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NSD MELSEC-Q VS-QA62-M User Manual

Plc module converter, applicable sensor mre-32ss062, mre-g ss062
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ZEF006082205
MELSEC-Q
PLC Module Converter
VS-QA62-M
User's Manual
Applicable sensor
MRE-32SS062
MRE-G[ ]SS062

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Summary of Contents for NSD MELSEC-Q VS-QA62-M

  • Page 1 ZEF006082205 MELSEC-Q PLC Module Converter VS-QA62-M User’s Manual Applicable sensor MRE-32SS062 MRE-G[ ]SS062...
  • Page 3 This product is not designed to be used under any situation affecting human life. When you are considering using this product for special purposes such as medical equipment, aerospace equipment, nuclear power control systems, traffic systems, and etc., please consult with NSD. This product is designed to be used under the industrial environments categorized in Class A device.
  • Page 4 [ Installation Precautions ] WARNING ● Be sure to shut off all power before mounting/removing this module. Failure to do this could result in equipment damage. CAUTION ● Use the programmable controller in an environment that meets the general specifications contained in the CPU User's Manual.
  • Page 5 [ Start-up and Maintenance Precautions ] WARNING ● Be sure to shut off all power before cleaning this module or tightening screws. Failure to do so may result in failure or malfunction of this module. Loose screws can cause drops of the screws, short circuit or malfunction. Over-tightening screws may damage the screws and/or the module, this can cause drops, short circuit or malfunction.
  • Page 6 REVISION HISTORY The document No. appears at the upper right of this manual's cover page. Document No Date Revision Description ZEF006082200 19, Sep., 2021 1st Edition Japanese document: ZEF006080500 ZEF006082201 31, Jan., 2022 2nd Edition Japanese document: ZEF006080501 ZEF006082202 17, Feb., 2022 3rd Edition Japanese document: ZEF006080502 ZEF006082203 13, Dec., 2022 4th Edition Japanese document: ZEF006080503...
  • Page 7 INTRODUCTION INTRODUCTION Thank you for purchasing the VS-QA62 module. Always read through this manual, and fully comprehend the functions and performance of VS-QA62 before starting use to ensure correct usage of this product. Please submit this manual to the end user. CONTENTS CONTENTS SAFETY PRECAUTIONS ...................................
  • Page 8 5. SETUP AND PROCEDURES BEFORE OPERATION ......................35 5.1 Name of Parts and Functions ..............................35 5.2 Procedure Before the Operation ............................37 5.3 Procedures for the Initial and Parameter Settings ........................ 38 5.3.1 Procedures for the initial settings ............................. 39 5.3.2 Procedures for parameter settings ..........................
  • Page 9 8.2 Positioning Format and Simple Learning Function Selection ..................... 88 8.2.1 Speed switching format (2-speed control) ........................89 8.2.2 Speed stepping format (3-speed control) ........................90 8.2.3 Simple learning function ..............................91 8.3 Unidirectional Positioning ................................ 93 8.4 Positioning Pattern Data Setting ............................. 94 8.4.1 Setting of the positioning pattern data buffer memory selection ..................
  • Page 10 10.6 Flowchart when Current Position Value doesn't Change ....................155 10.7 Flowchart when Stored Data is Lost, or when Erroneous Data is Stored ..............156 APPENDIX 1 VS-QA62 AND CABLE OUTER DIMENSIONS ....................157 Appendix 1.1 VS-QA62 ................................157 Appendix 1.2 External I/O Cable (VS-CQA62) ......................... 158 Appendix 1.3 Cable for the Upgrading (VS-CQA62-R01) .......................
  • Page 11 HOW TO READ THIS MANUAL This manual describes the product names as the following; (1) Module Name VS-QA62-M (hereafter call"VS-QA62") (2) ABSOCODER SENSOR In this manual, the ABSOCODER Sensor is described as the following; ABSOCODER Sensor Sensor TRADEMARK MELSEC is the trademark or registered trademark of Mitsubishi Electric Corporation. Other companies’...
  • Page 12 1. OVERVIEW MELSEC-Q 1. OVERVIEW This user's manual contains the specifications and operation/programming procedures for VS-QA62 which is to be used in combination with the MELSEC-Q Series manufactured by Mitsubishi Electric Corporation. VS-QA62 is a module that can detect positions by combining with the ABSOCODER sensor. The ABSOCODER sensor is a magnetic position sensor that can replace with incremental type encoders widely used until now.
  • Page 13 1. OVERVIEW MELSEC-Q 1.1 Features VS-QA62 has the following features: (1) Absolute position detection: Rotational position is detected by an absolute position detection method. Even when a power outage, etc., occurs, the correct position of the ABSOCODER sensor will be instantly detected when power is turned back ON.
  • Page 14 1. OVERVIEW MELSEC-Q (10) High accuracy positioning by the simple learning function When a positional discrepancy occurs between the target position and the stop position upon completion of positioning, the discrepancy will be automatically corrected for the next positioning. (11) Pulse output function The A/B phase pulse is output to the external I/O connector without being affected by the PLC's scan time.
  • Page 15 1.2.1 Definition related to the current position detection Item Contents ABSOCODER is the generic name given to the NSD-developed position sensor which detects rotational/linear displacement, speed, and acceleration, using an absolute position detection method with a digital (or analog) output.
  • Page 16 1. OVERVIEW MELSEC-Q 1.2.2 Definition related to the limit switch output Items Contents The limit switch output works in the same way as outputs from a mechanical limit switch. The positions that mechanical limit switches turn ON or OFF are designated to the VS-QA62 in advance. Limit switch output VS-QA62 turns ON or OFF the limit switch output signal by comparing the machine position detected by function...
  • Page 17 1. OVERVIEW MELSEC-Q MEMO...
  • Page 18 2. SYSTEM CONFIGURATION MELSEC-Q 2. SYSTEM CONFIGURATION 2.1 Overall Configuration The overall configuration of the Mitsubishi Electric corp. MELSEC-Q Series using VS-QA62 is shown below. Q××CPU Extension cable (QC[ ]B) Extension base unit (Q6[ ]B) Main base unit (Q3[ ]B) VS-QA62 ●Option Connector...
  • Page 19 VS-QA62 can be used in the following system. (1) Applicable CPU module Refer to NSD web site for CPU module models with which VS-QA62 can be used. (2) Number of mountable modules Pay attention to the power supply capacity before mounting modules.
  • Page 20 3. VS-QA62 SPECIFICATIONS MELSEC-Q 3. VS-QA62 SPECIFICATIONS Shown below are the VS-QA62 specifications. About the ABSOCODER sensor specifications, refer to "APPENDIX 2". 3.1 General Specifications Items Specifications Operating ambient temperature 0 to 55°C Storage ambient temperature -25 to 75°C Operating ambient humidity 5 to 95%RH , non-condensing Storage ambient humidity...
  • Page 21 3. VS-QA62 SPECIFICATIONS MELSEC-Q 3.2 Performance Specifications Items Specifications Remarks Number of position detection axes Position detection method Absolute position detection by ABSOCODER sensors 131072 divisions Number of divisions (Resolution) Refer to “APPENDIX 2” for details. ([4096 divisions×32 turns] to [51.2 divisions×2560 turns]) Data is not held when power is Number of programs OFF.
  • Page 22 3. VS-QA62 SPECIFICATIONS MELSEC-Q Items Specifications Remarks Limit switch output signal & 0.4ms (0.8ms) Updating cycle Max. response delay time positioning output signal (Response time) due to internal processing Current position value output 0.2ms (0.4ms) Able to select by parameter setting Speed output 0.8ms, 1.6ms, 3.2ms, 6.4ms, 12.8ms, 25.6ms, 51.2ms Gate time...
  • Page 23 3. VS-QA62 SPECIFICATIONS MELSEC-Q 3.4 External Input/Output Interface Specifications 3.4.1 Input/output specifications Items Specifications Number of input points Current position preset input: 2-point Isolation method Photo-coupler Rated input voltage DC12V DC24V Rated input current 6.5mA Input voltage range 10.2 to 30.0VDC ON voltage 10 VDC or more OFF voltage...
