Mitsubishi Electric MELSEC-A/QnA Series Handbook page 283

7
POSITIONING MODULE REPLACEMENT
Remarks
Positioning execution time (BUSY signal (X14) ON to Positioning complete signal (X15) ON) of the
QD73A1 and AD70 may differ because their internal processing methods are different. As a result, the
timing when In-position signal (X16) turns on may also vary.
Adjust positioning execution time using the following methods if the difference of the positioning
execution time (or the timing when In-position signal (X16) turns on) affects the system.
• Adjusting the QD73A1's positioning parameter, "
time".
• Increasing gain by changing the accumulated pulse amount setting through the QD73A1's zero/
gain adjustment
(2) Changed function from the AD70
Though the functions of the AD70 and the QD73A1 are same, the setting methods and buffer memory
addresses for the functions are partly changed.
To use following functions, changes or corrections of the programs or setting methods are required.
For details, refer to the user's manual for the QD73A1.
Changed function
Major positioning control
Speed-position control switch
mode (speed control
operation)
Speed change function
Current value change function
Zero/gain adjustment
Program corrections of the QD73A1 are required because buffer memory addresses for the positioning
address, positioning speed, and positioning pattern differ from those of the AD70.
• AD70
For Velocity/position axis travel distance change area, the value is reflected during speed control.
Setting value: 0 to 2147483647 (valid within the stroke range)
• QD73A1
For New speed-position movement amount, the value is cleared to 0 when the next operation starts and
reflected when Speed-position switching command signal is turned on.
Setting value: 1 to 2147483647 (valid within the stroke range)
• AD70
The speed change is requested by writing a new speed value in Velocity change area of the buffer
memory.
• QD73A1
The speed change is requested by writing a new speed value in the buffer memory and writing "1" to
Speed change request (buffer memory address: 91).
* To use the speed change function, an additional program is required.
• AD70
The current value is changed by writing a new address in Present value change area of the buffer
memory.
• QD73A1
The current value is changed by writing a new address in New current value of the buffer memory and
writing "1" to Current value change request (buffer memory address: 90).
• AD70
The adjustment is performed using the volumes for zero/gain adjustment.
• QD73A1
The adjustment is performed by either of following methods.
1) Using the UP/DOWN switch for zero/gain adjustment
The function is the same as the AD70 though the QD73A1 uses the UP/DOWN switch instead of the
volumes.
2) Using the buffer memory
To use the buffer memory for the adjustment, create a program.
Acceleration time" or "
Pr.6
Change description
*1
Deceleration
Pr.7
7
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