +1 Completion status System •Other than 0: Error completion (Error code) Specifies the start number to start the control with the ZP.RSTRT instruction.
Page 238 DEDICATED INSTRUCTIONS END processing END processing END processing END processing Sequence program Completion of the ZP.PSTRT instruction execution ZP.PSTRT instruction Completion device Error completion Normal Completion status display device completion One scan (4) Error At error completion of the ZP.PSTRT instruction, the error completion signal ((D) +1) turns ON and the error code is stored in the completion status ((S) +1).
Page 239 DEDICATED INSTRUCTIONS (6) Program example The program which starts the positioning control when the X100 turns ON. D30 to D32 are used for the devices that store control data, and M32 and M33 are used for the completion devices. *Positioning start program “<Converting the positioning start command into pulse>...
Page 240 DEDICATED INSTRUCTIONS The program example when a dedicated instruction is not used *Positioning start program (When a dedicated instruction is not used) “<Converting the positioning start command into pulse> Positioning Axis 1 Axis 1 Positioning start positioning start start command command start complete...
Page 241: Zp.dstrt1, Zp.dstrt2, Zp.dstrt3
DEDICATED INSTRUCTIONS 14.4 ZP.DSTRT1, ZP.DSTRT2, ZP.DSTRT3 Sets the positioning data to the specified axis of the QD72P3C3 and starts the positioning control. Applicable device Link direct device Intelligent Internal device Constant function Setting File Index module data Other register register Zn device Word Word...
Page 242 DEDICATED INSTRUCTIONS (2) Control data Device Item Setting data Setting range Set by (S) +0 System area Stores the status at completion. •0: Normal completion (S) +1 Completion status System •Other than 0: Error completion (Error code) Specifies the control method to start the control with the ZP.DSTRT instruction.
Page 243 DEDICATED INSTRUCTIONS 1) Completion device ((D) +0) Turns ON at END processing in the scan where the ZP.DSTRT instruction is completed, and turns OFF at the next END processing. 2) Completion status display device ((D) +1) Turns ON/OFF according to the status when the ZP.DSTRT instruction is completed.
Page 244 DEDICATED INSTRUCTIONS (c) The ZP.DSTRT instruction can be executed while the module READY signal (X0) is ON. Even though the ZP.DSTRT instruction execution is requested while the module READY signal (X0) is OFF, the instruction is not executed. Before executing the ZP.DSTRT instruction, turn ON the programmable controller CPU READY signal (Y0) and the module READY signal (X0).
Page 245: Zp.spchg1, Zp.spchg2, Zp.spchg3
DEDICATED INSTRUCTIONS 14.5 ZP.SPCHG1, ZP.SPCHG2, ZP.SPCHG3 Changes the speed of the axis which is in JOG operation during speed control. Applicable device Link direct device Intelligent Internal device Constant function Setting File Index module Other data register register Zn device Word Word K, H, $...
Page 246 DEDICATED INSTRUCTIONS (2) Control data Device Item Setting data Setting range Set by (S) +0 System area Stores the status at completion. •0: Normal completion (S) +1 Completion status System •Other than 0: Error completion (Error code) Specifies the speed after performing speed change (S) +2 1 to 100000 New speed value...
Page 247 DEDICATED INSTRUCTIONS END processing END processing END processing END processing Sequence program Completion of the ZP.SPCHG instruction execution ZP.SPCHG instruction Completion device Error completion Normal Completion status display device completion One scan (4) Error At error completion of the ZP.SPCHG instruction, the error completion signal ((D) +1) turns ON and the error code is stored in the completion status ((S) +1).
Page 248: Chapter15 Troubleshooting
TROUBLESHOOTING CHAPTER15 TROUBLESHOOTING This chapter describes the description of errors regarding the QD72P3C3 and troubleshooting for it. 15.1 Troubleshooting Flow Error occurrence RUN LED turns OFF. Refer to Section 15.1.1 When the RUN Refer to "Section 15.1.1 When the RUN LED turns OFF.
Page 249: When The Run Led Turns Off
Is the watchdog timer occurring? If the RUN LED does not turn ON, the module may be at failure. Please consult your local Mitsubishi representative to explain a detailed description of the problem. Are the modules correctly mounted to the base unit? Check the module mounting status.
Page 250: 15.1.5 When The Count Operation Is Not Executed, Or Not Executed Normally
If the LEDs do not turn ON, the module may be at failure. voltage to pulse input terminals of A and B using Please consult your local Mitsubishi representative to explain a such as stabilize power supply? detailed description of the problem.
Page 251: When The Coincidence Detection Interrupt Does Not Occur