  • Page 24 3. VS-QA62 SPECIFICATIONS MELSEC-Q 3.4.2 Input/output connector pin arrangement External connections *3 Signal name For current For positioning Pin arrangement Pin No. position For limit Acceleration Speed switching Speed stepping detection switch output /Deceleration format format format Not used CH. 0 FWD/low-speed When viewed from the front of Not used...
  • Page 25 3. VS-QA62 SPECIFICATIONS MELSEC-Q *1: Nothing is output when the current position detection function is used. *2: A limit switch can be selected by "Limit switch output selection at positioning (Address 12)" of the buffer memory. *3: Select any one of the options when using the external I/O cable. (1) Soldering-type connector Model code: VS-CQA62-CN Manufacturer: HONDA TSUSHIN KOGYO CO., LTD.
  • Page 26 3. VS-QA62 SPECIFICATIONS MELSEC-Q (1) Input circuit (Current position preset input) ● Plus common connection VS-QA62 Current position preset input 1 Current position preset input 2 － ＋ 12/24VDC ● Minus common connection VS-QA62 Current position preset input 1 Current position preset input 2 ＋...
  • Page 27 3. VS-QA62 SPECIFICATIONS MELSEC-Q (3) Pulse output circuit VS-QA62 19, 21 A+ / B+ Pulse output circuit AM26C31 18, 20 A- / B- － ＋ 5VDC (4) Analog output circuit VS-QA62...
  • Page 28 3. VS-QA62 SPECIFICATIONS MELSEC-Q 3.5 List of functions VS-QA62 has many functions based on the position detection as below chart. Current position detection Initial setting (scaling) Pulse output 'Excessive current position change' detection Current position preset 'Excessive correction amount' detection Current position HOLD Speed detection Analog voltage output...
  • Page 29 3. VS-QA62 SPECIFICATIONS MELSEC-Q ● Function overview Reference Functions Contents (Chapter) Positions used to be detected by a combination of the incremental type encoder and counter Current position detection unit. This function detects them with a combination of the ABSOCODER sensor and VS-QA62. Initial setting (scaling) Position data (binary value) is converted to the length unit such as mm or inch.
  • Page 30 3. VS-QA62 SPECIFICATIONS MELSEC-Q 3.6 Specifications of Input/Output Signal with Programmable Controller CPU 3.6.1 List of input/output signals with programmable controller CPU Input/output signals between VS-QA62 and the PLC CPU are executed according to the following format: Input: 32 points Output: 32 points Input/output signal configuration when VS-QA62 is installed at the base unit's Slot 0.
  • Page 31 3. VS-QA62 SPECIFICATIONS MELSEC-Q 3.6.2 Details of input signal (VS-QA62 → Programmable controller CPU) The ON/OFF timing and other conditions for I/O signal are explained below. (1) Unit ready (X0) This signal comes OFF when a watchdog timer error is detected by VS-QA62’s self-diagnosis function. When ‘X0’...
  • Page 32 3. VS-QA62 SPECIFICATIONS MELSEC-Q (5) Sensor error detection (X4) This signal turns ON when an error occurs in ABSOCODER’s position detection system due to a disconnected ABSOCODER cable, etc. After the problem has been corrected, ‘X4’ will go OFF when ‘Y16’ (error reset signal) is turned ON (leading edge).
  • Page 33 3. VS-QA62 SPECIFICATIONS MELSEC-Q 3.6.3 Details of output signals (Programmable controller CPU → VS-QA62) (1) ‘PLC ready' signal (Y10): This signal is used to switch the VS-QA62 operation status (online/offline) (X1). Y10 ON··············· Online Y10 OFF ············· Offline The difference between the 'online' and 'offline' status is shown below. Online Offline PLC ready (Y10) OFF...
  • Page 34 3. VS-QA62 SPECIFICATIONS MELSEC-Q (2) 'Positioning START' signal (Y11) This signal starts the positioning operation. Under meeting the following condition, the motor control signal for the positioning is output when Y11 is turned ON (leading edge); ① Online status (Y11 is ON) ②...
  • Page 35 3. VS-QA62 SPECIFICATIONS MELSEC-Q (8) Current position preset prohibit 1 / current position preset command signal (Y17) The ‘current position preset input 1’ of the external I/O connector is invalid when Y17 is turned ON if the following items are designated at the current position preset function of the parameter (Address 748). - 1 (parameter format) - 2 (buffer memory format) The current position preset is executed when Y17 is turned ON (leading edge) if 3 (sequence format) is...
  • Page 36 3. VS-QA62 SPECIFICATIONS MELSEC-Q 3.7 Buffer Memory List VS-QA62 contains a buffer memory which is used for data communication with the PLC CPU. The buffer memory configuration is shown below. The buffer memory used for each function and the reference chapter for the detailed explanation are shown. Data readout of all areas can be executed by the sequence program.
  • Page 37 3. VS-QA62 SPECIFICATIONS MELSEC-Q Reference for each function (chapter No.) Positioning Current Limit Writing conditions 2-speed Acceleration position switch by sequence Address /3-speed /Deceleration detection output program (decimal) control control Not used Maximum speed 9.7.2 Speed limit 9.7.2 Maximum speed reach timer 9.7.2 Bias speed when positioning starts 9.7.2...
  • Page 38 3. VS-QA62 SPECIFICATIONS MELSEC-Q Reference for each function (chapter No.) Positioning Current Limit Writing conditions 2-speed Acceleration position switch by sequence Address /3-speed /Deceleration detection output program (decimal) control control Speed output 6.8.2 Hold current position (scaling binary) Hold current position (sensor binary) Writing disabled FWD stop zone after learning 8.2.3...
  • Page 39 3. VS-QA62 SPECIFICATIONS MELSEC-Q Reference for each function (chapter No.) Positioning Current Limit Writing conditions 2-speed Acceleration position switch by sequence Address /3-speed /Deceleration detection output program (decimal) control control (Parameter) Output signal selection Positioning format Positioning direction Overshoot amount Medium-speed zone 8.4.2 Low-speed zone...
  • Page 40 4. HANDLING and WIRING MELSEC-Q 4. HANDLING AND WIRING This section explains how to unpack and connect VS-QA62. 4.1 VS-QA62 Handling Precautions The following precautions should be observed when handling VS-QA62. (1) As VS-QA62 is constructed from a resin-based material, it should not be dropped or subjected to severe shocks.
  • Page 41 4. HANDLING and WIRING MELSEC-Q 4.3 Precautions for Installation of ABSOCODER Sensors 4.3.1 ABSOCODER sensor installation ● Handling of ABSOCODER Sensor Item Explanation (1) Main unit (2) Cable ● Mounting of ABSOCODER Sensor Item Explanation Precaution (1) Mounting For details regarding mounting dimensions, refer to each ABSOCODER sensor dimensions.
  • Page 42 4. HANDLING and WIRING MELSEC-Q ● Mounting of ABSOCODER Sensor Item Explanation Precaution (1) Coupling of machine A “direct-link” format will shaft and sensor result in shaft fatigue shaft and / or breakage after long periods. Therefore, be sure to use a coupling device to link the shafts.
  • Page 43 4. HANDLING and WIRING MELSEC-Q ● Coupling of ABSOCODER Sensor Item Explanation Precaution 1. Selection of the coupling device should be based on the following (1) Coupling device The selection of a larger factors; selection precaution coupling than necessary - The amount of a mounting error caused by the machine design. will increase the shaft load - The permissible error of coupling device.
  • Page 44 4. HANDLING and WIRING MELSEC-Q 4.3.2 Precautions for connecting ABSOCODER sensors (1) Connection should be made using the ABSOCODER cable, with the connector being securely tightened. (2) If further length is desired, an extension cable must be ordered separately. Refer to “APPENDIX 3” for details regarding extension cables. (3) The maximum length for which extension is possible varies according to the ABSOCODER sensor model which is used.
