Mitsubishi Electric PC30 Instruction manual

SAFETY PRECAUTIONS (Please read these instructions before using this equipment.) 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. Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions. In this manual, the safety instructions are ranked as "DANGER" and "CAUTION". DANGER Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury. CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight personal injury or physical damage. CAUTION may also be linked to serious Depending on circumstances, procedures indicated by results. In any case, it is important to follow the directions for usage. Please save this manual to make it accessible when required and always forward it to the end user. A-1 For Safe Operations 1. Prevention of electric shocks DANGER Never open the front case or terminal covers while the power is ON or the unit is running, as this may lead to electric shocks. Never run the unit with the front case or terminal cover removed. The high voltage terminal and charged sections will be exposed and may lead to electric shocks. Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the module and servo amplifier are charged and may lead to electric shocks. Completely turn off the externally supplied power used in the system before mounting or removing the module, performing wiring work, or inspections. Failing to do so may lead to electric shocks. When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc. Failing to do so may lead to electric shocks. Be sure to ground the module, servo amplifier and servomotor (Ground resistance : 100 or less). Do not ground commonly with other devices. The wiring work and inspections must be done by a qualified technician. Wire the units after installing the module, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage. Never operate the switches with wet hands, as this may lead to electric shocks. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to electric shocks. Do not touch the module, servo amplifier, servomotor connector or terminal blocks while the power is ON, as this may lead to electric shocks. Do not touch the built-in power supply, built-in grounding or signal wires of the module and servo amplifier, as this may lead to electric shocks. 2. For fire prevention CAUTION Install the module, servo amplifier, servomotor and regenerative resistor on incombustible. Installing them directly or close to combustibles will lead to fire. If a fault occurs in the module or servo amplifier, shut the power OFF at the servo amplifier's power source. If a large current continues to flow, fire may occur. When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fire. Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used. Failing to do so may lead to fire. Do not damage, apply excessive stress, place heavy things on or sandwich the cables, as this may lead to fire. A-2 3. For injury prevention CAUTION Do not apply a voltage other than that specified in the instruction manual on any terminal. Doing so may lead to destruction or damage. Do not mistake the terminal connections, as this may lead to destruction or damage. Do not mistake the polarity ( + / - ), as this may lead to destruction or damage. Do not touch the heat radiating fins of module or servo amplifier, regenerative resistor and servomotor, etc., while the power is ON and for a short time after the power is turned OFF. In this timing, these parts become very hot and may lead to burns. Always turn the power OFF before touching the servomotor shaft or coupled machines, as these parts may lead to injuries. Do not go near the machine during test operations or during operations such as teaching. Doing so may lead to injuries. 4. Various precautions Strictly observe the following precautions. Mistaken handling of the unit may lead to faults, injuries or electric shocks. (1) System structure CAUTION Always install a leakage breaker on the module and servo amplifier power source. If installation of an electromagnetic contactor for power shut off during an error, etc., is specified in the instruction manual for the servo amplifier, etc., always install the electromagnetic contactor. Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off. Use the module, servo amplifier, servomotor and regenerative resistor with the correct combinations listed in the instruction manual. Other combinations may lead to fire or faults. Use the CPU module, base unit and positioning module with the correct combinations listed in the instruction manual. Other combinations may lead to faults. If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier and servomotor, make sure that the safety standards are satisfied. Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differ from the safety directive operation in the system. In systems where coasting of the servomotor will be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use dynamic brakes. Make sure that the system considers the coasting amount even when using dynamic brakes. In systems where perpendicular shaft dropping may be a problem during the forced stop, emergency stop, servo OFF or power supply OFF, use both dynamic brakes and electromagnetic brakes. The dynamic brakes must be used only on errors that cause the forced stop, emergency stop, or servo OFF. These brakes must not be used for normal braking. The brakes (electromagnetic brakes) assembled into the servomotor are for holding applications, and must not be used for normal braking. A-3 CAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed. Use wires and cables that have a wire diameter, heat resistance and bending resistance compatible with the system. Use wires and cables within the length of the range described in the instruction manual. The ratings and characteristics of the parts (other than module, servo amplifier and servomotor) used in a system must be compatible with the module, servo amplifier and servomotor. Install a cover on the shaft so that the rotary parts of the servomotor are not touched during operation. There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure (when the ball screw and servomotor are connected with a timing belt, etc.). Install a stopping device to ensure safety on the machine side. (2) Parameter settings and programming CAUTION Set the parameter values to those that are compatible with the module, servo amplifier, servomotor and regenerative resistor model and the system application. The protective functions may not function if the settings are incorrect. The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode, servo amplifier and servo power supply module. The protective functions may not function if the settings are incorrect. Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the stroke limit input validity parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor encoder type (increment, absolute position type, etc.) parameter to a value that is compatible with the system application. The protective functions may not function if the setting is incorrect. Set the servomotor capacity and type (standard, low-inertia, flat, etc.) parameter to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Set the servo amplifier capacity and type parameters to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. Use the program commands for the program with the conditions specified in the instruction manual. Set the sequence function program capacity setting, device capacity, latch validity range, I/O assignment setting, and validity of continuous operation during error detection to values that are compatible with the system application. The protective functions may not function if the settings are incorrect. A-4 CAUTION Some devices used in the program have fixed applications, so use these with the conditions specified in the instruction manual. The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error, etc. Thus, an error correspondence interlock program specified in the instruction manual must be used. Use the interlock program specified in the intelligent function module's instruction manual for the program corresponding to the intelligent function module. (3) Transportation and installation CAUTION Transport the product with the correct method according to the mass. Use the servomotor suspension bolts only for the transportation of the servomotor. Do not transport the servomotor with machine installed on it. Do not stack products past the limit. When transporting the module or servo amplifier, never hold the connected wires or cables. When transporting the servomotor, never hold the cables, shaft or detector. When transporting the module or servo amplifier, never hold the front case as it may fall off. When transporting, installing or removing the module or servo amplifier, never hold the edges. Install the unit according to the instruction manual in a place where the mass can be withstood. Do not get on or place heavy objects on the product. Always observe the installation direction. Keep the designated clearance between the module or servo amplifier and control panel inner surface or the module and servo amplifier, module or servo amplifier and other devices. Do not install or operate modules, servo amplifiers or servomotors that are damaged or that have missing parts. Do not block the intake/outtake ports of the servo amplifier and servomotor with cooling fan. Do not allow conductive matter such as screw or cutting chips or combustible matter such as oil enter the module, servo amplifier or servomotor. The module, servo amplifier and servomotor are precision machines, so do not drop or apply strong impacts on them. Securely fix the module, servo amplifier and servomotor to the machine according to the instruction manual. If the fixing is insufficient, these may come off during operation. Always install the servomotor with reduction gears in the designated direction. Failing to do so may lead to oil leaks. A-5 CAUTION Store and use the unit in the following environmental conditions. Environment Ambient temperature Ambient humidity Storage temperature Atmosphere Altitude Vibration Conditions Module/Servo amplifier According to each instruction manual. According to each instruction manual. According to each instruction manual. Servomotor 0°C to +40°C (With no freezing) (32°F to +104°F) 80% RH or less (With no dew condensation) -20°C to +65°C (-4°F to +149°F) Indoors (where not subject to direct sunlight). No corrosive gases, flammable gases, oil mist or dust must exist 1000m (3280.84ft.) or less above sea level According to each instruction manual When coupling with the servomotor shaft end, do not apply impact such as by hitting with a hammer. Doing so may lead to detector damage. Do not apply a load larger than the tolerable load onto the servomotor shaft. Doing so may lead to shaft breakage. When not using the module for a long time, disconnect the power line from the module or servo amplifier. Place the module and servo amplifier in static electricity preventing vinyl bags and store. When storing for a long time, please contact with our sales representative. Also, execute a trial operation. Make sure that the connectors for the servo amplifier and peripheral devices have been securely installed until a click is heard. Not doing so could lead to a poor connection, resulting in erroneous input and output. (4) Wiring CAUTION Correctly and securely wire the wires. Reconfirm the connections for mistakes and the terminal screws for tightness after wiring. Failing to do so may lead to run away of the servomotor. After wiring, install the protective covers such as the terminal covers to the original positions. Do not install a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the servomotor to operate abnormally. Do not connect a commercial power supply to the servomotor, as this may lead to trouble. A-6 CAUTION Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals, etc. Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning. Servo amplifier DOCOM Control output signal Servo amplifier 24VDC DOCOM Control output signal RA DICOM 24VDC RA DICOM For the sink output interface For the source output interface Do not connect or disconnect the connection cables between each unit, the encoder cable or PLC expansion cable while the power is ON. Securely tighten the cable connector fixing screws and fixing mechanisms. Insufficient fixing may lead to the cables combing off during operation. Do not bundle the power line or cables. Use applicable solderless terminals and tighten them with the specified torque. If any solderless spade terminal is used, it may be disconnected when the terminal screw comes loose, resulting in failure. (5) Trial operation and adjustment CAUTION Confirm and adjust the program and each parameter before operation. Unpredictable movements may occur depending on the machine. Extreme adjustments and changes may lead to unstable operation, so never make them. When using the absolute position system function, on starting up, and when the module or absolute value motor has been replaced, always perform a home position return. Before starting test operation, set the parameter speed limit value to the slowest value, and make sure that operation can be stopped immediately if a hazardous state occurs. A-7 (6) Usage methods CAUTION Immediately turn OFF the power if smoke, abnormal sounds or odors are emitted from the module, servo amplifier or servomotor. Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection. Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized. Do not make any modifications to the unit. Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields, etc. Electromagnetic obstacles may affect the electronic devices used near the module or servo amplifier. When using the CE Mark-compliant equipment design, refer to the "EMC Installation Guidelines" (data number IB(NA)-67339) and refer to the corresponding EMC guideline information for the servo amplifiers and other equipment. Note that when the reference axis speed is designated for interpolation operation, the speed of the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than the speed limit value). Use the units with the following conditions. Item Conditions Input power According to each instruction manual. Input frequency According to each instruction manual. Tolerable momentary power failure According to each instruction manual. A-8 (7) Corrective actions for errors CAUTION If an error occurs in the self diagnosis of the module or servo amplifier, confirm the check details according to the instruction manual, and restore the operation. If a dangerous state is predicted in case of a power failure or product failure, use a servomotor with electromagnetic brakes or install a brake mechanism externally. Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop signals set externally. Shut off with the emergency stop signal(EMG). Shut off with servo ON signal OFF, alarm, electromagnetic brake signal. Servomotor RA1 EMG Electromagnetic brakes 24VDC If an error occurs, remove the cause, secure the safety and then resume operation after alarm release. The unit may suddenly resume operation after a power failure is restored, so do not go near the machine. (Design the machine so that personal safety can be ensured even if the machine restarts suddenly.) (8) Maintenance, inspection and part replacement CAUTION Perform the daily and periodic inspections according to the instruction manual. Perform maintenance and inspection after backing up the program and parameters for the module and servo amplifier. Do not place fingers or hands in the clearance when opening or closing any opening. Periodically replace consumable parts such as batteries according to the instruction manual. Do not touch the lead sections such as ICs or the connector contacts. Before touching the module, always touch grounded metal, etc. to discharge static electricity from human body. Failure to do so may cause the module to fail or malfunction. Do not directly touch the module's conductive parts and electronic components. Touching them could cause an operation failure or give damage to the module. Do not place the module or servo amplifier on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. Do not perform a megger test (insulation resistance measurement) during inspection. When replacing the module or servo amplifier, always set the new module settings correctly. When the module or absolute value motor has been replaced, carry out a home position return operation using one of the following methods, otherwise position displacement could occur. 