TROUBLESHOOTING 15.1.6 When the coincidence detection interrupt does not occur Check item Action Change the CPU module to the one which supports the Is the Q00J/Q00/Q01CPU (function version A) used intelligent function module event interrupt. (refer to Section as the programmable controller CPU? 2.3) Is the module configured as a network module Configure the module as the programmable controller CPU.
Page 252: Error And Warning Descriptions
TROUBLESHOOTING 15.2 Error and Warning Descriptions (1) Errors Types of errors Errors detected by the QD72P3C3 include errors out of the parameter settings, and errors at the operation start or during operation. (a) Parameter setting range errors The parameters are checked at the rising edge (OFF ON) of the programmable controller CPU READY signal (Y0).
Page 253 TROUBLESHOOTING (2) Warnings Types of warnings These are warnings that occur during operation when the OPR control, positioning control, or JOG operation is used. Even if a warning occurs, the operation continues. In addition, even if a warning occurs, " Axis operation status"...
Page 254: Error Code List
TROUBLESHOOTING 15.2.1 Error code list The following table shows the error descriptions and measures to be taken when an error occurs. Error code Error name Description Operation at error (decimal) Normal status Fault Hardware is a failure. The system stops. Stop signal ON at A start requested is executed when the axis The axis does not start.
Page 255 Turn OFF and then ON the power, or reset the CPU. If the error code is still stored after taking measures, QD72P3C3 may be at fault. Please consult your local Mitsubishi representative to explain a detailed description of the problem.
Page 256 TROUBLESHOOTING Error code Error name Description Operation at error (decimal) Out of start method The setting value of " Start method" Cd.5 setting range is other than 0, 9000, or 9001. Out of operation The setting value of " Operation Da.1 pattern setting pattern"...
Page 257 TROUBLESHOOTING Related buffer memory Error address code Setting range Remedy Axis/ Axis/ Axis/ (decimal) CH 1 CH 2 CH 3 Start method Cd.5 0: Positioning control Set the " Start method" within the setting range. Cd.5 9000: Machine OPR control 9001: Fast OPR control Set the "...
Page 258 TROUBLESHOOTING Error code Error name Description Operation at error (decimal) The setting for the QD72P3C3 is "Hold" in Hold error the "Error time output mode" parameter of The axis does not start. the CPU module. •ZP.PSTRT instruction was executed when the start method was other than 0, 9000, or 9001.
Page 259 TROUBLESHOOTING Related buffer memory Error address code Setting range Remedy Axis/ Axis/ Axis/ (decimal) CH 1 CH 2 CH 3 Change the setting of the "Error time output mode" parameter of the CPU module to "Clear". ( Refer to QCPU User's manual.) (ZP.PSTRT start method) 0, 9000, 9001...
Page 260 TROUBLESHOOTING Error code Error name Description Operation at error (decimal) Out of deviation The setting value of the " Deviation Pr.7 counter clear signal counter clear signal output time" is out of output time setting the setting range. range Out of OPR method The setting value of the "...
Page 261 TROUBLESHOOTING Related buffer memory Error address code Setting range Remedy Axis 1/ Axis 2/ Axis 3/ (decimal) CH 1 CH 2 CH 3 Deviation counter clear Pr.7 signal output time 0: 1ms 1: 2ms 2: 10ms 3: 20ms OPR method Pr.10 0: OPR method 1) Near-point dog method...
Page 262 TROUBLESHOOTING Error code Error name Description Operation at error (decimal) The setting value of the " Creep Pr.14 speed" is out of the setting range. The setting value of the " Creep Pr.14 Out of creep speed speed" is higher than the " Pr.13 setting range speed".
Page 263 TROUBLESHOOTING Related buffer memory Error address code Setting range Remedy Axis/ Axis/ Axis/ (decimal) CH 1 CH 2 CH 3 Set the value within the setting range and lower than the Creep speed Pr.14 " OPR speed", and turn OFF and then ON the Pr.13 1 to 100000 (pulse/s) programmable controller CPU READY signal (Y0).
Page 264 TROUBLESHOOTING Error code Error name Description Operation at error (decimal) Out of count value The setting value of the " Count Pr.19 selection at OPR value selection at OPR" is out of the setting setting range range. Out of ring counter The setting value of the "...
Page 265 TROUBLESHOOTING Related buffer memory Error address code Setting range Remedy Axis 1/ Axis 2/ Axis 3/ (decimal) CH 1 CH 2 CH 3 Count value selection at Pr.19 0: OP address not set to count value 1: OP address set to count value Ring counter upper limit Pr.16...
Page 266: List Of Warnings
TROUBLESHOOTING 15.2.2 List of warnings The following table shows the warning descriptions and measures to be taken when a warning occurs. Warning code Warning name Description Operation at warning (decimal) (Normal) Ñü Ñü Start during The start is requested during the axis is BUSY The operation is continued.
