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MELSEC-Q QD77MS
Mitsubishi MELSEC-Q QD77MS User Manual
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2
Table of Contents
Safety Precautions
2
Conditions of Use for the Product
12
Introduction
13
Revisions
14
Table of Contents
15
Compliance with the Emc and Low Voltage Directives
22
Relevant Manuals
22
Manual Page Organization
24
Terms
25
Packing List
26
Section 1 Product Specifications and Handling
28
Features of QD77MS
31
Positioning Control
31
Purpose and Applications of Positioning Control
35
Mechanism of Positioning Control
37
Overview of Positioning Control Functions
38
Outline Design of Positioning System
48
Communicating Signals between QD77MS and each Module
49
Flow of All Processes
53
Flow of System Operation
53
Outline of Starting
55
Outline of Stopping
57
Outline for Restarting
59
General Image of System
61
Component List
62
Applicable System
64
How to Check the Function Version and SERIAL no
66
Performance Specifications
69
List of Functions
71
QD77MS Control Functions
71
QD77MS Main Functions
74
QD77MS Sub Functions
76
QD77MS Common Functions
78
Combination of QD77MS Main Functions and Sub Functions
79
List of Input/Output Signals with PLC CPU
81
Specifications of Input/Output Signals with PLC CPU
81
Plc Cpu)
84
Details of Output Signals (PLC CPU QD77MS)
86
Electrical Specifications of Input Signals
88
Specifications of Interfaces with External Devices
88
Signal Layout for External Input Signal Connector
90
List of Input Signal Details
92
Interface Internal Circuit
95
External Circuit Design
97
Installation, Wiring and Maintenance Procedures
103
Outline of Installation, Wiring and Maintenance
103
Names of each Part
104
Handling Precautions
106
Installation
108
Precautions for Installation
108
Precautions for Wiring
109
Wiring
109
Confirming the Installation and Wiring
120
Items to Confirm When Installation and Wiring Are Completed
120
Disposal Instructions
121
Maintenance
121
Precautions for Maintenance
121
Parameters and Data Required for Control
123
Types of Data
123
Setting Items for Positioning Parameters
126
Setting Items for OPR Parameters
128
Setting Items for Expansion Parameters
129
Setting Items for Servo Parameters
129
Setting Items for Positioning Data
130
Setting Items for Block Start Data
132
Setting Items for Condition Data
133
Types and Roles of Monitor Data
134
Types and Roles of Control Data
139
Basic Parameters 1
143
List of Parameters
143
Basic Parameters 2
146
Detailed Parameters 1
147
Detailed Parameters 2
158
OPR Basic Parameters
170
OPR Detailed Parameters
178
Expansion Parameters
183
Servo Parameters
187
List of Positioning Data
200
List of Block Start Data
216
List of Condition Data
222
List of Monitor Data
233
System Monitor Data
233
Axis Monitor Data
247
List of Control Data
273
System Control Data
273
Axis Control Data
281
Expansion Axis Control Data
313
Precautions for Creating Program
317
List of Devices Used
321
Creating a Program
331
General Configuration of Program
331
Positioning Control Operation Program
332
Positioning Program Examples
336
Initialization Program
368
Program Details
368
Start Details Setting Program
369
Start Program
371
Continuous Operation Interrupt Program
383
Restart Program
385
Stop Program
388
Configuration and Roles of QD77MS Memory
393
Buffer Memory Area Configuration
396
Data Transmission Process
399
Outline of OPR Control
415
Two Types of OPR Control
415
Machine OPR
418
Outline of the Machine OPR Operation
418
Machine OPR Method
419
OPR Method (1): Near-Point Dog Method
420
OPR Method (2): Count Method 1)
422
OPR Method (3): Count Method 2)
424
OPR Method (4): Data Set Method
426
OPR Method (5): Scale Origin Signal Detection Method
427
Fast OPR
430
Outline of the Fast OPR Operation
430
Outline of the OPR Setting Condition
432
Selection of the OPR Setting Condition
432
Major Positioning Control 9- 1 to
434
Outline of Major Positioning Controls
435
Data Required for Major Positioning Control
437
Operation Patterns of Major Positioning Controls
438
Designating the Positioning Address
448
Confirming the Current Value
449
Control Unit "Degree" Handling
451
Interpolation Control
454
Relation between each Control and Positioning Data
459
Setting the Positioning Data
459
1-Axis Linear Control
461
2-Axis Linear Interpolation Control
465
3-Axis Linear Interpolation Control
471
4-Axis Linear Interpolation Control
477
1-Axis Fixed-Feed Control
482
2-Axis Fixed-Feed Control (Interpolation)
485
3-Axis Fixed-Feed Control (Interpolation)
487
4-Axis Fixed-Feed Control (Interpolation)
492
2-Axis Circular Interpolation Control with Sub Point Designation
495
2-Axis Circular Interpolation Control with Center Point Designation
501
1-Axis Speed Control
509
2-Axis Speed Control
512
3-Axis Speed Control
516
4-Axis Speed Control
520
Speed-Position Switching Control (INC Mode)
525
Speed-Position Switching Control (ABS Mode)
535
Position-Speed Switching Control
544
Current Value Changing