1) After writing the servo data to the positioning module using programming software, switch on the power again, then perform a home position return operation. A-9 CAUTION After maintenance and inspections are completed, confirm that the position detection of the absolute position detector function is correct. Do not drop or impact the battery installed to the module. Doing so may damage the battery, causing battery liquid to leak in the battery. Do not use the dropped or impacted battery, but dispose of it. Do not short circuit, charge, overheat, incinerate or disassemble the batteries. The electrolytic capacitor will generate gas during a fault, so do not place your face near the module or servo amplifier. The electrolytic capacitor and fan will deteriorate. Periodically replace these to prevent secondary damage from faults. Replacements can be made by our sales representative. Lock the control panel and prevent access to those who are not certified to handle or install electric equipment. Do not mount/remove the module onto/from the base unit more than 50 times (IEC61131-2compliant), after the first use of the product. Failure to do so may cause malfunction. Do not burn or break a module and servo amplifier. Doing so may cause a toxic gas. (9) About processing of waste When you discard module, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident. (10) General cautions CAUTION All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections. When operating the product, always return the covers and partitions to the designated positions, and operate according to the instruction manual. A - 10 REVISIONS The manual number is given on the bottom left of the back cover. Print Date Apr., 2009 Dec., 2011 Manual Number Revision IB(NA)-0300147-A First edition IB(NA)-0300147-B [Partial correction] Safety Precautions, Section 4.2.1 Partial change of sentence Japanese Manual Number IB(NA)-0300146 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual. © 2009 MITSUBISHI ELECTRIC CORPORATION A - 11 INTRODUCTION Thank you for choosing the high-speed, multi-axis Positioning Module QD74MH. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the Positioning Module you have purchased, so as to ensure correct use. CONTENTS Safety Precautions .........................................................................................................................................A- 1 Revisions ........................................................................................................................................................A-11 Contents .........................................................................................................................................................A-12 Using This Manual..........................................................................................................................................A-17 Compliance with the EMC and Low Voltage Directives................................................................................A-17 1. OVERVIEW 1- 1 to 1-12 1.1 Overview................................................................................................................................................... 11.2 Mechanism of Positioning Control........................................................................................................... 11.3 Communicating Signals Between QD74MH and Each Module ............................................................. 11.4 Difference Between QD74MH and QD75MH ......................................................................................... 12. SYSTEM CONFIGURATION 1 4 5 7 2- 1 to 2-10 2.1 System Configuration............................................................................................................................... 22.2 Applicable System.................................................................................................................................... 22.3 Component List ........................................................................................................................................ 22.4 Name of Parts .......................................................................................................................................... 22.5 Basic Specifications ................................................................................................................................. 22.6 Forced Stop Input Terminal ..................................................................................................................... 22.7 Checking Function Version and Serial No. ............................................................................................. 23. DESIGN 1 2 4 5 7 8 9 3- 1 to 3- 8 3.1 System Designing Procedure .................................................................................................................. 33.2 External Circuit Design ............................................................................................................................ 33.2.1 Power supply circuit design .............................................................................................................. 33.2.2 Safety circuit design .......................................................................................................................... 34. INSTALLATION, WIRING, START-UP AND MAINTENANCE 1 2 6 7 4- 1 to 4-24 4.1 Handling Precautions............................................................................................................................... 4- 1 4.2 Wiring........................................................................................................................................................ 4- 3 4.2.1 SSCNET cable ............................................................................................................................... 4- 4 4.2.2 Forced stop input cable..................................................................................................................... 4-15 4.3 Confirming the Installation and Wiring..................................................................................................... 4-17 4.3.1 Items to confirm when installation and wiring are completed .......................................................... 4-17 4.4 Start-up ..................................................................................................................................................... 4-18 4.4.1 Checklist before trial operation ......................................................................................................... 4-18 4.4.2 Trial operation and adjustment procedure ....................................................................................... 4-19 4.5 Maintenance............................................................................................................................................. 4-22 A - 12 4.5.1 Precautions for maintenance ............................................................................................................ 4-22 4.5.2 Disposal instructions ......................................................................................................................... 4-22 4.6 Daily Inspection ........................................................................................................................................ 4-23 4.7 Periodic Inspection................................................................................................................................... 4-24 5. SPECIFICATIONS AND FUNCTIONS 5- 1 to 5- 6 5.1 Specifications of Input/Output Signals..................................................................................................... 55.1.1 List of input/output signals ................................................................................................................ 55.1.2 Input signals (QD74MH PLC CPU).............................................................................................. 55.1.3 Output signals (PLC CPU QD74MH) ........................................................................................... 55.2 Functions .................................................................................................................................................. 55.2.1 QD74MH control functions................................................................................................................ 55.2.2 Functions of QD74MH ...................................................................................................................... 56. DATA USED FOR POSITIONING CONTROL 1 1 2 3 4 4 5 6- 1 to 6-52 6.1 Memory Configuration and Roles............................................................................................................ 6- 1 6.2 Data Transmission Process..................................................................................................................... 6- 3 6.2.1 Data transmission process for operation.......................................................................................... 6- 3 6.2.2 Setting of servo amplifier series........................................................................................................ 6- 5 6.2.3 Exchange of the servo parameters................................................................................................... 6- 6 6.3 Buffer Memory Configuration................................................................................................................... 6- 8 6.4 Parameter Data........................................................................................................................................ 6-24 6.4.1 Basic parameter ................................................................................................................................ 6-24 6.4.2 OPR parameter ................................................................................................................................. 6-26 6.4.3 Manual control parameter ................................................................................................................. 6-27 6.4.4 System parameter ............................................................................................................................. 6-27 6.5 Monitor Data............................................................................................................................................. 6-28 6.5.1 Axis monitor data............................................................................................................................... 6-28 6.5.2 System monitor data ......................................................................................................................... 6-35 6.6 Control Data ............................................................................................................................................. 6-36 6.6.1 Axis control data................................................................................................................................ 6-36 6.6.2 System control data .......................................................................................................................... 6-39 6.7 Positioning Data ....................................................................................................................................... 6-42 6.8 Servo Parameter ...................................................................................................................................... 6-44 7. OPR CONTROL 7- 1 to 7-18 7.1 Outline of OPR Control ............................................................................................................................ 7- 1 7.1.1 Data used for control......................................................................................................................... 7- 1 7.1.2 Starting method of OPR.................................................................................................................... 7- 2 7.2 Proximity Dog Type.................................................................................................................................. 7- 3 7.3 Data Set Type .......................................................................................................................................... 7- 6 7.4 Stopper Type............................................................................................................................................ 7- 7 7.5 Dog Cradle Type ...................................................................................................................................... 7- 8 7.6 Limit Switch Combined Type ................................................................................................................... 7-11 7.7 Scale Origin Signal Detection Type......................................................................................................... 7-12 7.8 OP Shift Function ..................................................................................................................................... 7-14 7.8.1 Control details.................................................................................................................................... 7-14 A - 13 7.8.2 Setting range of OP shift amount ..................................................................................................... 7-15 7.9 OP Search Limit Function........................................................................................................................ 7-16 7.9.1 Control details.................................................................................................................................... 7-16 8. POSITIONING CONTROL 8- 1 to 8-16 8.1 Outline of Positioning Controls ................................................................................................................ 8- 1 8.1.1 Data required for positioning control................................................................................................. 8- 1 8.1.2 Operation patterns of positioning controls........................................................................................ 8- 2 8.1.3 Designating the positioning address................................................................................................. 8- 5 8.2 1-axis Linear Control ................................................................................................................................ 8- 6 8.2.1 Starting method ................................................................................................................................. 8- 6 8.2.2 Control details.................................................................................................................................... 