Page 267 TROUBLESHOOTING Related buffer Warning code Setting range Remedy Axis/ Axis/ Axis/ (decimal) CH 1 CH 2 CH 3 Normalize the start request ON timing. Speed limit value Pr.4 1 to 100000 (pulse/s) Set the " New speed value" to be higher Cd.1 than the "...
Page 268: Checking Errors With The Led Display Function
TROUBLESHOOTING 15.3 Checking Errors with the LED Display Function The status of the QD72P3C3 and control status of each axis/CH can be checked by the LEDs located on the front of the QD72P3C3. Each axis can be monitored by the status of the LEDs. The operation and displays are as shown below.
Page 269: Checking Error Description Using System Monitor Of Gx Developer
TROUBLESHOOTING 15.4 Checking Error Description Using System Monitor of GX Developer Error codes for axis errors can be checked by selecting [Module's Detailed Information...] on the [System Monitor] screen of GX Developer. (1) GX Developer operation Select [Diagnostics...] [System Monitor...] "QD72P3C3"...
Page 270: Appendices
APPENDICES APPENDICES Appendix 1 External Dimensions 90(3.54) 46(1.81) 136(5.35) 27.4(1.08) Unit: mm (inch) Appendix 1 External Dimensions...
Page 271: Appendix 2 Operation Timing And Processing Time In Each Control
APPENDICES Appendix 2 Operation Timing and Processing Time in Each Control (1) Operation timing and processing time of machine OPR control Positioning start signal (Y8 to YF) Pulse output to outside (PULSE) BUSY signal (X8 to XA) Md.4 Axis operation status Standby Standby Start complete signal...
Page 272 APPENDICES (2) Operation timing and processing time of fast OPR control Positioning start signal (Y8 to YF) Pulse output to outside (PULSE) BUSY signal (X8 to XA) Standby Fast OPR Standby Md.4 Axis operation status Start complete signal (XC to XE) Fast OPR control operation 0.2ms 0 to 2.5ms...
Page 273 APPENDICES (3) Operation timing and processing time of position control Positioning start signal (Y8 to YF) Pulse output to outside (PULSE) BUSY signal (X8 to XA) Md.4 Axis operation status Standby Position control Standby Start complete signal (XC to XE) Position control operation Positioning complete signal (X18 to X1F)
Page 274 APPENDICES (4) Operation timing and processing time of speed control Positioning start signal (Y8 to YF) Pulse output to outside (PULSE) BUSY signal (X8 to XA) Standby Speed control Standby Md.4 Axis operation status Start complete signal (XC to XE) Axis stop signal (Y4 to Y6) Speed control operation 0.2ms...
Page 275 APPENDICES (5) Operation timing and processing time of JOG operation JOG start signal (YC to Y11) O FF O FF BUSY signal (X8 to XA) JOG(The JOG start signal Md.4 Axis operation status Standby Standby (YC to Y11) is OFF.) Pulse output to outside (PULSE) JOG operation...
Page 276: Appendix
*2: These are limit switches for servo amplifier (for stop). *3: For details of connection, refer to the MR-J3 series Servo Amplifier Instruction Manual. *4: This indicates the distance between the QD72P3C3 and servo amplifier. Appendix 3 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation...
Page 277 *2: These are limit switches for servo amplifier (for stop). *3: For details of connection, refer to the MR-J2S series Servo Amplifier Instruction Manual. *4: This indicates the distance between the QD72P3C3 and servo amplifier. Appendix 3 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation...
Page 278 *2: These are limit switches for servo amplifier (for stop). *3: For details of connection, refer to the MR-H series Servo Amplifier Instruction Manual. *4: This indicates the distance between the QD72P3C3 and servo amplifier. Appendix 3 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation...
Page 279 *2: These are limit switches for servo amplifier (for stop). *3: For details of connection, refer to the MR-C series Servo Amplifier Instruction Manual. *4: This indicates the distance between the QD72P3C3 and servo amplifier. Appendix 3 Connection Examples with Servo Amplifiers Manufactured by Mitsubishi Electric Corporation - 10...
Page 280 APPENDICES Appendix 4 Connection Examples with Stepping Motors Manufactured by ORIENTAL MOTOR CO., LTD. (1) Connection example of QD72P2C3 and RK series Within 2m*3 RK series*2 Connect these as necessary. Near-point dog Upper limit Lower limit 24VDC Remark *1: The logic of each I/O terminal can be changed by the intelligent function module switch setting (refer to Section 5.6).
Page 281 APPENDICES (2) Connection example of QD72P3C3 and STEP series Within 2m*3 STEP series*2 Near-point dog Upper limit Lower limit 24VDC Remark *1: The logic of each I/O terminal can be changed by the intelligent function module switch setting (refer to Section 5.6). (The above example assumes that all terminals are set to the negative logic.) In addition, the above example is for connecting to Axis 1.