  • Page 45 4. HANDLING and WIRING MELSEC-Q MEMO...
  • Page 46 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5. SETUP AND PROCEDURES BEFORE OPERATION 5.1 Name of Parts and Functions The illustration below shows the nomenclature of VS-QA62. Operation status display area External I/O connector Sensor connector...
  • Page 47 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q ● Details of Operation Status Display Area 0 1 2 3 4 5 6 7 Upper 8 9 A B C D E F Lower 0 1 2 3 4 5 6 7 Upper: 0 to 9 Signal name For current...
  • Page 48 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.2 Procedure Before the Operation This chapter explains procedures until starting to operate VS-QA62. Start Module installation Install VS-QA62 in the specified slot. ------------------ Refer to "Chapter 4". Wiring - Connect the ABSOCODER sensor to VS-QA62. - Wire the I/O connector.
  • Page 49 Refer to 'Chapter 5.3.1' for procedures for the initial setting. Refer to 'Chapter 5.3.2' for the procedures for the parameter area settings. Refer to 'Chapter 5.3.3' for the procedures when setting initial and parameter simultaneously. NSD has a sample program of setting procedures. Refer to 'Appendix 8.2' for details.
  • Page 50 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.3.1 Procedures for the initial settings Point *1: Procedure ①, ④ and ⑦ Those procedures are executed only when the current position value (Address 708 and 709) is written into the internal memory. Other initial settings (Address 702 to 707) don't need those procedures.
  • Page 51 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q ⑦ Write '0' to the current position change command (Address 710). ⑧ Write '0' to the data memory flag (Address 700). ⑨ Turn ON the PLC ready (Y10) in order to be online. ⑩...
  • Page 52 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.3.2 Procedures for parameter settings Point The ABSOCODER sensor isn't needed to connect to VS-QA62 when setting parameters (Address 711 to 761). ● Writing procedure ① Turn OFF the PLC ready (Y10) in order to be offline. ②...
  • Page 53 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.3.3 Procedures when setting initial and parameter simultaneously Point *1: Procedure ①, ④ and ⑦ Those procedures are executed only when the current position value (Address 708 and 709) is written into the internal memory. Other initial settings (Address 702 to 707) don't need those procedures.
  • Page 54 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q ⑦ Write '0' to the current position change command (Address 710). ⑧ Write '0' to the data memory flag (Address 700). ⑨ Turn ON the PLC ready (Y10) in order to be online. ⑩...
  • Page 55 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.3.4 Readout procedures for the initial and parameter settings The readout method of the initial and parameter settings is explained in this chapter. The setting values of the initial and parameter settings stored in the internal memory can be read out to the buffer memory.
  • Page 56 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q 5.4 Setting Procedures for the Limit Switch Output Data This chapter explains the setting method of the limit switch output data. The setting value is stored in the internal memory of VS-QA62 when setting ON/OFF data (Address 14 to 365) of the limit switch output.
  • Page 57 5. SETUP AND PROCEDURES BEFORE OPERATION MELSEC-Q IMPORTANT - ON/OFF data of the limit switch output written in the internal memory cannot be read out. - The data is deleted when the power supply of the PLC is turned OFF because the internal memory is not backed up.
  • Page 58 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6. CURRENT POSITION DETECTION FUNCTION The current position detection function detects the position data by combining the ABSOCODER sensor with VS- QA62. Conventionally, the position data was detected using an incremental format encoder in combination with a counter unit.
  • Page 59 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.1 Current Position Value ● Sensor binary value (Address 2 and 3 of the buffer memory) This value is counted inside of VS-QA62 when the ABSOCODER sensor shaft rotates. It changed from 0 to 131071 (0 to 1FFFFH) when the shaft rotates from 0 to the ‘total number of turns’. The ‘total number of turns’...
  • Page 60 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.2 Initial Setting Function (Scaling) The initial setting function is that position data (binary value) detected by the ABSOCODER sensor is converted to a length unit such as mm or inch. The converted data can be read out from the 'current position value (scaling binary) (Address 0 and 1)' of the buffer memory.
  • Page 61 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.2.3 Scale length (Address 704 and 705) This is the maximum distance over which the ABSOCODER sensor can perform absolute position detection. The scale length can be specified in a system-of-units that is appropriate to the machine's travel amount. With multi-turn type ABSOCODER sensors (the MRE Series), the scale length is the amount of machine travel attained after the sensor shaft has completed a total number of turns (32, 64, 128, 160, 256, 320, 640, 1280, 2560).
  • Page 62 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.2.4 Minimum current position value (Address 706 and 707) This is the minimum value of the current position value which can be detected. This value can be designated as desired within the following range: －99999 to [1000000－scale length]. <Example>...
  • Page 63 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.2.5 Current position value (Address 708 and 709) The current position value is designated as a value that is indicated where the machine positions in the detection range. For example, when the machine is moved to its 100 mm position, the 'current position value' which corresponds to that position would be designated as '10000' (when resolution is 0.01).
  • Page 64 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.3. Parameter for Related to the Current Position Detection The parameters related to the current position detection are indicated below. They should be set for each function and set them when you need. For more detailed functions, see the reference chapter. These function parameters should also be set when using with the limit switch and/or positioning functions.
  • Page 65 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q Reference Address Item Contents Setting range Default (Chapter No.) 0: No output (Fixed at 0) 1: Absolute value speed command Analog output (0 to 100%) Select the analog output data. 6.9.1 data selection 2: Speed command (-100 to 100%) 3: Current speed *2 4: Current position (scale value) Maximum output...
  • Page 66 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.4 Pulse Output Function The pulse output function is that outputs the travel amount of the ABSOCODER sensor as the A/B phase pulse. The pulse is output from the external I/O connector (18 to 21 pins). CW direction CCW direction a = T/4 ±...
  • Page 67 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.4.2 Operation conditions ● Writing timing of the setting value Maximum 5s requires from designating the parameter writing bit of the data memory flag by TO instruction to outputting pulse normally. PLC ready (Y10) Offline Online Operation status (X1)
  • Page 68 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.5 'Excessive Current Position Change' Detection Function The 'Excessive current position change' detection function samples a current position value every 20ms, and monitors the change amount difference between the current and previous detected values. The following warning occurs when this value exceeds the ‘permissible current position change amount' of parameter (Address 736 and 737);...
  • Page 69 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.6 Current Position 'PRESET' Function The current position 'PRESET' function corrects the scaling binary (Address 0 and 1) and sensor binary (Address 2 and 3) of the current position value to the preset value set in advance. An example of the current position 'PRESET' function is shown below.
  • Page 70 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q *4: For the parameter format, the automatic travel direction determination by VS-QA62 is made by successively comparing the current position values at a 100ms interval. However, when the reverse speed is below the levels shown in the following table, VS-QA62 will determine that the current travel is in the forward direction.
  • Page 71 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.6.2 The current position preset value setting ● Parameter format The current position preset value has the following four types of parameters. For the parameter setting procedures, refer to 'Chapter 5.3'. Address Item Contents Setting range Default The current position value is changed...
  • Page 72 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.6.3 'Excessive correction amount' detection The 'Excessive correction amount' detection function monitors whether the change amount of the current position value that is corrected by inputting the current position preset signal is too large or not. The following warning occurs when this correction amount exceeds the ‘Permissible correction amount' (Address 738 and 739) of parameter;...
  • Page 73 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.6.4 Operation condition of the current position 'PRESET' function (1) The current position preset function is valid at the parameter setting. Address Item Setting value Contents Parameter format Current position preset function Buffer memory format Sequence format (2) No sensor error (Error code 22) (3) The status must be online.
  • Page 74 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q (8) Response time of the current position preset input This indicates the response time from turning ON the current position preset input to executing the preset. The response time of the current position preset is varied depending on the setting of the current position preset function (Address 748).