8- 7 8.2.3 Restrictions for 1-aixs linear control.................................................................................................. 8- 8 8.3 Linear Interpolation Control ..................................................................................................................... 8- 9 8.3.1 Data used for control......................................................................................................................... 8- 9 8.3.2 Setting of linear interpolation axis..................................................................................................... 8-10 8.3.3 Starting method ................................................................................................................................. 8-11 8.3.4 Control details.................................................................................................................................... 8-12 8.3.5 Speed/acceleration/deceleration ...................................................................................................... 8-14 8.3.6 Restrictions ........................................................................................................................................ 8-15 9. MANUAL CONTROL 9- 1 to 9- 6 9.1 JOG Operation ......................................................................................................................................... 99.1.1 Control details.................................................................................................................................... 99.1.2 Data used for control......................................................................................................................... 99.2 Incremental Feed Operation.................................................................................................................... 99.2.1 Control details.................................................................................................................................... 99.2.2 Precautions for control ...................................................................................................................... 99.2.3 Data used for control......................................................................................................................... 910. FUNCTION DETAILS 1 2 4 5 5 6 6 10- 1 to 10-46 10.1 Servo ON/OFF ..................................................................................................................................... 10- 1 10.1.1 Control details................................................................................................................................ 10- 1 10.1.2 Data used for control..................................................................................................................... 10- 2 10.1.3 Follow up function ......................................................................................................................... 10- 2 10.2 Electronic Gear Function ..................................................................................................................... 10- 3 10.2.1 Control details................................................................................................................................ 10- 3 10.2.2 Data used for control..................................................................................................................... 10- 6 10.3 Hardware Stroke Limit Function .......................................................................................................... 10- 7 10.3.1 Control details................................................................................................................................ 10- 7 10.3.2 Data used for control..................................................................................................................... 10- 8 10.4 Software Stroke Limit Function............................................................................................................ 10- 9 10.4.1 Control details................................................................................................................................ 10- 9 10.4.2 Ristrictions at absolute position system use ................................................................................ 10-10 10.4.3 Data used for control..................................................................................................................... 10-11 10.5 Backlash Compensation Function....................................................................................................... 10-12 10.5.1 Control details................................................................................................................................ 10-12 A - 14 10.5.2 Data used for control..................................................................................................................... 10-12 10.6 Speed Limit Function ........................................................................................................................... 10-13 10.6.1 Control details................................................................................................................................ 10-13 10.6.2 Data used for control..................................................................................................................... 10-14 10.7 Acceleration/Deceleration Control....................................................................................................... 10-15 10.7.1 Control details................................................................................................................................ 10-15 10.7.2 Data used for control..................................................................................................................... 10-16 10.8 Stop Control ......................................................................................................................................... 10-17 10.8.1 Control details................................................................................................................................ 10-17 10.8.2 Data used for control..................................................................................................................... 10-17 10.9 Sudden Stop Control............................................................................................................................ 10-18 10.9.1 Control details................................................................................................................................ 10-18 10.9.2 Data used for control..................................................................................................................... 10-18 10.10 Forced Stop Control........................................................................................................................... 10-19 10.10.1 Control details ............................................................................................................................. 10-19 10.10.2 Data used for control................................................................................................................... 10-20 10.11 Command In-position Function ......................................................................................................... 10-21 10.11.1 Control details ............................................................................................................................. 10-21 10.11.2 Data used for control................................................................................................................... 10-22 10.12 Pausing Function ............................................................................................................................... 10-23 10.12.1 Control details ............................................................................................................................. 10-23 10.12.2 Data used for control................................................................................................................... 10-24 10.13 Torque Limit Function ........................................................................................................................ 10-25 10.13.1 Control details ............................................................................................................................. 10-25 10.13.2 Data used for control................................................................................................................... 10-26 10.14 Speed Change Function.................................................................................................................... 10-27 10.14.1 Control details ............................................................................................................................. 10-27 10.14.2 Precautions.................................................................................................................................. 10-28 10.14.3 Data used for control................................................................................................................... 10-28 10.15 Acceleration/Deceleration Time Change Function ........................................................................... 10-29 10.15.1 Control details ............................................................................................................................. 10-29 10.15.2 Precautions.................................................................................................................................. 10-30 10.15.3 Data used for control................................................................................................................... 10-31 10.16 Target Position Change Function...................................................................................................... 10-32 10.16.1 Control details ............................................................................................................................. 10-32 10.16.2 Data used for control................................................................................................................... 10-34 10.17 Current Value Change Function........................................................................................................ 10-35 10.17.1 Control details ............................................................................................................................. 10-35 10.17.2 Data used for control................................................................................................................... 10-35 10.18 External Signal Logic Selection ......................................................................................................... 10-36 10.18.1 Control details ............................................................................................................................. 10-36 10.18.2 Data used for control................................................................................................................... 10-36 10.19 Operation Setting for Incompletion of OPR Function ....................................................................... 10-37 10.19.1 Control details ............................................................................................................................. 10-37 10.19.2 Data used for control................................................................................................................... 10-38 10.20 Axis Error Reset ................................................................................................................................. 10-39 10.20.1 Control details ............................................................................................................................. 10-39 10.20.2 Data used for control................................................................................................................... 10-39 10.21 Absolute position system ................................................................................................................... 10-40 A - 15 10.21.1 Control details ............................................................................................................................. 10-40 10.22 Flash ROM Write Function ................................................................................................................ 10-42 10.22.1 Control details ............................................................................................................................. 10-42 10.22.2 Data used for control................................................................................................................... 10-43 10.23 Parameter Initialization Function ....................................................................................................... 10-44 10.23.1 Control details ............................................................................................................................. 10-44 10.23.2 Data used for control................................................................................................................... 10-45 10.24 Parameter Change Function ............................................................................................................. 10-46 10.24.1 Control details ............................................................................................................................. 10-46 10.24.2 Data used for control................................................................................................................... 10-46 11. TROUBLESHOOTING 11- 1 to 11-16 11.1 Error and Warning Details ................................................................................................................... 1111.1.1 Errors ............................................................................................................................................. 1111.1.2 Warnings ....................................................................................................................................... 1111.1.3 Confirming the error and warning definitions ............................................................................... 1111.1.4 Resetting errors............................................................................................................................. 1111.2 List of Errors ......................................................................................................................................... 