Page 282 APPENDICES Appendix 5 Connection Examples with Servo Amplifiers Manufactured by Matsushita Electric Industrial Co., Ltd. (1) Connection example of QD72P2C3 and MINAS-A4 series Within 2m*3 MINAS-A4 series*2 Near-point dog Upper limit Lower limit 24VDC Remark *1: The logic of each I/O terminal can be changed by the intelligent function module switch setting (refer to Section 5.6).
Page 283 APPENDICES (2) Connection example of QD72P2C3 and MINAS-E series Within 2m*3 MINAS-E series*2 1/2W 1/2W Near-point dog Upper limit Lower limit 24VDC Remark *1: The logic of each I/O terminal can be changed by the intelligent function module switch setting (refer to Section 5.6). (The above example assumes that all terminals are set to the negative logic.) In addition, the above example is for connecting to Axis 1.
Page 284: Corporation
APPENDICES Appendix 6 Connection Examples with Servo Amplifiers Manufactured by YASUKAWA ELECTRIC CORPORATION (1) Connection example of QD72P2C3 and - II series Within 2m*3 series*2 Near-point dog Upper limit Lower limit 24VDC Remark *1: The logic of each I/O terminal can be changed by the intelligent function module switch setting (refer to Section 5.6).
Page 285: Appendix 7 Connection Examples With Servo Amplifiers Manufactured By Sanyo Denki
APPENDICES Appendix 7 Connection Examples with Servo Amplifiers Manufactured by SANYO DENKI CO., LTD. (1) Connection example of QD72P2C3 and R series Within 2m*3 R series*2 Near-point dog Upper limit Lower limit 24VDC Remark *1: The logic of each I/O terminal can be changed by the intelligent function module switch setting (refer to Section 5.6).
Page 286: Appendix 8 Comparison With Qd70P Type Positioning Module
APPENDICES Appendix 8 Comparison with QD70P type positioning module Model QD72P3C3 QD70P4 Item Number of axes 3 axes 4 axes Control unit pulse pulse Number of positioning data 1/axis 10/axis 2-axes linear interpolation 3-axes linear Position control interpolation 4-axes linear interpolation function interpolation 2-axes circular...
Page 287 APPENDICES Model QD72P3C3 QD70P4 Item Inching operation Manual pulse generator function Automatic trapezoidal ACC/DEC ACC/DEC processing S-pattern ACC/DEC ACC/DEC time and DEC/STOP time can ACC/DEC time can be set. ACC/DEC time be set. (1 to 5000ms) (0 to 32767ms) OPR auxiliary function Compensation function Speed limit, software stroke limit, Control limit function...
Page 288 APPENDICES * 1 Start method of positioning data differs according to the model. QD70P4: Positioning data can be started from No.1 only. (It cannot be started from No.2 to No.10.) * 2 Added into GX Developer for use. * 3 Pulse unit for inside of the module differs according to the setting range of the speed limit value. (For details, refer to "CHAPTER 4.) Speed limit value 1 to 8000pulse/s: 1-pulse unit Speed limit value 8001 to 32000pulse/s: 4-pulse unit...
Page 289: Appendix 9 List Of Buffer Memory Addresses
APPENDICES Appendix 9 List of Buffer Memory Addresses Buffer memory Buffer memory address address Item Item Axis Axis Axis Axis Axis Axis Operation pattern Software stroke limit upper limit Da.1 Pr.1 value Control method Da.2 ACC/DEC time Software stroke limit lower limit Da.3 Pr.2 value...
Page 290 INDEX Absolute system ••••••••••••••••••••••••••••••••••••••••• 9-4 LED display ••••••••••••••••••••••••••••••••••••••• 5-5,15-21 ACC/DEC process function•••••••••••••••••••••••••••• 3-2 Linear counter function ••••••••••••••••••••••••••••••••• 3-3 AD75CK •••••••••••••••••••••••••••••••••••••••••••••••••• 5-10 List of warnings ••••••••••••••••••••••••••••••••••••••• 15-19 Coincidence detection function ••••••••••••••••••••••• 3-3 Machine OPR control ••••••••••••••••••••••••••••••••••• 3-2 Connection check •••••••••••••••••••••••••••••••••••••• 5-12 Maximum connection distance••••••••••••••••••••••••...
Page 291 Pr.6 Positioning complete signal output time •••••• 4-3 Pr.7 Deviation counter clear signal output time•••• 4-3 UTILITY PACKAGE ••••••••••••••••••••••••••••••••••••• 6-1 Pr.9 Current feed value, count value simultaneous change function selection •••••••••••••••••••••••••••••• 4-3 PULSE/SIGN •••••••••••••••••••••••••••••••••••••••••••• 5-15 Weight ••••••••••••••••••••••••••••••••••••••••••••••••••••• 3-1 Numerics QD70P•••••••••••••••••••••••••••••••••••••••••••••••• App-17 1 multiple of 2 phases •••••••••••••••••••••••••••••••••...
Page 292 Memo Index...
Page 293 6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi. 7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user. 2. Onerous repair term after discontinuation of production (1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.
Page 294 Microsoft, Windows, Windows NT, and Windows Vista are registered trademarks of Microsoft Corporation in the United States and other countries. Pentium and Celeron are trademarks of Intel Corporation in the United States and other countries. Ethernet is a registered trademark of Xerox Corporation in the United States. Other company names and product names used in this document are trademarks or registered trademarks of respective companies.