  • Page 75 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.6.5 Input status storage area (Address 6) This area stores the current position preset input signal status of the external I/O connector. '1' is stored when the current position preset input is turned ON. B7 B6 B5 Address 6 －...
  • Page 76 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.7 Current Position HOLD Function The current position HOLD function is that stores the current position value in the below areas when the current position preset input 1 or 2 of the external I/O connector is turned ON (leading edge). Address Contents 670(L)
  • Page 77 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.8 Speed Detection Function The speed detection function is that the rotation (travel) speed of the ABSOCODER sensor is output. The speed unit is selected at a speed gate time (Address 749) of the buffer memory. The speed is stored in the speed output (Address 668 and 669) of the buffer memory.
  • Page 78 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.8.2 Speed output storage area (Address 668 and 669) The stored speed value is three kinds; Select one of ‘Amounts of the sensor binary value change’, ‘Rotation speed’, or ‘Travel speed’ by using the 'speed gate time' (Address 749).
  • Page 79 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q (2) Rotation speed (setting value of Address 749: 7) The rotation speed (r/min) of the ABSOCODER sensor is stored by each 117.2ms. The speed is calculated by average speed within 234.4ms. Speed with signs (-3600 to 3600) Address 668 Absolute value speed (0 to 3600) Address 669...
  • Page 80 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.9 Analog Voltage Output Function (Position/Speed) The analog voltage output function is that the position or speed is output as the voltage from the external I/O connector (13 and 26 pins). The output voltage range can be designated to the desired value (max±10V). 6.9.1 Parameter setting Specify the following 5 items at parameters.
  • Page 81 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q ● Details of the parameter ① Selection of the analog output data (Address 751) Select output contents of the analog voltage. 0: No output The output is fixed at 0. 1: Absolute value speed command The speed command is output 0 to 100%.
  • Page 82 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q 6.9.2 Setting example ● When [Minimum output Value] ＜ [Maximum output Value] Output from -8.00V to +8.00V at from Point A to Point B Address 752 and 753 Maximum output voltage Output voltage +10.00V Vmax +8.00V 0.00V...
  • Page 83 6. CURRENT POSITION DETECTION FUNCTION MELSEC-Q IMPORTANT Note that the output voltage will change at once when the 'minimum output value' or the 'maximum output value' is specified to outside of the detection range after setting '4: current position' to the analog output data selection of the parameter (Address 751).
  • Page 84 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7. LIMIT SWITCH OUTPUT FUNCTION ● Limit switch output The limit switch output function operates as same as the mechanical limit switch. Positions that the mechanical limit switch turns ON or OFF are set to VS-QA62 in advance. VS-QA62 turns the limit switch output signal ON or OFF by comparing the machine position detected by the ABSOCODER sensor and setting value.
  • Page 85 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7.1 Setting Contents of the Limit Switch Output Data The limit switch output sets the following combination data for each channel. - Number of multi-dogs - ON / OFF position for each dog For the setting procedures, refer to 'Chapter 5.4'. IMPORTANT - The setting value of the limit switch cannot be read out.
  • Page 86 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q (4) Setting example Address ① In the case of a-contact (ON position < OFF position) (decimal) The value of the ON position should be designated less than the OFF position, and set as pair. Number of CH.
  • Page 87 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7.1.1 Setting conditions of the ON and OFF zones The minimum setting width of the ON/OFF zone is determined by the sampling time of the current position value. Sampling time Current position value 1000 1200 Channel ON zone...
  • Page 88 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7.2. Parameter for Related to the Limit Switch Output The parameters related to the limit switch output are indicated below. They should be set for each function and set them when you need. For more detailed functions, see the reference chapter. For the parameter setting procedures, refer to 'Chapter 5.3'.
  • Page 89 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7.3 Output Signal Selection Function The output signal selection function is that selects the contents of the following output signals. - External I/O connector (1to 8 pins) - Device X8 to XF The contents of the output signal can be selected in the following parameter. For the parameter setting procedures, refer to 'Chapter 5.3'.
  • Page 90 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7.4 Offline Channel Output Status Setting The limit switch output status when offline can be selected. The output status can be selected in the following parameter. For the parameter setting procedures, refer to 'Chapter 5.3'. Address Item Contents...
  • Page 91 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7.5 Limit Switch Output Disabled Function This function designates for each channel whether or not limit switch output is executed. The limit switch output disabled setting is designated the following area of the buffer memory. Address Item Contents...
  • Page 92 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7.6 Limit Switch Output Selection when Positioning Function The limit switch output selection when positioning is that switches signal contents which are output to the external I/O connector (6 to 8 pins) from positioning to outputting the limit switch. It is set in the following area of the buffer memory.
  • Page 93 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7.7 Limit Switch Output Operation 7.7.1 Procedures before the operation The procedures and timing chart for executing the limit switch output are indicated below. ● Procedure Start Write the limit switch data. (Address 14 to 365 of the buffer memory) Write '1' in the limit switch writing command.
  • Page 94 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q 7.7.2 'Limit switch output status' storage area (Address 4) This area is used to store the limit switch output status (ON/OFF status). During the operation, each channel status based on the limit switch output data is output to the bit indicated in the following figure.
  • Page 95 7. LIMIT SWITCH OUTPUT FUNCTION MELSEC-Q MEMO...
  • Page 96 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) The positioning function is that stops the machine to the designated position. The parameters, the positioning pattern data and the target value (stop position) are set to VS-QA62 in advance. VS-QA62 outputs the motor control signal by comparing the current position value detected by the ABSOCODER sensor and setting value.
  • Page 97 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.1 Parameter for Related to the Positioning The parameters related to the positioning are indicated below. They should be set for each function and set them when you need. For more detailed functions, see the reference chapter. For the parameter setting procedures, refer to 'Chapter 5.3'.
  • Page 98 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q ● For positioning function (RAM area) These are areas that store the positioning patterns. Reference Address Item Contents Setting range Default (Chapter No.) Uses in the speed stepping format (3-speed control). 680(L) Medium-speed Designate the distance from the target value at the 8.4.3 0 to 999999 Address 716...
  • Page 99 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.2 Positioning Format and Simple Learning Function Selection The positioning format is selected. In addition, the simple learning function is selected to either valid or invalid. The positioning format and simple learning function can be selected by the following parameter. Address Item Contents...
  • Page 100 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.2.1 Speed switching format (2-speed control) The speed switching format controls the speed in high-speed and low speed. The high-speed signal is turned ON when operating in the high-speed. The low-speed signal is turned ON when operating in the low-speed. (1) In the case of overshooting by the unidirectional positioning, Current position value Low-speed zone...
  • Page 101 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.2.2 Speed stepping format (3-speed control) The speed stepping format controls the speed in high-speed, medium-speed, and low speed. The speed is switched by outputting the duplicated operation signals. (1) In the case of overshooting by the unidirectional positioning, Low-speed zone Medium-speed zone Current position value...
  • Page 102 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.2.3 Simple learning function The simple learning function is that corrects the stop zone automatically for the next positioning operation when a discrepancy occurs between the target value and current position value upon completion of the positioning. β＝A－B Target value A α’＝α－β/K...
  • Page 103 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q ● Initialization (FWD and RVS stop zones after learning) The learning data (FWD and RVS stop zones after learning) is initialized in the following cases; - The learning data is changed to the parameter's stop zone (Address 720 and 721) when the positioning format (Address 712) is changed.
  • Page 104 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.3 Unidirectional Positioning Positioning toward the target stop position is always executed from a single direction. When positioning is required in the opposite direction, the target stop position will be overshot, and positioning will then occur from the prescribed direction (U-turn is made). The distance from the target value to a point of making U-turn is called 'overshoot amount'.
  • Page 105 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.4 Positioning Pattern Data Setting The positioning pattern data is data that switches the operation signal (high-speed, medium-speed, and low-speed). There is medium-speed zone, low-speed zone, stop zone, and in-position zone. These zones are set the distance from the target value. The relation between these zones and the target value is indicated below.