11APPENDICES 1 1 3 3 3 4 App- 1 to App-50 Appendix 1 External Dimension Drawing..................................................................................................App- 1 Appendix 2 Sample Program.....................................................................................................................App- 2 Appendix 2.1 Sequence program ..........................................................................................................App- 2 Appendix 2.2 Creating the program.......................................................................................................App- 5 Appendix 2.3 Debugging........................................................................................................................App-10 Appendix 2.4 Positioning program example..........................................................................................App-11 Appendix 3 List of Buffer Memory Address...............................................................................................App-18 Appendix 3.1 Parameter area ................................................................................................................App-18 Appendix 3.2 Monitor data area.............................................................................................................App-20 Appendix 3.3 Control data area .............................................................................................................App-22 Appendix 3.4 Positioning data area .......................................................................................................App-24 Appendix 3.5 Servo parameter area......................................................................................................App-38 A - 16 Using This Manual The symbols used in this manual are shown below. Pr. Da. Md. Cd. .............................. .............................. .............................. .............................. Symbol indicating positioning parameter item. Symbol indicating positioning data item. Symbol indicating monitor data item. Symbol indicating control data item. (A serial No. is inserted in the mark.) Representation of numerical values used in this manual. Buffer memory addresses, error codes and warning codes are represented in decimal. X/Y devices are represented in hexadecimal. Setting data and monitor data are represented in decimal or hexadecimal. Data ended by "H" or "h" are represented in hexadecimal. (Example) 10 Decimal 10h Hexadecimal Compliance with the EMC and Low Voltage Directives (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 DIREVTIVES" of the QCPU User's Manual (Hardware Design, Maintenance and Inspection). The CE mark, indicating compliance with the EMC and LOW Voltage Directives, is printed on the rating plate of the programmable controller. (2) For programmable controller system For the compliance of this product with the EMC and Low Voltage Directives, refer to Section 4.2 "Wiring" of the chapter 4. And, refer to the EMC Installation Guidelines (IB(NA)67339) for the servo amplifiers or servo motors. A - 17 Generic Terms and Abbreviations Unless specially noted, the following generic terms and abbreviations are used in this manual. Generic term/abbreviation Details of generic term/abbreviation PLC CPU Generic term for PLC CPU on which QD74MH can be mounted. QD74MH Generic term for positioning module QD74MH8 and QD74MH16. The module type is described to indicate a specific module. MR-J3-B Servo amplifier: Abbreviation for MR-J3-B. ( = capacity) Peripheral device Generic term for DOS/V personal computer that can run the following "GX Developer". GX Developer Abbreviation for GX Developer (SW4D5C-GPPW-E or later) Servo amplifier Abbreviation for SSCNET compatible servo amplifier. ® ® DOS/V personal computer IBM PC/AT and compatible DOS/V compliant personal computer. (Including PC98-NX ) ® ® ® PC-9800 Abbreviation for PC-9800 series. (Excluding PC98-NX ) Personal computer Generic term for DOS/V personal computer. Workpiece Generic term for moving body such as workpiece and tool, and for various control targets. Axis 1, Axis 2 ···· Axis 16 Indicates each axis connected to QD74MH. 1-axis, 2-axis ···· 16-axis Indicates the number of axes. (Example: 2-axis = Indicates two axes such as axis 1 and axis 2, axis 2 and axis 3, and axis 3 and axis 1.) OPR Abbreviation for "Home position return" OP SSCNET Abbreviation for "Home position" (Note) High speed synchronous communication network between QD74MH and servo amplifier. (Note): SSCNET: Servo System Controller NETwork Component List The table below shows the component included in respective positioning modules: Quantity Module name QD74MH8 QD74MH8 positioning module QD74MH16 1 QD74MH16 positioning module 1 Before Using the Product 1 A - 18 1 OVERVIEW MELSEC-Q 1. OVERVIEW This User's Manual describes the hardware specifications and handling methods of the Q series high-speed, multi-axis Positioning Module QD74MH8/QD74MH16 (herein after referred to as QD74MH). 1.1 Overview QD74MH Positioning module is used in the multiple axes without complex controls. (1) Availability of eight and sixteen axes modules (a) Eight and sixteen axes positioning modules are available. They can be selected according to the number of required control axes. (Refer to Section 2.3.) (b) For connecting any of the QD74MH modules to the base unit, a single slot and 32 dedicated I/O channels are required. Within the limit imposed by the maximum number of inputs and outputs supported by the PLC CPU, up to 64 modules can be used. (Refer to Section 2.2.) (2) Operation Cycle (a) Operation cycle is 0.88[ms]. (3) Easy positioning control functions (a) Positioning control functions essential to any positioning system are supported: positioning to an arbitrary position, incremental feed control, continuous-locus control, and so on. (Refer to Chapter 8 or Section 9.2.) 1) Up to 32 positioning data items, including such information as " Da.6 Positioning address/movement amount", " Da.1 Control systems", and " Da.0 Operation pattern", can be prepared for each axis. Using the prepared positioning data, the positioning control is performed independently for each axis. (In addition, interpolation control is possible.) 2) Independent control of each axis can be achieved in linear control mode. Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data. 3) Coordinated control over multiple axes can take the linear interpolation through the position control. Such control can either be the independent positioning control using a single positioning data or the continuous positioning control enabled by the continuous processing of multiple positioning data. (b) Continuous positioning control using multiple positioning data can be executed in accordance with the operation patterns the user assigned to the positioning data. (Refer to Section 6.7 and 8.1.2.) 1-1 1 1 OVERVIEW MELSEC-Q (c) OPR control is given additional features (Refer to Chapter 7.) Six different OPR methods are provided: the proximity dog type, data set type, stopper type, dog cradle type, limit switch combined type, and the scale origin signal detection type. (d) Two acceleration/deceleration control methods are provided: Liner acceleration/deceleration and S-curve acceleration/deceleration. (Refer to Section 10.7.) (4) Quick startup A positioning operation starts up quickly taking as little as 0.88[ms]. (5) SSCNET makes the connection to the servo amplifier possible (a) The QD74MH can be directly connected to the Mitsubishi servo amplifier MR-J3-B using the SSCNET . (b) Because the SSCNET cable is used to connect the QD74MH and the servo amplifier, or servo amplifiers, saving wiring can be realized. The maximum distance between the QD74MH and servo amplifier, servo amplifier and servo amplifier of the SSCNET cable on the same bus was set to 50(164.04[m(ft.)], and the flexibility improved at the system design. (c) The servo parameters can be set on the QD74MH side to write or read them to/from the servo amplifier using the SSCNET . (d) The actual current value and error description contained in the servo can be checked by the buffer memory of the QD74MH. (e) Wiring is reduced by issuing the external signal (upper/lower stroke limit signal, proximity dog signal) via the servo amplifier. (6) Easy application to the absolute position system (a) The absolute position-corresponding servo motor and servo amplifier are used to have an application to the absolute position system. (b) Once the OP have been established, the OPR operation is unnecessary when the power is supplied. (c) With the absolute position system, the data set method OPR is used to establish the OP. (7) Easy maintenance Each QD74MH positioning module incorporates the following improvements in maintainability: (a) Data such as the positioning data and parameters can be stored on a flash ROM inside the QD74MH, eliminating the need of a battery for retaining data. (Refer to Section 6.1.) (b) Error messages are classified in more detail to facilitate the initial troubleshooting procedure. (Refer to Section 11.1.) 1-2 1 OVERVIEW MELSEC-Q (8) Addition of forced stop function As forced stop input signal to the connector for external equipment connection is added, batch forced stop is available for all axes of servo amplifier. (Refer to Section 10.10.) Selection for "Valid/Invalid" of the forced stop input signal by external 24VDC can be made with parameter. 1-3 1 OVERVIEW MELSEC-Q 1.2 Mechanism of Positioning Control In the positioning system using the QD74MH, software and devices are used for the following roles. The QD74MH realizes complicated positioning control when it reads in various signals, parameters and data and is controlled with the PLC CPU. GX Developer PLC CPU Stores the created program. The QD74MH outputs the start signal and stop signal following the stored program. QD74MH errors, etc., are detected. Creates control order and conditions as a sequence program. Q74MH Positioning module Servo amplifier Stores the parameter and data. Outputs data to the servo amplifier according to the instructions from the PLC CPU and external input signal. Receive positioning commands and control commands from QD74MH, and drives the servo motor. Outputs the positioning data of the servo motor and etc., and external input signal of the servo amplifier to the QD74MH by the SSCNET . Servo motor Moves the machine according to commands from the servo amplifier. Working parts of a machine 1-4 1 OVERVIEW MELSEC-Q 1.3 Communicating Signals Between QD74MH and Each Module The outline of the signal communication between the QD74MH (positioning module) and PLC CPU, peripheral device and servo amplifier, etc., is shown below. PLC CPU X0 X1 X2 X3 X10 to X1F Positioning start signal Unit READY signal Error detection signal Warning detection signal Servo amplifer interface Y10 to Y1F Forced stop input signal E Operating information of the servo amplifer Servo parameters External input signal of the servo amplifier DOG (Proximity dog signal) FLS (Upper stroke limit signal) RLS (Lower stroke limit signal) Syncronization flag signal BUSY signal Basic parameters OPR parameters Manual control parameters System parameters Servo parameters Control data Positioning data Forced stop External interface Y2 M Position commands Control commands Servo parameters All axis servo ON signal PLC CPU interface Y1 Servo motor PLC READY signal Buffer memory Y0 QD74MH Monitor data I/O module 1-5 Servo amplifer External signal DOG FLS RLS 1 OVERVIEW MELSEC-Q (1) QD74MH ― PLC CPU The QD74MH and PLC CPU communicate the following data via the base unit. Communication Details Control signals Signal related to commands • Y0: PLC READY signal • Y1: All axis servo ON signals • Y2: Stop signals • Y10 to Y1F: Positioning start signals Write data Data to be written to buffer memory • Parameter (Basic, OPR, Manual control, System, Servo) • Control data • Positioning data Status signal Signal indicating QD74MH state • X0: Unit READY signal • X1: Error detection signal • X2: Warning detection signal • X2: Synchronization flag signal • X10 to X1F: Busy signal Read data Data to be read from buffer memory • Parameters (Basic, OPR, Manual control, System, Servo) • Monitor data • Control data • Positioning data Signal direction PLC CPU QD74MH QD74MH PLC CPU (2) QD74MH ― Servo amplifier The QD74MH and servo amplifier communicate the following data via the SSCNET . Communication Details Signal direction Control signals of SSCNET Command signals to servo amplifier • Position commands • Control commands • Servo parameters QD74MH Status signals of SSCNET Monitor information of the servo amplifier • Operating information of the servo amplifier • Servo parameters (Auto tuning, Parameter change by MR Configurator, etc.,) • External input signals (DOG, FLS, RLS) of the servo amplifier Servo amplifier Servo amplifier QD74MH (3) QD74MH ― Forced stop input signal The QD74MH and forced stop input signal communicate the following data via the forced stop input connector. Communication Forced stop input signal Details Forced stop input signal to QD74MH 1-6 Signal direction Forced stop input QD74MH 1 OVERVIEW MELSEC-Q 1.4 Difference Between QD74MH and QD75MH (1) Comparisons of performance specifications Model Item Number of control axes Operation cycle Control unit Number of positioning data QD74MH QD75MH 8 axes/16 axes 1 axis/2 axes/4 axes 0.88ms 1.77ms PLS mm, inch, degree, PLS 32/axis 600/axis Linear interpolation (2, 3, 4 axes) Interpolation functions Speed: Combined-speed, Interpolation group: Up to 4 groups Linear interpolation (2, 3, 4 axes), Circular interpolation (2 axes) Speed: Vector speed and reference axis Independent positioning Positioning Operation Continuous pattern positioning Continuous control path Speed control Speed-position switching Position-speed switching <ABS/INC system> -2147483648 to 2147483647 [PLS] Positioning range <ABS/INC system> -214748364.8 to 214748364.7 [μm] -21474.83648 to 21474.83647 [inch] 0 to 359.99999[degree] Note Positioning that exceeds the positioning range cannot be executed. -2147483648 to 2147483647 [PLS] -21474.83648 to 21474.83647 [degree] (Fixed-pitch feed only) 0.01 to 20000000.00[mm/min] Speed command range 5 to 2147000000[PLS/s] 0.001 to 2000000.000[inch/min] 0.001 to 2000000.000[degree/min] 1 to 10000000[PLS/s] Proximity dog type, Data set type, OPR method Proximity dog type, Count type 1, Limit switch combined type, Count type 2, Data set type Scale origin signal detection type OPR control Stopper type, Dog cradle type, OP shift function -2147483648 to 2147483647 Retry function OP search limit function 1-7 -2147483648 to 2147483647 1 OVERVIEW MELSEC-Q Performance specifications (continued) Type Items QD74MH QD75MH (Acceleration/deceleration: Provided) (Acceleration/deceleration: None) Via servo amplifier Direct input, Via servo amplifier JOG Manual control Incremental feed (Note-1) Manual pulse generator input External signal input (Upper/lower stroke limit, Near-dog) Forced stop input Data save 24VDC input, Via PLC CPU, Invalid setting enable Flash ROM Positioning module setting/monitor Number of occupied slots Flash ROM GX Configurator-QP tool Number of I/O points 24VDC input, Invalid setting enable 32 points 32 points 1 1 : Provided : N/A (Note-1): Inching operation for QD75MH 1-8 1 OVERVIEW MELSEC-Q (2) Comparisons of input/output signals with PLC CPU specifications Model QD74MH Item QD75MH X0 Unit READY QD75 READY X1 Error detection Synchronization flag X2 Warning detection X3 Synchronization flag Unusable X4 Axis 1 X5 Axis 2 X6 Axis 3 X7 Axis 4 X8 Axis 1 X9 XA Axis 2 Unusable Axis 3 XB Axis 4 XC Axis 1 XD Axis 2 XE Axis 3 XF M code ON Error detection BUSY Axis 4 X10 Axis 1 Axis 1 X11 Axis 2 Axis 2 X12 Axis 3 Axis 3 X13 Axis 4 Axis 4 X14 Axis 5 Axis 1 X15 Axis 6 Axis 2 X16 Axis 7 Axis 3 X17 Axis 8 X18 Axis 9 X19 Axis 10 X1A Axis 11 X1B Axis 12 X1C Axis 13 X1D Axis 14 X1E Axis 15 X1F Axis 16 BUSY Axis 4 Unusable 1-9 Start complete Positioning complete 1 OVERVIEW MELSEC-Q Model QD74MH Item QD75MH Y0 PLC READY PLC READY Y1 All axis servo ON All axis servo ON Y2 Forced stop input Y3 Unusable Y4 Axis 1 Y5 Axis 2 Y6 Axis 3 Y7 Axis 4 Y8 Y9 Axis 1 Unusable YA Axis 2 YB YC Axis 3 YD YE Axis 4 YF Y10 Axis 1 Axis 1 Y11 Axis 2 Axis 2 Y12 Axis 3 Axis 3 Y13 Axis 4 Axis 4 Y14 Axis 5 Axis 1 Y15 Axis 6 Axis 2 Y16 Axis 7 Axis 3 Y17 Axis 8 Y18 Axis 9 Y19 Axis 10 Y1A Axis 11 Y1B Axis 12 Y1C Axis 13 Y1D Axis 14 Y1E Axis 15 Y1F Axis 16 Positioning start Axis 4 Unusable 1 - 10 Axis stop Forward run JOG start Reverse run JOG start Forward run JOG start Reverse run JOG start Forward run JOG start Reverse run JOG start Forward run JOG start Reverse run JOG