This manual is also suitable for:

Melsec qd72p3c3

Mitsubishi MELSEC-Q Series User Manual

Part 1 Product Specifications and Handling

Chapter1 Product Outline

Chapter2 System Configuration

Chapter3 Specifications And Functions

Chapter4 Data Used for Positioning Control

Chapter5 Procedures And Settings before Operation

CHAPTER6 UTILITY PACKAGE (GX Configurator-PT)

Chapter7 Sequence Program Used for Positioning Control

Part 2 Control Details and Setting

Chapter8 Opr Control

Chapter9 Positioning Control

Chapter10 Jog Operation

Chapter11 Auxiliary Function

Chapter12 Counter Function

Chapter13 Common Function

Chapter14 Dedicated Instructions

Chapter15 Troubleshooting

Appendices

Appendix 1 External Dimensions

Appendix 2 Operation Timing and Processing Time in each Control

Appendix

Appendix

Appendix 6 Connection Examples with Servo Amplifiers Manufactured by YASUKAWA ELECTRIC

Appendix 7 Connection Examples with Servo Amplifiers Manufactured by SANYO DENKI

Appendix 8 Comparison with QD70P Type Positioning Module

Appendix 9 List of Buffer Memory Addresses

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Summary of Contents for Mitsubishi MELSEC-Q Series