  • Page 106 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q ● Setting area of the positioning pattern data The positioning pattern data can be set in two parts (parameter area and RAM area). Using area is selected by 'positioning pattern data buffer memory selection (Address 679)'. Parameter area RAM area Item...
  • Page 107 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.4.1 Setting of the positioning pattern data buffer memory selection The using area of the positioning pattern data is selected. Address Item Contents Setting range Default Positioning pattern data Select the positioning pattern data area for 0: Parameter area buffer memory selection use.
  • Page 108 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.4.3 RAM area settings The medium-speed zone, low-speed zone, stop zone, and in-position zone are set in the following RAM area. This area can work just by writing the data in the buffer memory by the TO instruction. Address Item Contents...
  • Page 109 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.5 Upper / Lower Overtravel Detection Function The upper and lower overtravel detection function is that monitors the current position value that exceeds the upper limit value or lower limit value. The following warnings occur when exceeding the upper limit value. - Device X2 (upper limit overtravel detection) is turned ON.
  • Page 110 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.6 'START from Stop Zone' Function The 'START from stop zone' function is that executes the positioning from the stop zone. For example, the positioning operation can be executed again if the machine stops at the outside of the in-position zone upon the completion of the positioning operation.
  • Page 111 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q ●Operation conditions (1) In the case of setting '0: disable' to 'START from stop zone (Address 728)’ of the parameter, The positioning isn't executed within the stop zone. The 'positioning in progress' signal will be turned ON in the following timing if the positioning START signal (Y11) turned ON.
  • Page 112 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.7 Positioning Operation The positioning operation starts when turning ON (leading edge) the positioning START signal (Y11) after setting the target value. The FWD JOG signal (Y13) and RVS JOG signal (Y14) aren't accepted during the positioning operation. Turn ON the positioning STOP signal (Y12) when canceling the operation.
  • Page 113 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.7.2 Positioning target stop position setting The positioning target stop position (Address 10 and 11) designates the target value for the positioning operation. This area can be written to at any time by the TO instruction, but the setting applies only when the positioning START signal (Y11) is turned ON while online.
  • Page 114 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.7.3 Controlling timing (1) Positioning START The positioning START signal (Y11) is turned ON (leading edge) when starting the positioning operation. The below figure indicates an example when the positioning overshoots in unidirectional positioning. Positioning cycle Positioning START (Y11) Max.
  • Page 115 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q In-position signal behavior The in-position signal is turned ON when the current position value enters the in-position zone during online. Check the 'in-position' signal whether the current position enters in the 'in-position' zone. In the following cases, the in-position signal isn’t turned ON. - During the positioning (except t3 period) - Passing the in-position zone (target value) by overshooting - When turning ON the power supply...
  • Page 116 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q (2) Positioning STOP The positioning STOP signal (Y12) is turned ON when you desire to stop the positioning during the operation. Positioning START (Y11) Positioning STOP (Y12) Positioning in progress Brake release Operation output *1 In-position *1: Refer to 'Chapter 8.7.3 (1)'.
  • Page 117 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.7.4 Positioning output status area (Address 696) This is the area that stores the positioning output signal status. The positioning output signal is output to the bit as below figure. '1' is stored when the positioning output signal is ON. B8 B7 B6 B5 B4 B3 B2 B1 B0...
  • Page 118 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.7.5 Current position preset during the positioning operation The current position preset function is operative even when positioning is in progress. The resulting operation is explained below. (1) When the positioning direction is not changed as a result of the current position preset function: The positioning operation is not interrupted.
  • Page 119 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.8 JOG Operation The JOG operation executes during turning the FWD or RVS JOG signal (Y13/Y14) ON. The positioning START signal (Y11) isn't accepted during the JOG operation. The operation stops when turning the FWD JOG signal (Y13) and RVS JOG signal (Y14) ON simultaneously. ●...
  • Page 120 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q ● Timing chart (1) FWD JOG operation FWD JOG signal (Y13) Max. 12ms Max. 12ms Max. 12ms Max. 12ms [Signals common to both positioning formats] Positioning in progress signal In-position signal Operative when online Brake release signal 10~30ms 10~30ms...
  • Page 121 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q (2) RVS JOG operation RVS JOG signal (Y14) Max. 12ms Max. 12ms Max. 12ms Max. 12ms [Signals common to both positioning formats] Positioning in progress signal Operative when online In-position signal Brake release signal 10~30ms 10~30ms (Jog low-speed timer)
  • Page 122 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q 8.9 Operation Error When the following errors are detected during a JOG or positioning operation, the operation will automatically be stopped (operation output OFF). At this time, an operation error signal is output (turn ON). The JOG or positioning operation cannot be executed while the operation error signal is ON.
  • Page 123 8. POSITIONING FUNCTION (2-SPEED/3-SPEED CONTROL) MELSEC-Q (3) Motion direction error (error code 43) The 'motion direction error' check whether the current position value changes in the direction opposite to the direction command of the operation output. This error occurs when the current position value is changed in the opposite direction. VS-QA62 compares the current position value (sensor binary value) change per 0.5s, and recognizes error when the change amount to the opposite direction becomes plus/minus 3 digits or more.
  • Page 124 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9. POSITIONING (ACCELERATION/DECELERATION CONTROL) The positioning function is that stops the machine to the designated position. This chapter explains the acceleration/deceleration control format. For acceleration/deceleration control format, the parameters, positioning pattern data, and target values (stop position) are set to VS-QA62 in advance.
  • Page 125 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.1 Parameter Related to the Acceleration/Deceleration Control The parameters list related to the acceleration/deceleration control is indicated below. They should be set for each function and set them when you need. For more detailed functions, see the reference chapter. For the parameter setting procedures, refer to 'Chapter 5.3'.
  • Page 126 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q Reference Address Item Contents Setting range Default (Chapter No.) 0: No output (Fixed at 0) 1: Absolute value speed command Analog output data (0 to 100%) Select the analog output data. 9.8.1 selection 2: Speed command (-100 to 100%) 3: Current speed 4: Current position (scale value) 752(L)
  • Page 127 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.2 Positioning Format and Simple Learning Function Selection The positioning format is selected. In addition, the simple learning function is selected to either valid or invalid. The positioning format and simple learning function can be selected by the following parameter. Address Item Contents...
  • Page 128 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.2.1 Simple learning function The simple learning function is that corrects the stop zone automatically for the next positioning operation when a discrepancy occurs between the target value and current position value upon completion of the positioning. β＝A－B Target value A α’＝α－β/K...
  • Page 129 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q ● Initialization (FWD and RVS stop zones after learning) The learning data (FWD and RVS stop zones after learning) is initialized in the following cases; - The learning data is changed to the parameter's stop zone (Address 720 and 721) when the positioning format (Address 712) is changed.
  • Page 130 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.3 Unidirectional Positioning Positioning toward the target stop position is always executed from a single direction. When positioning is required in the opposite direction, the target stop position will be overshot, and positioning will then occur from the prescribed direction (U-turn is made). The distance from the target value to a point of making U-turn is called 'overshoot amount'.
  • Page 131 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.4 In-position Zone The in-position zone is a reference distance uses to determine if the machine is stopped at the target value, and is a distance from the target value. In-position In-position zone zone Position Target value The in-position zone is designated in the following parameter.
  • Page 132 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.5 Upper / Lower Overtravel Detection Function The upper and lower overtravel detection function is that monitors the current position value that exceeds the upper limit value or lower limit value. The following warnings occur when exceeding the upper limit value. - Device X2 (upper limit overtravel detection) is turned ON.
  • Page 133 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.6 'START from Stop Zone' Function The 'START from stop zone' function is that executes the positioning from the stop zone. For example, the positioning operation can be executed again if the machine stops at the outside of the in-position zone upon the completion of the positioning operation.