start Positioning start Execution prohibition flag 1 OVERVIEW MELSEC-Q (3) Comparisons of functions Model Item Communication start timing with the servo amplifiers QD74MH QD75MH PLC READY ON (First time only) Control power supply ON of the servo amplifier Denominator: 32768, Numerator: 32768 Denominator: 200000000, Numerator: For setting units Servo ON/OFF Electronic gear Hardware stroke limit function (Via servo amplifier only) Software stroke limit function Backlash compensation function Speed limit function Acceleration/ Acceleration/ deceleration processing deceleration Acceleration/ control deceleration time 0 to 65535[PLS] (Set encoder pulse unit) 0 to 65535 (Set in the unit system) 1000000 to 2147000000[PLS/s] (In speed control flag: None) For command units Liner acceleration/deceleration, S-curve acceleration/deceleration Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration 20000[ms] 8388608[ms] Stop control Sudden-stop control Forced stop control Command in-position control function (Only last positioning point: ON ) Torque limit function Speed change function Acceleration/deceleration change (Continuous positioning: ON ) (Restart function) Pausing function 0.1[%] unit 5 to 2147000000[PLS/s] 0 to 20000[ms] 1[%] unit For command units 0 to 8388608[ms] Target position change function Current value change function External signal selection function External signal selection logic function Operation setting for incompletion of OPR function Axis error reset Absolute position system Flash ROM write function Parameter initialization function Gain changing Start history (16 data), Error history (16 data), Warning history (16 data) History M code output function : Provided 1 - 11 : N/A 1 OVERVIEW MELSEC-Q (4) Comparisons of major monitor data Model Item QD74MH QD75MH Current feed value (before electronic gear) Machine feed value Feedrate (before electronic gear) Positioning data No. being executed Last executed positioning data No. OPR request Status OPR complete Positioning complete Command in-position Deceleration start Movement amount after proximity dog ON External I/O signal Real current value (before electronic gear) Servo READY ON In-position Zero speed Servo status Zero point pass Torque limit Servo alarm Servo warning Absolute position lost Servo amplifier software number : Provided 1 - 12 : N/A 2 SYSTEM CONFIGURATION MELSEC-Q 2. SYSTEM CONFIGURATION This section describes the system configuration and configured equipments. 2.1 System Configuration PLC Positioning CPU module Main base unit (Q3 B) Q6 P Qn QD74 CPU MH 2 I/O module Intelligent function module 100/200VAC USB/RS-232 Personal computer IBM PC/AT Forced stop input cable (Q170DEMICBL M) Forced stop input (24VDC) SSCNET cable (MR-J3BUS M(-A/-B)) GX Developer (SW D5C-GPPW) SSCNET cable d01 M E Extension cable (QC B) d02 M E d03 M E d16 M E External input signal of servo amplifier Extension base unit (Q6 B) Proximity dog Upper stroke limit Lower stroke limit Q6 P MR-J3- B model Servo amplifier QD74MH16 : Up to 16 axes QD74MH8 : Up to 8 axes Up to 7 extensions 2-1 2 SYSTEM CONFIGURATION MELSEC-Q 2.2 Applicable System The QD74MH can be used in the following system. (1) Applicable modules and base units The table below shows the CPU modules and base units applicable to the QD74MH and quantities for each CPU module. However, the power capacity may be insufficient depending on the combination with the other installed modules and the number of installed modules. Be sure to check the power capacity when installing the modules. (a) Installing to a CPU module Number of installable (Note-1) modules Usable CPU modules CPU type CPU module Q00JCPU Basic model QCPU Usable base units Main base unit (Note-2) Extension base unit Up to 8 Q00CPU Up to 24 Q01CPU Q02CPU High Performance model QCPU Q02HCPU Up to 64 Q06HCPU Q12HCPU Q25HCPU Q02PHCPU Process CPU Q06PHCPU Up to 64 Q12PHCPU Q25PHCPU PLC CPU Redundant CPU Q12PRHCPU Up to 53 Q25PRHCPU Q02UCPU Up to 36 Q03UDCPU Q04UDHCPU Q06UDHCPU Q13UDHCPU Universal model QCPU Q26UDHCPU Up to 64 Q03UDECPU Q04UDEHCPU Q06UDEHCPU Q13UDEHCPU Q26UDEHCPU Q06CCPU-V-H01 C Controller module Up to 64 Q06CCPU-V Q06CCPU-V-B : Applicable, : Not applicable (Note-1): Limited within the range of I/O points for the CPU module. (Note-2): Can be installed to any I/O slot of a base unit. 2-2 2 SYSTEM CONFIGURATION MELSEC-Q (b) Installing to a MELSECNET/H remote I/O station Usable network Number of installable modules module (Note-1) Usable base unit (Note-2) Main base unit of Extension base unit of remote I/O station remote I/O station QJ72LP25-25 Up to 64 QJ72LP25G QJ72BR15 : Applicable, : Not applicable (Note-1): Limited within the range of I/O points for the network module. (Note-2): Can be installed to any I/O slot of a base unit. REMARK The basic model QCPU and C Controller module cannot configure the MELSECNET/H remote I/O network system. (2) Support of the Multiple CPU system When using the QD74MH in a Multiple CPU system, refer to the QCPU User’s Manual (Multiple CPU system). (3) Supported software packages GX Developer is required for use of the QD74MH. The compatibility between the systems using the QD74MH and the software packages is shown below. Software version GX Developer Q00JCPU/Q00CPU/Q01CPU Single PLC system Version 7 or later Multiple PLC system Version 8 or later Q02CPU/Q02HCPU/Q06HCPU/ Single PLC system Version 4 or later Q12HCPU/Q25HCPU Multiple PLC system Version 6 or later Single PLC system Q02PHCPU/Q06PHCPU Multiple PLC system Single PLC system Q12PHCPU/Q25PHCPU Multiple PLC system Q02UCPU/Q03UDCPU/Q04UDHCPU/ Single PLC system Q06UDHCPU Multiple PLC system Single PLC system Q13UDHCPU/Q26UDHCPU Multiple PLC system Q03UDECPU/Q04UDEHCPU/Q06UDEHCPU/ Single PLC system Q13UDEHCPU/Q26UDEHCPU Multiple PLC system For use on MELSECNET/H remote I/O station 2-3 Version 8.68W or later Version 7.10L or later Version 8.48A or later Version 8.62Q or later Version 8.68W or later Version 6 or later 2 SYSTEM CONFIGURATION MELSEC-Q 2.3 Component List Product Type Positioning module GX Developer Up to 8 axes, SSCNET QD74MH16 Up to 16 axes, SSCNET SW D5C-GPPW Refer to the GX Developer operating manual. Personal computer RS-232 cable Remarks QD74MH8 ― compatible User-prepared QC30R2 USB cable compatible ― PLC CPU Personal computer PLC CPU Personal computer User-prepared MR-J3- B Servo amplifier MR-J3- B-RJ004 Refer to the servo amplifier instruction manual. MR-J3- B-RJ006 • QD74MH • MR-J3- B MR-J3BUS M MR-J3- B MR-J3- B • Standard cord for inside panel • 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3,28ft.), 3m(9.84ft.) • QD74MH SSCNET cable (Note-1) • MR-J3- B MR-J3BUS M-A MR-J3- B MR-J3- B • Standard cable for inside panel • 5m(16.40ft.), 10m(32.81ft.), 20m(65.62ft.) • QD74MH MR-J3BUS M-B (Note-2) • MR-J3- B MR-J3- B MR-J3- B • Long distance cable • 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.) Forced stop input cable (Note-1) Connector for forced stop input cable (Note-1) : Q170DEMICBL M Q170DEMICON 0.5m(1.64ft), 1m(3.28ft), 3m(9.84ft), 5m(16.40ft), 10m(32.80ft), 15m(49.20ft), 20m(65.62ft), 25m(82.02ft), 30m(98.43ft) Connector for forced stop input cable production =Cable length (015: 0.15m(0.49ft.), 03: 0.3m(0.98ft.), 05: 0.5m(1.64ft.), 1: 1m(3.28ft.), 3: 3m(9.84ft.), 5: 5m(16.40ft.), 10: 10m(32.81ft.), 20: 20m(65.62ft.), 25: 25m(82.02ft.), 30: 30m(98.43ft.), 40: 40m(131.23ft.), 50:50m(164.04ft.) (Note-2) : Please contact your nearest Mitsubishi sales representative for the cable of less than 30m(98.43ft.). 2-4 2 SYSTEM CONFIGURATION MELSEC-Q 2.4 Name of Parts This section explains the names and LED display of the QD74MH. (1) Name of parts Side Front 6) 7) QD74MH16 RUN 1) ERR. 2) CN1 3) EMI 4) 8) QD74MH16 9) 5) No. Name 1) RUN indicator LED (green) 2) ERR indicator LED (red (error)) 3) SSCNET cable connector (CN1) (Note-1) Application • Lit: Power supply ON • Not lit: Power supply OFF • Lit/Flashing: Error occurrence • Not lit: Normal operation Connector to connect the servo amplifier. • Input connector to stop all axes of servo amplifier in a lump. EMI ON (opened) : Forced stop Forced stop input connector (EMI) EMI OFF (24VDC input) : Forced stop release (Note): It can be invalidated by the software setting. 4) 2 1 Pin No. Signal name 1 EMI 2 EMI.COM (Note-2) 5) Module loading lever Used to install the module to the base unit. 6) Module fixing hook Hook used to fix the module to the base unit. (Auxiliary use for installation) 7) Module fixing screw hole Used to fix the module to the base unit. (M3×12 screw: user-prepared) 8) Module fixing latch Hook used to fix to the base unit. 9) Serial number plate Indicates the serial number written on the rating plate. (Note-1) : Put the SSCNET cable in the duct or fix the cable at the closest part to the QD74MH with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector. (Note-2) : As for the connection to common (EMI.COM), both “+” and “-“ are possible. 2-5 2 SYSTEM CONFIGURATION MELSEC-Q (2) LED display The LED displays by the state of the QD74MH as follows. LED display Details RUN RUN LED (green) is OFF. Hardware failure, ERR. ERR. LED (red) is OFF. System error (Error code 100) RUN Steady RUN (green) LED display. ERR. ERR. LED (red) is OFF. The module operates normally. Description If RUN LED (green) is OFF, exchange the unit because it might be a failure. ― Check the error in the buffer RUN ERR. Steady RUN LED (green) display. System error (Except error code 100), Steady ERR. LED (red) display. Hardware failure memory and dispose. Exchange the unit for hardware failure because it might be a failure. RUN Steady RUN LED (green) display. Operation error, Interface error, ERR. ERR. LED (red) remains flashing. Servo error Check the error in the buffer memory and correct the parameter or positioning data. : OFF, : ON, : Flashing 2-6 2 SYSTEM CONFIGURATION MELSEC-Q 2.5 Basic Specifications (1) Module specifications Item QD74MH8 Internal current consumption (5VDC) [A] QD74MH16 0.70 Mass [kg] 0.15 Exterior dimensions [mm(inch)] 98 (3.85)(H) × 27.4 (1.08)(W) × 90 (3.54)(D) (2) Positioning control specifications Model Item Number of control axes Interpolation functions QD74MH8 QD74MH16 Up to 8 axes Up to 16 axes 2 to 4 axes linear interpolation (Up to 4 groups) Control methods PTP (Point to Point) control, Locus control (Linear only) Control units PLS Positioning data 32 data (Positioning data No.1 to 32)/axis (by sequence program) Basic parameters, OPR parameters, Manual control parameters, Back-up System parameters, Servo parameters and Positioning parameters can be saved in the flash ROM. (Battery less) Positioning methods PTP control: Incremental method/Absolute method Locus control: Incremental method/Absolute method Absolute method: -2147483648 to 2147483647 [PLS] Positioning range Positioning Incremental method: -2147483648 to 2147483647 [PLS] (Note): Positioning that exceeds the positioning range is impossible. Speed command range 5 to 2147000000 [PLS/s] Acceleration/deceleration Linear acceleration/deceleration, processing S-curve acceleration/deceleration Acceleration/deceleration time 0 to 20000 [ms] Sudden stop deceleration time 1 axis linear control Start time 2 axes linear interpolation control 0.88 [ms] 3 axes linear interpolation control 4 axes linear interpolation control Number of SSCNET systems 1 system Number of write accesses to flash ROM Number of occupied I/O points Up to 100000 32 points (I/O allocation: Intelligent function module 32 points) REMARK Refer to the QCPU User’s Manual (Hardware Design, Maintenance and Inspection) for the general specifications. 2-7 2 SYSTEM CONFIGURATION MELSEC-Q 2.6 Forced Stop Input Terminal Item Specifications Number of input points Forced stop signal : 1 point Input method Sink/Source type Rated input current 3.5mA Isolation method Photocoupler 19.2 to 26.4VDC Operating voltage range (+10/ -20%, ripple ratio 5% or less) ON voltage/current 17.5VDC or more/3.0mA or more OFF voltage/current 7VDC or less/1.0mA or less Input resistance Response time Approx. 6.8k OFF to ON ON to OFF External connector type 4ms or less 2 pin connector 2 0.3mm (AWG22) Applicable wire size 2-8 2 SYSTEM CONFIGURATION MELSEC-Q 2.7 Checking Function Version and Serial No. The function version and serial No. can be checked at the front of the QD74MH or the rating plate, and on the system monitor screen in GX Developer. (1) Checking function version and serial No. at the QD74MH (a) Front of QD74MH The function version and serial No. is printed in the projection parts forward of the lower side of QD74MH. (b) Rating plate The rating plate is situated on the side face of the QD74MH. QD74MH8 RUN ERR. MITSUBISHI MELSEC-Q UNIT PASSED MODEL CN1 SERI AL 100511100511999- B C UL 80M1 US LISTED IND. CONT. EQ MITSUBISHI ELECTRIC EMI QD74MH8 100511100511999- B Function version Serial number (First 6 digits) 2-9 MA D E IN JA PA N Rating plate Serial number (First 6 digits) Function version 2 SYSTEM CONFIGURATION MELSEC-Q (2) Checking function version on the system monitor screen (Module’s Detailed Information) Select [Module’s Detailed Information] button on the system monitor screen (Note-1) displayed on [Diagnostics] – [System monitor] of GX Developer . The function version can be checked in [Product Information] displayed on the Module’s Detailed Information screen. Function version (Note-1): SW4D5C-GPPW-E or later. Refer to the GX Developer Operating Manual for details. 2 - 10 3 DESIGN MELSEC-Q 3. DESIGN 3.1 System Designing Procedure Design the system which uses the QD74MH in the following procedure. Positioning control system design Select the QD74MH according to number of control axes. Select I/O modules according to the specifications of the external equipment to be controlled. Refer to MELSEC-Q series manual. Select the servo amplifier and servo motor according to the motor capacity and number of revolution from the machine mechanism to be controlled each axis. Refer to the servo amplifier manual. Refer to section 3.2 External circuit design Power supply circuit design Design the power supply circuit which supplies power to such system components as the QD74MH, I/O equipment and servo amplifiers, etc., taking into consideration the protective coordination and noise suppression techniques. Refer to section 3.2.1 Safety circuit design Design the operation-ready circuit which stops the system at occurrence of any alarm such as a QD74MH or servo amplifier alarm or the emergency stop, the circuit which avoids a malfunction while power is unstable at power-on, and the electromagnetic brake circuit for servomotors. Refer to section 3.2.2 Layout design within control panel Layout design based on the design environment such as temperatures and vibrations in consideration of heat generated from modules and handling of module installation. 3-1 Refer to section 4.1 3 3 DESIGN MELSEC-Q 3.2 External Circuit Design Configure up the power supply circuit and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop. When designing the main circuit of the power supply, make sure to use a no fuse breaker (NFB). The outline diagrams of the internal circuits for the external device connection interface are shown below. 