553
NOP Instruction
558
JUMP Instruction
559
Loop
561
Lend
563
High-Level Positioning Control 10- 1 to
564
Outline of High-Level Positioning Control
565
Data Required for High-Level Positioning Control
566
Block Start Data" and "Condition Data" Configuration
567
High-Level Positioning Control Execution Procedure
569
Relation between Various Controls and Block Start Data
570
Setting the Block Start Data
570
Block Start (Normal Start)
571
Condition Start
573
Wait Start
574
Simultaneous Start
575
Repeated Start (for Loop)
576
Repeated Start (for Condition)
577
Restrictions When Using the NEXT Start
578
Relation between Various Controls and the Condition Data
579
Setting the Condition Data
579
Condition Data Setting Examples
582
Multiple Axes Simultaneous Start Control
584
Start Program for High-Level Positioning Control
589
Starting High-Level Positioning Control
589
Example of a Start Program for High-Level Positioning Control
590
Outline of Manual Control
595
Three Manual Control Methods
595
JOG Operation
597
Outline of JOG Operation
597
JOG Operation Execution Procedure
600
Setting the Required Parameters for JOG Operation
601
Creating Start Programs for JOG Operation
603
JOG Operation Example
605
Inching Operation
608
Outline of Inching Operation
608
Inching Operation Execution Procedure
611
Setting the Required Parameters for Inching Operation
612
Creating a Program to Enable/Disable the Inching Operation
613
Inching Operation Example
615
Manual Pulse Generator Operation
617
Outline of Manual Pulse Generator Operation
617
Manual Pulse Generator Operation Execution Procedure
621
Setting the Required Parameters for Manual Pulse Generator Operation
622
Creating a Program to Enable/Disable the Manual Pulse Generator Operation
623
Outline of Speed-Torque Control
627
Speed-Torque Control
627
Setting the Required Parameters for Speed-Torque Control
629
Setting the Required Data for Speed-Torque Control
630
Operation of Speed-Torque Control
632
Control Sub Functions 13- 1 to
660
Outline of Sub Functions
661
OPR Retry Function
663
Sub Functions Specifically for Machine OPR
663
OP Shift Function
667
Backlash Compensation Function
670
Functions for Compensating the Control
670
Electronic Gear Function
672
Near Pass Function
680
Functions to Limit the Control
682
Speed Limit Function
682
Torque Limit Function
684
Software Stroke Limit Function
688
Hardware Stroke Limit Function
694
Forced Stop Function
698
Functions to Change the Control Details
701
Speed Change Function
701
Override Function
708
Acceleration/Deceleration Time Change Function
711
Torque Change Function
716
Target Position Change Function
720
Absolute Position System
724
Other Functions
726
Step Function
726
Skip Function
731
M Code Output Function
734
Teaching Function
738
Command In-Position Function
744
Acceleration/Deceleration Processing Function
747
Pre-Reading Start Function
750
Deceleration Start Flag Function
753
Stop Command Processing for Deceleration Stop Function
756
Speed Control 10 X Multiplier Setting for Degree Axis Function
759
Operation Setting for Incompletion of OPR Function
762
Servo ON/OFF
764
Follow up Function
766
Outline of Common Functions
769
Parameter Initialization Function
770
Execution Data Backup Function
772
External Signal Selection Function
774
External I/O Signal Logic Switching Function
777
History Monitor Function
779
Amplifier-Less Operation Function
780
Virtual Servo Amplifier Function
786
Mark Detection Function
789
Optional Data Monitor Function
800
Module Error Collection Function
804
Connect/Disconnect Function of SSCNET Communication
805
QD75MH Initial Value Setting Function
811
Interlock During Dedicated Instruction Is Executed
815
List of Dedicated Instructions
815
Zp.pstrt1, Zp.pstrt2, Zp.pstrt3, Zp.pstrt4
816
Zp.teach1, Zp.teach2, Zp.teach3, Zp.teach4
820
Zp.pfwrt
824
Zp.pinit
828
Checking Errors Using GX Works2
833
Checking Errors Using a Display Unit
836
Troubleshooting
837
Error and Warning Details
840
List of Errors
847
QD77MS Detection Error
847
Servo Amplifier Detection Error
879
List of Warnings
893
QD77MS Detection Warning
893
Servo Amplifier Detection Warning
905
Appendix 1 List of Buffer Memory Addresses
911
Appendix 2 Connection with Servo Amplifiers
938
Appendix 2.1 SSCNET Cables
939
Appendix 2.2 SSCNET Cable (SC-J3BUS M-C) Manufactured by
943
Appendix 3 Connection with External Device
944
Appendix 3.1 Connector
944
Appendix 3.2 External Input Signal Cable
946
Appendix 3.3 Manual Pulse Generator (MR-HDP01)
951
Appendix 4 Comparisons with Positioning Modules /LD77MH
952
Appendix 4.1 Differences with QD75MH Models
952
Appendix 4.2 Differences with LD77MH Models
964
Appendix 5 When Using GX Works2
968
Appendix 6 External Dimension Drawing
969
4
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Mitsubishi MELSEC-Q QD77MS Specifications
General
Brand
Mitsubishi
Model
MELSEC-Q QD77MS
Category
Control Unit
Language
English
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