  • Page 134 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q ●Operation conditions (1) In the case of setting '0: disable' to 'START from stop zone (Address 728)’ of the parameter, The positioning isn't executed within the stop zone. The 'positioning in progress' signal will be turned ON in the following timing if the positioning START signal (Y11) turned ON.
  • Page 135 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.7 Positioning Pattern Data Setting The positioning pattern data is set for executing the acceleration/deceleration control. This area can be written to at any time by the TO instruction, but the setting applies only when the positioning START signal (Y11) is turned ON while online.
  • Page 136 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.7.2 Contents of pattern data for the operation 40ms Max Positioning START (Y11) Positioning in progress FWD/RVS Brake release In-position 2ms Max t1+ 3ms Max Speed command (%) t2 + 3ms Max Vmax Time Current position value Deceleration start distance...
  • Page 137 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q (1) Vmax: Maximum speed (Address 367 and 368) The machine's operation speed is designated when the speed command is 100%. The setting is designated by a unit of the machine's operation speed. (scale value/s) The speed will be calculated from the maximum frequency if an inverter is used.
  • Page 138 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q (3) t3: Maximum speed reach timer (Address 370 and 371) Designate the time (acceleration time) until that the speed command reaches100%. (Setting units: 1ms) The speed command is not affected by the current position value change and reaches 100% in the time set this timer.
  • Page 139 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q (7) T: Deceleration timer (Address 377 and 378) Designate the deceleration period that the speed command decreases from 100% to 0%. (Setting unit: 1ms) When decelerating, the speed command is output for the position decided by the maximum speed and deceleration timer.
  • Page 140 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q (9) L2: Creep zone (Address 381 and 382) A distance is designated from the position that the speed command becomes 0% to the target stop position (target value). Keeping the creep speed (Vc) might be longer if the distance is long. If the stop position dispersion is a lot, the stop position dispersion might be reduced when the creep zone (L2) be made large and the creep speed (Vc) be made stable.
  • Page 141 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q (12) t4: Positioning end detection timer (Address 731) OFF delay period of the ‘positioning in progress’ signal Designate a delay period from a point that FWD/RVS and speed command are all OFF to a point that the ‘positioning in progress’...
  • Page 142 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.7.3 Contents of the pattern data for the STOP 12ms Max Positioning STOP signal (Y12) Positioning in progress FWD/RVS Brake release In-position Speed command (%) Time (1) TS: STOP timer (Address 388 and 389) The stop timer sets the deceleration time when stopping by turning ON the positioning stop signal (Y12).
  • Page 143 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.7.4 Contents of the pattern data when overshooting Positioning cycle Positioning operation Overshooting operation to the target value Positioning START (Y11) 40ms Max Positioning in progress Operation output 2ms Max In-position *1: Operation output The following signal is called 'operation output'.
  • Page 144 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.8 Analog Voltage Output Function (Speed Command) The analog voltage output function is that the position or speed is output as the voltage from the external I/O connector (13 and 26 pins). This chapter explains the method that outputs the speed command for the acceleration/deceleration control. 9.8.1 Parameter setting Specify the following 5 items at parameters.
  • Page 145 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q ● Details of the parameter ① Selection of the analog output data (Address 751) Select output contents of the analog voltage. 0: No output The output is fixed at 0. 1: Absolute value speed command Point The speed command is output 0 to 100%.
  • Page 146 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.8.2 Setting example ● When [Minimum Output Value] ＜ [Maximum Output Value] This is the output example in the following conditions. - Speed command:－100 to ＋100％ - Output voltage range:－8.00V to ＋8.00V Address 752 and 753 Maximum output voltage Output voltage +10.00V...
  • Page 147 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.9 Positioning Operation The positioning operation starts when turning ON (leading edge) the positioning START signal (Y11) after setting the positioning pattern data (Address 367 to 392) and the target value (Address 10 and 11). The FWD JOG signal (Y13) and RVS JOG signal (Y14) aren't accepted during the positioning operation.
  • Page 148 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.9.2 Positioning target stop position setting The positioning target stop position (Address 10 and 11) designates the target value for the positioning operation. This area can be written to at any time by the TO instruction, but the setting applies only when the positioning START signal (Y11) is turned ON while online.
  • Page 149 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.9.3 Positioning output status area (Address 696) This is the area that stores the positioning output signal status. The positioning output signal is output to the bit as below figure. '1' is stored when the positioning output signal is ON. B8 B7 B6 B5 B4 B3 B2 B1 B0...
  • Page 150 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.9.5 Current position preset during the positioning operation The current position preset function is operative even when positioning is in progress. The resulting operation is explained below. (1) When the positioning direction is not changed as a result of the current position preset function: The positioning operation is not interrupted.
  • Page 151 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.10 JOG Operation The JOG operation executes during turning the FWD or RVS JOG signal (Y13/Y14) ON. The positioning START signal (Y11) isn't accepted during the JOG operation. The operation stops when turning the FWD JOG signal (Y13) and RVS JOG signal (Y14) ON simultaneously. ●...
  • Page 152 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q ● Timing chart The timing chart for the JOG operation is shown below. 12ms Max 12ms Max FWD JOG signal (Y13) RVS JOG signal (Y14) Positioning in progress Brake release 10~30ms FWD/RVS Speed command (%) Time V1: Indicates the JOG operation at low speed.
  • Page 153 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q 9.11 Operation Error When the following errors are detected during a JOG or positioning operation, the operation will automatically be stopped (operation output OFF). At this time, an operation error signal is output (turn ON). The JOG or positioning operation cannot be executed while the operation error signal is ON.
  • Page 154 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q (3) Motion direction error (error code 43) The 'motion direction error' check whether the current position value changes in the direction opposite to the direction command of the operation output. This error occurs when the current position value is changed in the opposite direction. VS-QA62 compares the current position value (sensor binary value) change per 0.5s, and recognizes error when the change amount to the opposite direction becomes plus/minus 3 digits or more.
  • Page 155 9. POSITIONING FUNCTION (ACCELERATION/DECELERATION CONTROL) MELSEC-Q MEMO...
  • Page 156 10. TROUBLESHOOTING MELSEC-Q 10. TROUBLESHOOTING The causes and corrective actions for errors that may occur during VS-QA62 operation are described in this chapter. 10.1 Error Code List The VS-QA62 error codes are described below. When VS-QA62 detects an error, the corresponding error code is stored in address 7 of the buffer memory. At that time the 'error detection' signal (X7) is turned ON.
  • Page 157 10. TROUBLESHOOTING MELSEC-Q Lower Error When Error name Description Countermeasure 6 LED code detected VS-QA62 detected the ‘excessive correction amount'. The causes may be as follows: - Misalignment between ABSOCODER sensor's detected position Excessive and actual position, caused by machine slippage, backlash, etc. During the - Adjust the machine.
  • Page 158 10. TROUBLESHOOTING MELSEC-Q Lower Error When Error name Description Countermeasure 6 LED code detected When turning the - Correct the initial setting. VS-QA62 detected the initial setting or the parameter data error. (H3C) power ON - Correct the parameter setting. Data error Lit on When turning the...
  • Page 159 10. TROUBLESHOOTING MELSEC-Q Lower Error When Error name Description Countermeasure 6 LED code detected 1702 Sensor rotation direction area (H6A6) 1704 Scale length area (H6A8) 1706 Minimum current position value area (H6AA) 1708 Current position value area (H6AC) 1710 Current position change command area (H6AE) 1711 Output signal selection area...
  • Page 160 10. TROUBLESHOOTING MELSEC-Q Lower Error When Error name Description Countermeasure 6 LED code detected 1738 Permissible correction amount area (H6CA) 1740 FWD current position preset value 1 area (H6CC) 1742 RVS current position preset value 1 area (H6CE) 1744 FWD current position preset value 2 area (H6D0) 1746 RVS current position preset value 2 area...