3-phase 200 to 230VAC R S T (1) Example when using the forced stop of the QD74MH Power Supply Q61P NFB1 CP1 Positioning module QD74MH PLC CPU QnCPU Output module QY41P Yn INPUT 100-240VAC Ra1 12/24VDC FG Forced stop (Note-5) LG COM EMI.COM EMI SSCNET CP2 24VDC +24V Power supply 24G Emergency stop EMG Alarm Ra1 (Note-1) Operation Operation ready ready OFF ON MC MC SK 3-2 3 DESIGN MELSEC-Q POINT (1) (Note-1): Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. (2) (Note-2): It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. (3) (Note-3): It is also possible to use forced stop signal of the servo amplifier. (4) (Note-4): Set the servo amplifier by setting the rotary switch of servo amplifier referring Section 4.2.1. (5) (Note-5): The status of forced stop input signal can be confirmed with " Md.103 Forced stop input status". (6) (Note-6): It recommends using one leakage breaker for one servo amplifier. When electric power is supplied to multiple servo amplifiers for one leakage breaker, select the wire connected to the servo amplifier according to the capacity of the leakage breaker. NFB2 (Note-6) L1 MR-J3-B L2 A L3 V V W W 0 DICOM L21 Ra2 (Note-2) ALM CN1A SM ElectroGround magnetic brake (Note-4) L11 SSCNET U U Ra2 EM1 CN1B DOCOM (Note-3) 24VDC NFB3 (Note-6) L1 MR-J3-B L2 B L3 V V W W 1 DICOM Ra3 (Note-2) ALM CN1A SM ElectroGround magnetic brake (Note-4) L11 L21 U U Ra3 EM1 CN1B DOCOM (Note-3) 24VDC NFB4 (Note-6) L1 MR-J3-B L2 C L3 MC W W SM Ra4 ElectroGround magnetic brake 2 DICOM (Note-2) ALM CN1A CP3 V V (Note-4) L11 L21 U U Ra4 EM1 CN1B DOCOM (Note-3) 24VDC (Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that. Example) When the control power supply L11/L21 of servo amplifier in above B figure is shut off, it is also not possible to communicate with the servo amplifier C . If only a specific servo amplifier control power supply is shut off, be sure to shut off the main circuit power supply L1/L2/L3, and do not shut off the control power supply L11/L21. (Note-2): Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and QD74MH. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand. (Note-3): If the forced stop input signal by external 24VDC turns OFF when setting of " Pr.101 External forced stop selection" to "0 : Valid", servomotor is stopped with dynamic brake. (The LED display of servo amplifier indicates "E7" (Controller forced stop warning).) 3-3 3 DESIGN MELSEC-Q (2) Example when using the forced stop of the QD74MH and MR-J3-B 3-phase 200 to 230VAC R S T Power Supply Q61P NFB1 CP1 PLC CPU QnCPU Positioning module QD74MH Output module QY41P Yn INPUT 100-240VAC Ra1 12/24VDC FG Forced stop(Note-5) LG COM EMI.COM EMI SSCNET Ra2 CP2 24VDC +24V Power supply 24G Emergency stop EMG Alarm Ra1 (Note-1) Operation Operation ready ready OFF ON MC MC SK 3-4 3 DESIGN MELSEC-Q POINT (1) (Note-1): Configure up the power supply circuit which switch off the electromagnetic contactor (MC) after detection alarm occurrence on the PLC CPU. (2) (Note-2): It is also possible to use a full wave rectified power supply as the power supply for the electromagnetic brake. (3) (Note-3): Set the servo amplifier by setting the rotary switch of servo amplifier referring Section 4.2.1. (4) (Note-4): It recommends using one leakage breaker for one servo amplifier. When electric power is supplied to multiple servo amplifiers for one leakage breaker, select the wire connected to the servo amplifier according to the capacity of the leakage breaker. (5) (Note-5): The status of forced stop input signal can be confirmed with " Md.103 Forced stop input status". NFB2 (Note-4) L1 MR-J3-B L2 A L3 V V W W 0 DICOM L21 CN1A ALM CN1B EM1 SM Ra3 ElectroGround magnetic brake (Note-3) L11 SSCNET U U (Note-2) Ra2 Ra3 DOCOM 24VDC NFB3 (Note-4) L1 MR-J3-B L2 B L3 V V W W 1 DICOM CN1A ALM CN1B EM1 SM Ra4 ElectroGround magnetic brake (Note-3) L11 L21 U U (Note-2) Ra2 Ra4 DOCOM 24VDC NFB4 (Note-4) L1 MR-J3-B L2 C L3 MC W W CN1A ALM CN1B EM1 SM Ra5 ElectroGround magnetic brake DICOM 2 CP3 V V (Note-3) L11 L21 U U (Note-2) Ra2 Ra5 DOCOM 24VDC (Note-1): When the control power supply of servo amplifier is shut off, it is not possible to communicate with the servo amplifier after that. Example) When the control power supply L11/L21 of servo amplifier in above B figure is shut off, it is also not possible to communicate with the servo amplifier C . If only a specific servo amplifier control power supply is shut off, be sure to shut off the main circuit power supply L1/L2/L3, and do not shut off the control power supply L11/L21. (Note-2): Be sure to shut off the both of main circuit power supply L1/L2/L3 and control power supply L11/L21 at the time of exchange of servo amplifier. At this time, it is not possible to communicate between the servo amplifier and QD74MH. Therefore, be sure to exchange the servo amplifier after stopping the operating of machine beforehand. (Note-3): The dynamic brake is operated, and servomotor occurs to the free run when EM1 (forced stop) of servo amplifier turn OFF. At the time, the display shows the servo forced stop warning (E6). During ordinary operation, do not used forced stop signal to alternate stop and run. The service life of the servo amplifier may be shortened. 3-5 3 DESIGN MELSEC-Q 3.2.1 Power supply circuit design This section describes the protective coordination and noise suppression techniques of the power supply circuit. (1) Separation and protective coordination (leakage current protection, over current protection) of power supply lines Separate the lines for PLC system power supplies from the lines for I/O devices and servo amplifiers as shown below. When there is much noise, connect an insulation transformer. Main power supply 100/200VAC Isolation PLC power transformer supply PLC system CP NFB I/O power supply T1 I/O equipment CP Motor power supply Motor equipment CP Main circuit power supply for servo amplifier 200VAC NFB Control power supply for servo amplifier Servo amplifier CP (2) Grounding The PLC system may malfunction as it is affected by various noises such as electric path noises from the power supply systems, radiated and induced noises from other equipment, servo amplifiers and their cables, and electromagnetic noises from conductors. To avoid such troubles, connect the earthing ground of each equipment and the shield grounds of the shielded cables to the earth. For grounding, use the exclusive ground terminal wire of each equipment or a single-point earth method to avoid grounding by common wiring, where possible, since noises may sneak from other equipment due to common impedances. 100/200VAC Line noise filter PLC system SSCNET Servo amplifier 3-6 Servomotor 3 DESIGN MELSEC-Q 3.2.2 Safety circuit design (1) Concept of safety circuits When the PLC system is powered on and off, normal control output may not be done momentarily due to a delay or a startup time difference between the PLC power supply and the external power supply (DC in particular) for the control target. Also, an abnormal operation may be performed if an external power supply fault or positioning module failure takes place. To prevent any of these abnormal operations from leading to the abnormal operation of the whole system and in a fail-safe viewpoint, areas which can result in machine breakdown and accidents due to abnormal operations (e.g. emergency stop, protective and interlock circuits) should be constructed outside the PLC system. (2) Emergency stop circuit The circuit should be constructed outside of the PLC system or servo amplifier. Shut off the power supply to the external servo amplifier by this circuit, make the electromagnetic brakes of the servomotor operated. (3) Forced stop circuit (a) The forced stop of all servo amplifiers is possible in a lump by using the EMI forced stop input by external 24VDC of QD74MH. After forced stop, the forced stop factor is removed and the forced stop canceled. (The servo error detection signal does not turn on with the forced stop.) The forced stop input can be selected "valid/invalid" in the parameter setting. Make the forced stop input cable within 30m(98.43ft.). The wiring example for the forced stop input of QD74MH is shown below. Q61P PLC CPU QD74MH Forced stop EMI 24VDC EMI.COM 24VDC (Note-1) EMI.COM R <Positioning module> EMI R Forced stop (Note): The forced stop input can be selected "valid/invalid" in the parameter settings. (Note-1): Both of positive common and negative common can be used. 3-7 3 DESIGN MELSEC-Q (b) The forced stop of all servo amplifiers is possible in a lump by using the forced stop input signal [Y2] of QD74MH. After forced stop, the forced stop factor is removed and the forced stop canceled. (The servo error detection signal does not turn on with the forced stop.) The wiring example and program example that uses the forced stop input of input module (QX10) is shown below. Q61P PLC CPU QD74MH QX10 Xn 00 X20 1F X2F EMI.COM COM Forced stop EMI 100VAC 24VDC <Input module QX10> 100VAC TB17 QX10 TB16 LED Internal circuit R R TB1 R Forced stop (Note): The forced stop input can be set in the system settings. <Program example> X20 Y2 (c) It is also possible to use the forced stop signal of the servo amplifier. Refer to manual of the servo amplifier about servomotor capacity. Operation status of the forced stop and the forced stop are as follows. Item Operation of the signal ON Remark Shut off the power supply to the external servo amplifier Emergency stop Servo OFF Forced stop by external circuit, make the servomotor stopped. The servomotor is stopped according to the stop instruction from QD74MH to the servo amplifier. 3-8 4 INSTALLATION, WIRING, START-UP AND MAINTENANCE MELSEC-Q 4. INSTALLATION, WIRING, START-UP AND MAINTENANCE This section describes the installation, wiring, start-up and maintenance of the product. 4.1 Handling Precautions (1) Main body • The main body case is made of plastic. Take care not to drop or apply strong impacts onto the case. • Do not remove the PCB from the case. Failure to observe this could lead to faults. (2) Cable • Do not press on the cable with a sharp object. • Do not twist the cable with force. • Do not forcibly pull on the cable. • Do not step on the cable. • Do not place objects on the cable. • Do not damage the cable sheath. (3) Installation environment Do not install the module in the following type of environment. • Where the ambient temperature exceeds the 0 to 55°C range. • Where the ambient humidity exceeds the 5 to 95%RH range. • Where there is sudden temperature changes, or where dew condenses. • Where there is corrosive gas or flammable gas. • Where there are high levels of dust, conductive powder, such as iron chips, oil mist, salt or organic solvents. • Where the module will be subject to direct sunlight. • Where there are strong electric fields or magnetic fields. • Where vibration or impact could be directly applied onto the main body. 4-1 4 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q DANGER Completely turn off the externally supplied power used in the system before clearing or tightening the screws. Not doing so could result in electric shock. CAUTION Use the programmable controller in an environment that meets the general specifications contained in CPU module User's Manual to use. Using the programmable controller in an environment outside the range of the general specifications could result in electric shock, fire, operation failure, and damage to or deterioration of the product. Do not directly touch the module's conductive parts and electronic components. Doing so may could cause an operation failure or give damage to the module. Be sure there are no foreign matters such as sawdust or wiring debris inside the module. Such debris could cause fire, damage, or operation failure. Never try to disassemble or modify module. It may cause product failure, operation failure, injury or fire. Completely turn off the externally supplied power used in the system before installation or removing the module. Not doing so could result in damage to the module. Because the connector has its orientation, check it before attaching or detaching the connector straight from the front. Unless it is properly installed, a poor contact may occur, resulting in erroneous input and output. While pressing the installation lever located at the bottom of module, insert the module fixing tab into the fixing hole in the base unit until it stops. Then, securely install the module with the fixing hole as a supporting point. Incorrect installation of the module can cause an operation failure, damage or drop. When using the module in the environment of much vibration or impact, tighten the module with a screw. Tighten the screw in the specified torque range. Under tightening may cause a drop, short circuit or operation failure. Over tightening may cause a drop, short circuit or operation failure due to damage to the screw or module. Lock the control panel and prevent access to those who are not certified to handle or install electric equipment. 4-2 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 4.2 Wiring The precautions for wiring are given below. DANGER Completely turn off the externally supplied power used in the system before installation or wiring. Not doing so could result in electric shock or damage to the product. CAUTION Check the layout of the terminals and then properly route the wires to the module. Solder connector for external input signal cable properly. Insufficient soldering may cause malfunction. Be careful not to let foreign matters such as sawdust or wire chips get inside the module. These may cause fires, failure or malfunction. The top surface of the module is covered with protective films to prevent foreign objects such as cable off cuts from entering the module when wiring. Do not remove this film until the wiring is complete. Before operating the system, be sure to remove the film to provide adequate ventilation. When removing the cable or power supply cable from the module, do not pull the cable. When removing the cable with a connector, hold the connector on the side that is connected to the module. Pulling the cable that is still connected to the module may cause malfunction or damage to the module or cable. The external input signal cable of the QD74MH and SSCNET cable should not be routed near or bundled with the main circuit cable, power cable and/or other such load – carrying cables other than those for the PLC. These cables should be separated by at least 100mm (3.94inch) or more. They can cause electrical interference, surges and inductance that can lead to mis-operation. The shielded cable for connecting QD74MH can be secured in place. If the shielded cable is not secured, unevenness or movement of the shielded cable or careless pulling on it could result in damage to the QD74MH, servo amplifier or shielded cable or defective cable connections could cause mis-operation of the unit. 4-3 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE 4.2.1 SSCNET MELSEC-Q cable (1) Precautions of SSCNET cable wiring SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Especially, as optical fiber for MR-J3BUS M, MR-J3BUS M-A is made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature, such as radiator or regenerative option of servo amplifier and servomotor. Be sure to use optical fiber within the range of operating temperature described in this manual. Read described item of this section carefully and handle it with caution. (a) Minimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to edges of equipment or others. For SSCNET cable, the appropriate length should be selected with due consideration for the dimensions and arrangement of QD74MH or servo amplifier. When closing the door of control panel, pay careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius. Model name of SSCNET cable MR-J3BUS M Minimum bend radius [mm(inch)] 25(0.98) MR-J3BUS M-A Enforced covering cord: 50 (1.97), Cord: 25 (0.98) MR-J3BUS M-B Enforced covering cord: 50 (1.97), Cord: 30 (1.18) (b) Tension If tension is added on the SSCNET cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNET cable or the connecting part of SSCNET connector. At worst, the breakage of SSCNET cable or damage of SSCNET connector may occur. For cable laying, handle without putting forced tension. (Refer to this section "(5) Specifications of SSCNET cable" for the tension strength.) (c) Lateral pressure If lateral pressure is added on the SSCNET cable, the cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of SSCNET cable may occur. As the same condition also occurs at cable laying, do not tighten up SSCNET cable with a thing such as nylon band (TY-RAP). Do not trample it down or tuck it down with the door of control box or others. 4-4 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q (d) Twisting If the SSCNET cable is twisted, it will become the same stress added condition as when local lateral pressure or bend is added. Consequently, transmission loss increases, and the breakage of SSCNET cable may occur at worst. (e) Disposal When incinerating optical cable (cord) used for SSCNET cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of SSCNET cable, request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas. (f) Wiring process of SSCNET cable Put the SSCNET cable in the duct or fix the cable at the closest part to the QD74MH with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector. Leave the following space for wiring. • Putting in the duct Top of panel or wiring duct Base unit 30mm (1.18inch) or more(Note-1) QD74MH 80mm (3.15inch) or more Door Panel 70mm (2.76inch) or more 5mm(0.20inch) or more(Note-2) 98mm (3.86inch) 5mm(0.20inch) or more (Note-1) : For wiring duct with 50[mm] (1.97 inch) or less height. 40[mm] (1.58 inch) or more for other cases. (Note-2) : 20mm (0.79inch) or more when the adjacent module is not removed and the extension cable is connected. 4-5 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q • Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. When laying cable, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. Base unit QD74MH Panel Cord Loose slack Bundle material Recommended product NK clamp SP type (NIX,INC.) 4-6 Cable 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE (2) Connection of SSCNET MELSEC-Q cables The connection method of SSCNET cable between QD74MH and servo amplifier is explained as follows. When absolute position detection control is executed, installed battery (MR-J3BAT) to servo amplifier. QD74MH SSCNET cable length MR-J3BUS M use 1) 3m(9.84ft.) MR-J3BUS M-A use 1) 20m(65.62ft.) MR-J3BUS M-B use 1) 50m(164.04ft.) CN1 1) CN1A CN1A 1) Cap CN1B CN1B Servo amplifier Servo amplifier (Note): It cannot communicate with that the connection of CN1A and CN1B is mistaken. Table 4.1 List of SSCNET No. Model name (Note) Cable length Description 0.15m(0.49ft.), 0.3m(0.98ft.), 0.5m(1.64ft.), 1m(3.28ft.), 3m(9.84ft.) Standard cord for inside panel MR-J3BUS M-A 5m(16.4ft.), 10m(32.81ft.), 20m(65.62ft.) Standard cable for outside panel MR-J3BUS M-B 30m(98.43ft.), 40m(131.23ft.), 50m(164.04ft.) Long distance cable MR-J3BUS M 1) cable module name • QD74MH MR-J3- B • MR-J3- B MR-J3- B (Note): 4-7 = Cable length 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q (3) Setting of the axis number and axis select rotary switch of servo amplifier Axis number is used to set the axis numbers of servo amplifiers connected to SSCNET connector(CN1) in the program. Axis number of 1 to 16 can be set for QD74MH16, and axis number of 1 to 8 can be set for QD74MH8. Set the axis number by using the axis select rotary switch of servo amplifier. Axis number and number of axis select rotary switch is allocated as shown in the table below. Set not to overlap the axis number of servo amplifier. Wrong setting of servo amplifier may not operate normally. Table 4.2 Correspondence between axis number and axis select rotary switch 1 0 2 1 3 2 4 3 5 4 6 5 7 6 8 7 4 56 Axis select rotary switch 9 8 23 Axis number 10 9 11 A 12 B 13 C 14 D 15 E 16 F CD AB E F01 4-8 789 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE (4) Precautions for handling the SSCNET MELSEC-Q cable • Do not stamp the SSCNET cable. • When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. If the bend radius is less than the minimum cable bend radius, it may cause malfunctions due to characteristic deterioration, wire breakage, etc. • For connection and disconnection of SSCNET cable, hold surely a tab of cable connector. QD74MH CN1 (a) Connection of SSCNET cable • For connection of SSCNET cable to the QD74MH, connect it to the SSCNET connector CN1 of QD74MH while holding a tab of SSCNET cable connector. Be sure to insert it until it clicks. • If the cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. (b) Disconnection of SSCNET cable • For disconnection of SSCNET cable, pull out it while holding a tab of SSCNET cable connector or the connector. • After disconnection of SSCNET cable, be sure to put a cap (attached to QD74MH or servo amplifier) to the QD74MH and servo amplifier. • For SSCNET cable, attach the tube for protection optical cord's end face on the end of connector. CAUTION Securely connect the connector for SSCNET Be sure to connect SSCNET cable to the bottom connector on the module. cable with the connector. If the connection is mistaken, between the QD74MH and servo amplifier cannot be communicated. After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions. Do not remove the SSCNET cable while turning on the power supply of QD74MH and servo amplifier. Do not see directly the light generated from SSCNET connector and the end of SSCNET cable. When the light gets into eye, may feel something is wrong for eye. (The light source of SSCNET cable complies with class1 defined in JISC6802 or IEC60825-1.) If the SSCNET cable is added a power such as a major shock, lateral pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be available. Be sure to take care enough so that the short SSCNET cable is added a twist easily. 4-9 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q CAUTION Be sure to use the SSCNET cable within the range of operating temperature described in this manual. Especially, as optical fiber for MR-J3BUS M and MR-J3BUS M-A are made of synthetic resin, it melts down if being left near the fire or high temperature. Therefore, do not make it touched the part which becomes high temperature, such as radiator or regenerative option of servo amplifier, or servomotor. When laying the SSCNET cable, be sure to secure the minimum cable bend radius or more. (Refer to Section 4.2.1) Put the SSCNET cable in the duct or fix the cable at the closest part to the QD74MH with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector. When laying cable, the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius, and it should not be twisted. Also, fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material. Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS M, and MR-J3BUS M-A cables away from vinyl tape because the optical characteristic may be affected. Cable Optical cord SSCNET cable Cord Cable MR-J3BUS M MR-J3BUS M-A MR-J3BUS M-B : Normally, cable is not affected by plasticizer. : Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable. Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and fluorine resin contain nonmigrating plasticizer and they do not affect the optical characteristic of SSCNET cable. However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MR-J3BUS M and MR-J3BUS M-A cables (made of plastic). In addition, MR-J3BUS M-B cable (made of quartz glass) is not affected by plasticizer. If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machine characteristic. If it is used such an environment, be sure to do the protection measures to the cord part. When keeping the QD74MH or servo amplifier, be sure to put on a cap to connector part so that a dirt should not adhere to the end of SSCNET SSCNET connector. connector to connect the SSCNET cable is put a cap to protect light device inside connector from dust. For this reason, do not remove a cap until just before connecting SSCNET cable. Then, when removing SSCNET cable, make sure to put a cap. Keep the cap and the tube for protecting light cord end of SSCNET zipper of SSCNET cable to prevent them from becoming dirty. 4 - 10 cable in a plastic bag with a 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q CAUTION When exchanging the QD74MH or servo amplifier, make sure to put cap on SSCNET connector. When asking repair of QD74MH or servo amplifier for some troubles, make also sure to put a cap on SSCNET connector. When the connector is not put a cap, the light device may be damaged at the transit. In this case, exchange and repair of light device is required. Forcibly removal the SSCNET cable from the QD74MH will damage the QD74MH and SSCNET cables. (5) Specifications of SSCNET Generally use the SSCNET (a) Model cables available as our products. Cable model MR-J3BUS M MR-J3BUS M-A (Note-1) MR-J3BUS M-B cable Cable length [m(ft.)] MR-J3BUS015M 0.15 (0.49) MR-J3BUS03M 0.3 (0.98) MR-J3BUS05M 0.5 (1.64) MR-J3BUS1M 1 (3.28) MR-J3BUS3M 3 (9.84) MR-J3BUS5M-A 5 (16.40) MR-J3BUS10M-A 10 (32.81) MR-J3BUS20M-A 20 (65.62) MR-J3BUS30M-B 30 (98.43) MR-J3BUS40M-B 40 (131.23) MR-J3BUS50M-B 50 (164.04) Flex life Remark Standard Standard cord for inside panel Standard Standard cable for outside panel Long flex Long distance cable (Note-1): For the cable of less than 30[m](98.43[ft.]), contact your nearest Mitsubishi sales representative. (b) Specifications Description SSCNET cable model 0.15 (0.49) Minimum bend radius [mm(inch)] 70 140 420 (Enforced covering cord) -40 to 80 (-40 to 176) (Note-1) 980 (Enforced covering cord) -20 to 70 (-4 to 158) Indoors (no direct sunlight), No solvent or oil Optical cable (Cord) 2.2 0.07 (0.09 0.003) 10.16(Note-2) (0.40) 4.4 0.1 (0.17 0.004) 4.4 0.1 (0.17 0.004) 6 0.2 (0.24 0.008) (Note-1): This temperature range for use is the value for optical cable (cord) only. (Note-2): Dimension of connector fiber insert location. The distance of two cords is changed by how to bend it. 4 - 11 4.4 0.4 (0.17 0.016) 7.6 0.5 (0.30 0.02) 2.2 0.2 (0.09 0.008) Ambient External appearance [mm(inch)] MR-J3BUS M-B 30 to 50 (98.43 to 164.04) Enforced covering cord: 50 (1.97) Enforced covering cord: 50 (1.97) Cord: 25 (0.98) Cord: 30 (1.18) 25(0.98) Temperature range for use [°C(°F)] MR-J3BUS M-A 5 to 20 (16.40 to 65.62) 2.2 0.07 (0.09 0.003) Tension strength [N] 0.3 to 3 (0.98 to 9.84) 2.2 0.07 (0.09 0.003) SSCNET cable length [m(ft.)] MR-J3BUS M 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q CAUTION Use the processing method and the processing treatment device that exists in the connector when you fix the cord part of the SSCNET cable to the connector. It must not cut squarely when you cut the cord part of the SSCNET cable, the cutting edge side must not be made smooth, and garbage etc. must not adhere. The damage etc. must not adhere to the optical cord part when you peel off the film of the cable of the SSCNET cable. If the end face of cord tip for the SSCNET cable is dirty, optical transmission is interrupted and it may cause malfunctions. If it becomes dirty, wipe with a bonded textile, etc. Do not use solvent such as alcohol. Please do not add impossible power to the connector of the SSCNET When incinerating the SSCNET cable. cable (optical fiber), hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of the SSCNET cable (optical fiber), request for specialized industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas. 1) MR-J3BUS M a) Model explanation Type: MR-J3BUS MSymbol Cable type None Standard cord for inside panel Standard cable for outside panel A B Long distance cable Symbol 015 03 05 1 3 5 10 20 30 40 50 4 - 12 Cable length [m(ft.)] 0.15(0.49) 0.3(0.98) 0.5(1.64) 1(3.28) 3(9.84) 5(16.40) 10(32.81) 20(65.62) 30(98.43) 40(131.23) 50(164.04) 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q b) Exterior dimensions • MR-J3BUS015M [Unit: mm(inch)] 6.7(0.26) 15 13.4 (0.59) (0.53) 37.65 (1.48) 20.9(0.82) Protective tube 1.7(0.07) 2.3(0.09) 8+0 (0.31) 150 +50 -0 (5.91) • MR-J3BUS03M to MR-J3BUS3M Refer to the table of this section (5) for cable length (L). [Unit: mm(inch)] Protective tube (Note) 100 (3.94) 100 (3.94) L (Note) : Dimension of connector part is the same as that of MR-J3BUS015M. • MR-J3BUS5M-A to MR-J3BUS20M-A, MR-J3BUS30M-B to MR-J3BUS50M-B Refer to the table of this section (5) for cable length (L). SSCNET Variation [mm(inch)] cable A B MR-J3BUS5M-A to MR-J3BUS20M-A 100(3.94) 30(1.18) MR-J3BUS30M-B to MR-J3BUS50M-B 150(5.91) 50(1.97) [Unit: mm(inch)] Protective tube (Note) (A) (B) (B) (A) L (Note) : Dimension of connector part is the same as that of MR-J3BUS015M. POINT Keep the cap and the tube for protecting light code end of SSCNET cable in a plastic bag with a zipper of SSCNET cable to prevent them from becoming dirty. 4 - 13 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE 2) SSCNET MELSEC-Q cable connector [Unit: mm(inch)] 13.4 (0.53) 4.8(0.19) 17.6 0.2 (0.69 0.01) 2.3 (0.09) 9.3(0.37) 6.7 (0.26) 15 (0.59) 1.7 (0.07) 8 (0.31) 20.9 0.2 (0.82 0.01) 4 - 14 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 4.2.2 Forced stop input cable (1) Precautions for handling the forced stop input cable For connection or removal of the forced stop input cable, do it surely while holding a connector of forced stop input cable. QD74MH CN1 Tab (2) Connection of the forced stop input cable For connection of a forced stop input cable to the QD74MH, connect it surely to a EMI connector of QD74MH while holding a connector. Be sure to insert it until it clicks. (3) Removal of the forced stop input cable For removal of the forced stop input cable, push a tab and pull out the cable while holding a connector. POINT Forcibly removal the forced stop input cable from the QD74MH will damage the QD74MH or forced stop input cable. 4 - 15 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q (4) Specifications of forced stop input cable Generally use the forced stop input cable available as our products. If the required length is not found in our products, fabricate the cable on the customer side. Make the forced stop input cable within 30m(98.43ft.). (a) Q170DEMICBL M 1) Model explanation Type: Q170DEMICBL M Symbol 05 1 3 5 10 15 20 25 30 Cable length [m(ft.)] 0.5(1.64) 1(3.28) 3(9.84) 5(16.40) 10(32.81) 15(49.21) 20(65.62) 25(82.02) 30(98.43) 2) Connection diagram CPU module side Solderless terminal 2 1 5556PBTL (Terminal) 5557-02R-210 (Connector) Solderless terminal size: R1.25-3.5 EMI.COM 2 EMI.COM EMI 1 EMI : Twisted pair cable (Note) : Use a cable of wire size AWG24. 