  • Page 161 10. TROUBLESHOOTING MELSEC-Q ● Error monitor The lower row ‘0 to 4’ of LED display area is turned ON according to the error kinds. 0 1 2 3 4 5 6 7 Upper 8 9 A B C D E F Lower 0 1 2 3 4 5 6 7 ●: LED is ON...
  • Page 162 10. TROUBLESHOOTING MELSEC-Q 10.2 Troubleshooting Flowchart The VS-QA62 troubleshooting procedure is explained below. For CPU module related problems, consult the manual for the CPU module in question. Error Occurs If the signal doesn't go ON even when the CPU module is reset, a VS-QA62 H/W (hardware) problem is likely.
  • Page 163 10. TROUBLESHOOTING MELSEC-Q 10.3 Flowchart for No Limit Switch output from VS-QA62 No limit switch output from VS-QA62 Check the error code, and investigate Does VS-QA62 have an error? the causes. Turn the VS-QA62 'PLC ready' signal VS-QA62 'Y10' signal ON? (Y10) ON.
  • Page 164 10. TROUBLESHOOTING MELSEC-Q 10.4 Flowchart for No Positioning Output from VS-QA62 There is no positioning output from VS-QA62. Does VS-QA62 have an error? Check the error code, and investigate the causes. VS-QA62 'Y10' signal ON? Turn the VS-QA62 'PLC ready' signal (Y10) ON. Turn the VS-QA62 'positioning STOP' signal (Y12) OFF.
  • Page 165 10. TROUBLESHOOTING MELSEC-Q 10.5 Flowchart when Current Position Preset is Impossible Current position preset is impossible Check the error code, and investigate Does VS-QA62 have an error? the causes. Turn the VS-QA62 'PLC ready' signal VS-QA62 'Y10' signal ON? (Y10) ON. When preset occurs, is that position different from the setting value?
  • Page 166 10. TROUBLESHOOTING MELSEC-Q 10.6 Flowchart when Current Position Value doesn't Change The current position value doesn't change. Does VS-QA62 have an error? Check the error code, and investigate the causes. Does the sensor rotate? Execute sensor rotation. Check the 'scale length' and 'minimum current position Is the scaling binary value' initial settings.
  • Page 167 10. TROUBLESHOOTING MELSEC-Q 10.7 Flowchart when Stored Data is Lost, or when Erroneous Data is Stored Data is lost (deleted) or erroneous data is stored. Check the error code, and investigate Does VS-QA62 have an error? the causes. Limit switch data? Has the data content been re-written Revise the sequence program data.
  • Page 168 APPENDIX MELSEC-Q APPENDIX 1 VS-QA62 AND CABLE OUTER DIMENSIONS Appendix 1.1 VS-QA62 Units: mm ●VS-QA62...
  • Page 169 APPENDIX MELSEC-Q Appendix 1.2 External I/O Cable (VS-CQA62) Units: mm ●VS-CQA62 2000 VS-QA62 side Shielded twisted pair cable HDR-E26MG1+ (Connector) Equivalent of UL20276, 13P x AWG28 (7/0.127) HDR-E26LPHP3+ (Cover) (HONDA TSUSHIN KOGYO CO., LTD.) VS-QA62 side Shi eld Signal name Pin No.
  • Page 170 APPENDIX MELSEC-Q Appendix 1.3 Cable for the Upgrading (VS-CQA62-R01) Units: mm ●VS-CQA62-R01 VS-QA62 side Host side Shielded twisted pair cable Equivalent of UL20276, 13P x AWG28 (7/0.127) HDR-E26MG1+ (Connector) FCN-361P024-AU / N361P024AU (Connector) HDR-E26LPHP3+ (Cover) FCN-360C024-C / N360C024C (Cover) (HONDA TSUSHIN KOGYO CO., LTD) (FUJITSU COMPONENT LIMITED / OTAX CO., LTD.) VS-QA62 series side Host side...
  • Page 171 APPENDIX MELSEC-Q MEMO...
  • Page 172 APPENDIX MELSEC-Q APPENDIX 2 ABSOCODER SENSOR SPECIFICATIONS Appendix 2.1 Sensor Specifications Items Specifications MRE-G[ ]SS062FAL Sensor model MRE-32SS062FAL [64] [128] [160] [256] [320] [640] [1280] [2560] Total number of turns 1280 2560 divisions/turn 4096 2048 1024 819.2 409.6 204.8 102.4 51.2 Number of divisions 131072 (2...
  • Page 173 APPENDIX MELSEC-Q Appendix 2.2 Sensor Dimensions Units: mm (1) MRE-32SS062FAL (2) MRE-G[ ]SS062FAL (3) RB-02 (Option) L type flange for MRE-32SS062FAL, MRE-G[ ]SS062FAL...
  • Page 174 APPENDIX MELSEC-Q APPENDIX 3 ABSOCODER CABLE SPECIFICATIONS Appendix 3.1 Cable Specifications Items Specifications Model code 3S-RBT Cable type Robotic cable Diameter φ8 Operating －5 to +60°C Ambient temperature Storage －10 to +60°C Insulator ETFE plastic Sheath Vinyl chloride mixture Construction 7-core, 1 triple with shield + 2 pairs with shield Color of sheath Blue...
  • Page 175 APPENDIX MELSEC-Q Appendix 3.3 Cable Dimensions (1) 3S-RBT-0102-[L] Units: mm NOTE: [L] is given in terms of meter. (2) 3S-RBT-0103-[L] NOTE: [L] is given in terms of meter.
  • Page 176 APPENDIX MELSEC-Q Appendix 3.4 Connection Example of the ABSOCODER Cable ABSOCODER sensor ABSOCODER Cable VS-QA62 MRE-32SS062 MRE-G[ ]SS062 3S-RBT-0103-[L] 3S-RBT-0103-[L] 3S-RBT-0102-[L]...
  • Page 177 APPENDIX MELSEC-Q APPENDIX 4 CE MARKING VS-QA62 series conforms to EMC directive, but stands outside scope of the low voltage directive. (1) EMC Directives It is necessary to do CE marking in the customer’s responsibility in the state of a final product. Confirm EMC compliance of the machine and the entire device by customer because EMC changes configuration of the control panel, wiring, and layout.
  • Page 178 APPENDIX MELSEC-Q APPENDIX 5 UL STANDARD The VS-QA62 Series corresponds to the UL standard. Read this page carefully and use the VS-QA62 Series by following the described items. (1) Installation - Install inside the control cabinet. - For use in pollution degree 2 environment. - Within the surrounding air temperature 0℃...
  • Page 179 APPENDIX MELSEC-Q APPENDIX 6 KC MARK Notification for users 사용자안내문 This product complied with the relevant Korean Safety Standard for use in the industrial environment. Thus, radio frequency interference could occur if it is used in a domestic environment. 이 기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서 가정용...
  • Page 180 APPENDIX MELSEC-Q APPENDIX 7 ABSOCODER SENSOR CHECK LIST ● Applicable ABSOCODER sensor models MRE-32SS062 MRE-G[ ]SS062 [ ]: 64, 128, 160, 256, 320, 640, 1280, 2560 ● Connection configuration ● Connector appearance and pin position View A ABSOCODER ABSOCODER VS-QA62 sensor cable MRE-32SS062...
  • Page 181 APPENDIX MELSEC-Q ● Circuit resistance check [Measurement method] Measure resistance at Point A or B using a circuit tester or other appropriate device. If the connector is off, identify the line by the wiring color. [Check details] Refer to the previous page for the connector pin number. Check position Criterion Check position...
  • Page 182 APPENDIX MELSEC-Q APPENDIX 8 SAMPLE PROGRAM This chapter explains how to create the sample program using VS-QA62. Appendix 8.1 Program Creation Precautions (1) VS-QA62 is an intelligent function module that occupies 32 I/O points. (2) In response to ‘FROM/TO’ instructions, the first input/output No. of VS-QA62’s slot will be designated. FROM QA62 First input/output No.
  • Page 183 APPENDIX MELSEC-Q Appendix 8.2 Program for Writing Initial Settings and Parameter Settings A program example for writing the initial setting and the parameter data to the VS-QA62 buffer memory is given below. Example 1 The setting data saved at the programmable controller CPU's data register is written to the initial setting area, and the current position value is set.
  • Page 184 APPENDIX MELSEC-Q Program Example (1) Examples of programs using the FROM/TO instructions │ X0020 │ The PLC ready signal of VS-QA62 is 0├─ ┤ ├─ ── ┤／ ├─ ── ┤／ ├── ─ ─── ── ── ── ── ── ── ── ── ── ─── ─ ─── ── ── ── ── ── ── ── ── ── ─(Y0010 )┤...
  • Page 185 APPENDIX MELSEC-Q Example 2 The setting data saved at the programmable controller CPU's data register is written to the parameter area. Conditions (1) The following signal assignments are used to control VS-QA62. VS-QA62 online command ································· X20 Parameter setting write command ························ X21 Data memory flag answerback storage register ······...
  • Page 186 APPENDIX MELSEC-Q Example 3 The setting data saved at the programmable controller CPU's data register is written to the initial setting and parameter areas, and the current position value is set. Conditions (1) The following signal assignments are used to control VS-QA62. VS-QA62 online command ·································...
  • Page 187 APPENDIX MELSEC-Q Program Example │ X0020 │ The PLC ready signal of VS-QA62 is 0├─ ┤ ├─ ─ ─ ┤／ ├ ─ ── ┤ ／ ├─ ─ ─ ── ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ─ ─(Y0010 )┤...
  • Page 188 APPENDIX MELSEC-Q Appendix 8.3 Program for Current Position Monitor Display A program example for the current position monitor display is given below. Conditions The following signal assignments are used to control VS-QA62. VS-QA62 online command ································································· X20 Current position value (scaling binary) storage resister ····························· D10, D11, D12, D13 Current position value (scaling binary) output to external display units ········...
  • Page 189 APPENDIX MELSEC-Q Appendix 8.4 Program for Error Code Readout and Reset This chapter explains a program example for the error code readout and error reset operation from VS-QA62. Conditions The following signal assignments are used to control VS-QA62. Output for error code display ······························· Y60～Y6F Output for ‘error detection' monitor ························...
  • Page 190 APPENDIX MELSEC-Q Appendix 8.5 Program for Limit Switch Output Function To start the limit switch output function by designating the desired setting data which is stored at the PLC CPU's data register, and writing that data to the limit switch area. Conditions (1) The following signal assignments are used to control VS-QA62.
  • Page 191 APPENDIX MELSEC-Q Program Example │ X0020 │ The PLC ready signal of VS-QA62 is 0├─ ┤ ├─ ─ ─ ┤／ ├ ─ ── ─ ─ ── ─ ─ ── ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ── ─ ─ ── ─ ─ ── ─ ─ ── ─ ─ ─(Y0010 )┤...
  • Page 192 APPENDIX MELSEC-Q Appendix 8.6 Readout Program of the Limit Switch Output Status A program example for the ON/OFF status readout of each of the 16 channels (0-15) is given below. Conditions The following signal assignments are used to control VS-QA62. Output status storage register ······························...
  • Page 193 APPENDIX MELSEC-Q Appendix 8.7 Program for Positioning Function The following example shows a program used to designate the target value and to start the positioning function. Conditions (1) The following signal assignments are used to control VS-QA62. VS-QA62 online command ···························································· X20 ‘Target value change’...
  • Page 194 APPENDIX MELSEC-Q Program Example │ X0020 │ The PLC ready signal of VS-QA62 is 0├─ ┤ ├─ ── ┤／ ├─ ── ── ─── ─ ─── ── ── ── ── ── ── ── ── ── ─── ─ ─── ── ── ── ── ── ── ── ── ── ─(Y0010 )┤...
  • Page 195 APPENDIX MELSEC-Q Explanation (1) The positioning function starts when the Y10 and Y11 signals turn ON. (2) X1 is the ON signal when the VS-QA62 online status has been established (Y10 ON). (3) The output status can be checked X8 to XF of VS-QA62. X8 ···········...
  • Page 196 APPENDIX MELSEC-Q Appendix 8.8 Program for JOG operation This chapter explains how to create the sequence program for the JOG operation. Conditions The following signal assignments are used to control VS-QA62. VS-QA62 online command ································· X20 'JOG mode selection' command ·························· X81 FWD JOG command ········································...
  • Page 197 APPENDIX MELSEC-Q APPENDIX 9 I/O SIGNALS AND BUFFER MEMORY FUNCTION LIST ◯ : Function enabled ×: Function disabled VS-QA62 (online/offline) Signal Online Offline Remarks type Device No. and name Unit ready (VS-QA62 detection item) ○ ○ VS-QA62 operation status (online/offline) This signal turns ON(online) when Y10 is turned ON 'Upper limit overtravel' detection...
  • Page 198 APPENDIX MELSEC-Q ◯ : Function enabled ×: Function disabled VS-QA62 (online/offline) Signal Online Offline Remarks type Address and name 0, 1 Current position value (scaling binary) ○ ○ 2, 3 Current position value (sensor binary) ○ ○ Equivalent to external ○...
  • Page 199 APPENDIX MELSEC-Q ◯ : Function enabled ×: Function disabled VS-QA62 (online/offline) Signal Online Offline Remarks type Address and name Data memory flag × ○ Data memory flag answerback × ○ Sensor rotation direction × ○ 704, 705 Scale length × ○...
  • Page 200 APPENDIX MELSEC-Q ◯ : Function enabled ×: Function disabled VS-QA62 (online/offline) Signal Online Offline Remarks type Connector pin No. & Signal name Speed Speed Acceleration For limit Pin No. switching stepping /Deceleration switch output format format format FWD/low- The 'limit switch output CH.0 ○...
  • Page 201 APPENDIX MELSEC-Q APPENDIX 10 DATA SHEET Appendix 10.1 Initial Setting and Parameter Setting Sheet Appendix 10.1.1 Initial setting Initial setting Default Setting Default Setting Address Item Address Item value value value value Sensor rotation direction Scale length (→L) 131072 0 (2, 4) → CW [ 1000～999999 ] 1 (3, 5) →...
  • Page 202 APPENDIX MELSEC-Q Appendix 10.1.2 Parameter setting Parameter Default Setting Default Setting Address Item Address Item value value value value Permissible current position change amount Output signal selection 999999 0→ Positioning output [ 0 to 999999 ] 1→ Limit switch output Permissible correction amount 999999 2→...
  • Page 203 APPENDIX MELSEC-Q Appendix 10.2 Limit Switch Data Sheet Appendix 10.2.1 CH. 0 to CH. 3 Name CH.0 CH.1 CH.2 CH.3 Item Address Setting value Address Setting value Address Setting value Address Setting value Number of 14(L) 36(L) 58(L) 80(L) Multi-dogs 15(H) 37(H) 59(H)
  • Page 204 APPENDIX MELSEC-Q Appendix 10.2.3 CH. 8 to CH. 11 Name CH.8 CH.9 CH.10 CH.11 Item Address Setting value Address Setting value Address Setting value Address Setting value Number of 190(L) 212(L) 234(L) 256(L) Multi-dogs 191(H) 213(H) 235(H) 257(H) 192(L) 214(L) 236(L) 258(L) Dog No.0 ON...
  • Page 205 APPENDIX MELSEC-Q MEMO...
  • Page 206 Manufacturer NSD Corporation 3-31-28, OSU, NAKA-KU, NAGOYA, JAPAN 460-8302 Distributor NSD Trading Corporation 3-31-23, OSU, NAKA-KU, NAGOYA, JAPAN 460-8302 Phone: +81-52-261-2352 Facsimile: +81-52-252-0522 URL: www.nsdcorp.com E-mail: foreign@nsdcorp.com Copyright©2024 NSD Corporation All rights reserved.

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