3) Forced stop input connector (Molex Incorporated make) Type Connector : 5557-02R-210 Terminal : 5556TLPBTL [Unit: mm (inch)] 8.5 (0.33) 6.3 (0.25) 9.6 (0.38) 3.5 (0.14) 4 - 16 10.7 (0.42) 19.6 (0.77) 10.6 (0.42) 5.4 (0.21) 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 4.3 Confirming the Installation and Wiring 4.3.1 Items to confirm when installation and wiring are completed Confirm the wiring after installation and wiring. Confirm the following points in the buffer memory using GX Developer. • Are the servo amplifiers correctly connected? • Are the servo amplifiers and servomotors correctly connected? • Are the external devices (input signals) correctly connected? • Are the forced stop inputs correctly connected? Connection with the external devices (input signals) or forced stop inputs can also be confirmed by the following monitor data of GX Developer. • Connection with the external devices (input signals).... Md.4 External input signal • Connection with the forced stop input........................... Md.103 Forced stop input status Important If the QD74MH is faulty, or when the required signals such as the proximity dog signal and stop signal are not recognized, unexpected accidents such as "not decelerating at the proximity dog during OPR and colliding with the stopper", or "not being able to stop with the stop signal" may occur. The "connection confirmation" must be carried out not only when structuring the positioning system, but also when the system has been changed with module replacement or rewiring, etc. 4 - 17 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 4.4 Start-up 4.4.1 Checklist before trial operation Table 4.3 Checklists before trial operation Model name Confirmation Items Check Reference (1) Check that the main base unit has been suited with the CPU module to be used. (2) Check that the model name of module is correct. (3) Check that the installation order is correct. Main base unit/ Extension base unit (4) Check that the damage for installed modules. (5) Check that the modules are installed correctly. (6) Check for looseness, rattling or distorted installation. (7) Check that the module fixing screw tightening torque is as specified. (8) Check that the total I/O points of I/O modules and intelligent function modules do not exceed the I/O points of the CPU module. (1) Check that the model name of power supply modules is correct. (2) Check that the wire sizes of cables are correct. (3) Check that the power line is wired correctly. Refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) (4) Check that FG and LG are wired correctly. (5) Check that the terminal screws are tightened correctly. Power supply module (6) Check that the terminal screws are tightening torque is as specified. (7) Check that the 100VAC, 200VAC and 24VDC wires are twisted as closely as possible respectively and run in the shortest distance. (8) Check that the 100VAC, 200VAC and 24VDC wires are not bind the cable together with and run close to the power wires. (9) Check that grounding of the earth terminal FG and LG. (1) Check that the model name of PLC CPU modules is correct. PLC CPU module QD74MH Positioning module 2.2 (2) Check that the modules are installed to CPU slot or I/O slot 0 to 2 of the main base unit. (1) Check that the module fixing screws are tightened correctly. (2) Check that the connection with servo amplifier is correct. Refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) 3.2 (3) Check that the forced stop input is wired correctly. (1) Check that the wire size of cable is correct. (2) Check that the terminal block screws are tightened correctly. (3) Check that the cables connected to each terminal of terminal block correspond to the signal names. (4) Check that the external power supply are connected correctly. (24VDC, 5VDC) I/O module (5) Check that the 100VAC, 200VAC and 24VDC wires are twisted as closely as possible respectively and run in the shortest distance. (6) Check that the 100VAC, 200VAC and 24VDC wires are not bind the cable together with and run close to the I/O wires. (7) Check that the I/O wires are wired correctly. (1) Check that the model name of SSCNET (3) Check that the SSCNET cable Refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) cables is correct. (2) Check that the connecting position for connector of SSCNET are correct. SSCNET Refer to the I/O Module Type Building Block User's Manual cables cables are connected correctly. (4) Check for looseness, rattling or distorted connection. (5) Check that the minimum bend radius or more secured. (6) Check that the MRJ3BUS M and MRJ3BUS M-A do not come in contact with wires/cables that use materials where the plasticizing material is contained. 4 - 18 4.2.1 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 4.4.2 Trial operation and adjustment procedure Servo start-up procedure Turn OFF PLC system power supply Check that the system power supply is OFF. Check wiring and module installation (1) Check the installation position and condition of each modules. (2) Check the connecting condition of connectors. (3) Check that all terminal screws are tight. (4) Check the ground wires of servo amplifier, etc.. (5) Check the servomotor wiring (U, V, W). (6) Check the regenerative resistor wiring. (7) Check the circuit of emergency stop or forced stop. Servo amplifier setting Set the axis number of servo amplifier. Turn ON power supply Set the switch of PLC CPU module to STOP, and turn ON the system power supply. PLC parameter setting Refer to the QCPU User's Manual (Hardware Design, Maintenance and Inspection) for installation of module. DANGER Be sure to ground the controllers, servo amplifiers and servomotors. (Ground resistance: 100 or less) Do not ground commonly with other devices. CAUTION Check that the combination of modules is correct. Wrong combination may damage the modules. Refer to Section 4.2.1 CAUTION When using a regenerative resistor, shut the power OFF with an error signal. The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor, etc., and may lead to fires. Always take heat measure such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is mounted and for the wires used. Failing to do so may lead to fires. Set the parameter setting using GX Developer. Turn ON power supply again Turn ON again the power supply or reset of system. CAUTION Check I/O module Check the wiring of I/O modules. Do not mount a phase advancing capacitor, surge absorber or radio noise filter (option FR-BIF) on the output side of the servo amplifier. Correctly connect the output side (terminal U, V, W). Incorrect connections will lead the servomotor to operate abnormally. 1) 4 - 19 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 1) Create PLC programs Create the PLC programs using GX Developer. Set the following positioning parameters. (1) Basic parameters (2) OPR parameters (3) Manual control parameters (4) System parameters (5) Control data (6) Positioning data (7) Servo parameter Write sequence programs Write the sequence programs created to the PLC CPU module. Turn ON power supply again Turn ON again or reset the power supply of system. Turn ON servo amplifiers power supply Check the emergency stop ON and forced stop ON, and turn ON the power supply of servo amplifiers and servomotors. PLC READY ON CAUTION Set parameter values to those that are compatible with the controller, servo amplifier, servomotor and regenerative resistor model name and the system name application. The protective functions may not function if the settings are incorrect. DANGER Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF. The insides of the controller and servo amplifier are charged and may lead to electric shocks. When performing wiring work or inspections, turn the power OFF, wait at least ten minutes, and then check the voltage with a tester, etc.. Failing to do so may lead to electric shocks. Wire the units after mounting the controller, servo amplifier and servomotor. Failing to do so may lead to electric shocks or damage. CAUTION Always mount a leakage breaker on the controller and servo amplifier power source. Install emergency stop circuit externally so that operation can be stopped immediately and the power shut off. Use the program commands for the program with the conditions specified in the instruction manual. Some devices used in the program have fixed applications, so use these with the conditions specified in the programming manual. Turn ON the PLC READY signal [Y0]. Check servo amplifier Check that the mounted servo amplifiers operate correctly. Check external inputs Refer to Section 6.5.1 Check that the following external inputs operate correctly. (1) FLS (Upper stroke limit input) (2) RLS (Lower stroke limit input) (3) DOG (Proximity dog signal) 2) 4 - 20 CAUTION If safety standards (ex., robot safety rules, etc., ) apply to the system using the controller, servo amplifier and servomotor, make sure that the safety standards are satisfied. Construct a safety circuit externally of the controller or servo amplifier if the abnormal operation of the Motion controller or servo amplifier differ from the safety directive operation in the system. 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 2) Check machine operation Check the followings by making the machine operate with the JOG operation. (1) Machine operates correctly (no vibration, hunting, etc. ) (2) Stroke limits operate correctly (3) Machine stops by the emergency stop or forced stop. CAUTION The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max. speed. Execute the test operation in the system that it is low-speed as much as possible and put forced stop, and confirm the operation and safety. Check OPR Check the followings by executing the OPR. (1) OPR direction (2) OPR data (3) Proximity dog position Check sequence program Set the switch of PLC CPU module to RUN, and check that all positioning controls by sequence programs are correct. Check by automatic operation Check the sequence operation by executing the sequence program using an actual external input. END POINT (1) Make note of servomotor module names before the servomotor is mounted on a machine. The servomotor name plate may not be visible after the motor is mounted. (2) When the servo amplifier, servomotor is first turned on, check the operation before the servomotor is mounted on a machine to avoid an unexpected accidents such as machine breakage. 4 - 21 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 4.5 Maintenance 4.5.1 Precautions for maintenance The precautions for servicing are given below. Refer to this section as well as "4.1 Handling Precautions" when carrying out the work. DANGER Completely turn off the externally supplied power used in the system before clearing or tightening the screws. Not doing so could result in electric shock. CAUTION Never try to disassemble or modify module. It may cause product failure, operation failure, injury or fire. Completely turn off the externally supplied power used in the system before installation or removing the module. Not doing so could result in electric shock, damage to the module or operation failure. 4.5.2 Disposal instructions When you discard QD74MH, servo amplifier, a battery (primary battery) and other option articles, please follow the law of each country (area). CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life. When considering this product for operation in special applications such as machinery or systems used in passenger transportation, medical, aerospace, atomic power, electric power, or submarine repeating applications, please contact your nearest Mitsubishi sales representative. Although this product was manufactured under conditions of strict quality control, you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident. 4 - 22 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 4.6 Daily Inspection The items that must be inspected daily are shown below. Table 4.4 Daily inspection Item 1 2 3 Inspection item Criterion Action Mounting of base unit Installation of I/O module Check that the module The module fixing hook must be engaged and installed is not dislocated and the unit fixing hook is correctly. engaged securely. Securely engaged the module fixing hook. Check for loose terminal screws. Screws should not be loose. Retighten the terminal screws. Check for distance between solderless terminals. The proper clearance should be provided between solderless terminals. Correct. Check the connector part of the cable. Connections should not be loose. Retighten the connector fixing screws. Check that the LED is ON. The LED must be ON (green). (Abnormal if the LED is OFF or ON (red)). Connecting conditions Module indication LED Power supply module 4 Inspection Check that the fixing screws are not loose and the cover is not dislocated. PLC CPU module [POWER] LED The screws and cover must be mounted securely. [MODE] LED Check that the LED is ON. The LED must be ON (green). (Abnormal if the LED is OFF or flickering.) [RUN] LED Check that the LED is ON in RUN status. The LED must be ON. (Abnormal if the LED is OFF.) [ERR.] LED Check that the LED is OFF. The LED must be OFF. (Abnormal if the LED is ON or flickering.) [BAT.] LED Check that the LED is OFF. The LED must be OFF. (Abnormal if the LED is ON.) Check that the LED is QD74MH [RUN] LED ON. Positioning Check that the LED is module [ERR.] LED OFF. Input LED Check that the LED is ON/OFF. Output LED Check that the LED is ON/OFF. I/O module The LED must be ON. (Abnormal if the LED is OFF.) The LED must be OFF. (Abnormal if the LED is ON or flickering.) Retighten the screws. Refer to the "QCPU User's Manual (Function Explanation, Program Fundamentals)". Refer to Section 2.4 The LED must be ON when the input power is turned ON. The LED must be OFF when the input power is turned OFF. Refer to (Abnormal if the LED does not turn ON or turn OFF as "I/O Module Type indicated above.) The LED must be ON when the input power is turned ON. Building Block The LED must be OFF when the input power is turned OFF. User's Manual". (Abnormal if the LED does not turn ON or turn OFF as indicated above.) 4 - 23 4 INSTALLATION, WIRING, START-UP, AND MAINTENANCE MELSEC-Q 4.7 Periodic Inspection The items that must be inspected one or two times every 6 months to 1 year are listed below. When the equipment is moved or modified, or layout of the wiring is changed, also implement this inspection. Table 4.5 Periodic inspection 3 4 Inspection Judgment criteria Ambient temperature Ambient humidity 0 to 55 °C (32 to 131 °F) Measure with a thermometer and a 5 to 95 % RH hygrometer. Measure corrosive gas. No corrosive gases Atmosphere Remedy When the controller is used in the board, the ambient temperature in the board becomes the ambient temperature. 85 to 132VAC Measure a voltage across the terminals of 100/200VAC and 24VDC. 15.6 to 31.2VDC Looseness, rattling Move the module to check for looseness and rattling. The module must be installed solidly. Retighten the screws. If the CPU, I/O, or power supply module is loose, fix it with screws. Adhesion of dirt and foreign matter Check visually. Dirt and foreign matter must not be present. Remove and clean. Looseness of terminal screws Try to further tighten screws with a Screws must not be loose. screwdriver. Power voltage Installation 2 Connection 1 Inspection item Ambient environment Item 170 to 264VAC Change the power supply. Retighten the terminal screws. Proximity of solderless Check visually. terminals to each other Solderless terminals must be positioned at proper intervals. Correct. Looseness of connectors Connectors must not be loose. Retighten the connector fixing screws. Check visually. 4 - 24 5 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 5. SPECIFICATIONS AND FUNCTIONS This section describes the input/output signals with PLC CPU and functions. 5.1 Specifications of Input/Output Signals 5.1.1 List of input/output signals The QD74MH uses 32 input points and 32 output points for exchanging data with the PLC CPU. The input/output signals when the QD74MH is mounted in slot No. 0 of the main base unit are shown below. Device X refers to the signals input from the QD74MH to the PLC CPU, and device Y refers to the signals output from the PLC CPU to the QD74MH. Signal direction: QD74MH Device No. X0 PLC CPU Signal name Signal direction: PLC CPU Device No. Signal name Unit READY Y0 PLC READY X1 Error detection Y1 All axis servo ON X2 Warning detection Y2 Forced stop input X3 Synchronization flag Y3 X4 Y4 X5 Y5 X6 Y6 X7 Y7 X8 Y8 X9 XA Y9 Unusable QD74MH Unusable YA XB YB XC YC XD YD XE YE XF YF X10 Axis 1 Y10 Axis 1 X11 Axis 2 Y11 Axis 2 X12 Axis 3 Y12 Axis 3 X13 Axis 4 Y13 Axis 4 X14 Axis 5 Y14 Axis 5 X15 Axis 6 Y15 Axis 6 X16 Axis 7 Y16 Axis 7 X17 Axis 8 Y17 Axis 8 X18 Axis 9 Y18 Axis 9 BUSY X19 Axis 10 Y19 Axis 10 X1A Axis 11 Y1A Axis 11 X1B Axis 12 Y1B Axis 12 X1C Axis 13 Y1C Axis 13 X1D Axis 14 Y1D Axis 14 X1E Axis 15 Y1E Axis 15 X1F Axis 16 Y1F Axis 16 5-1 Positioning start 5 5 SPECIFICATIONS AND FUNCTIONS 5.1.2 Input signals (QD74MH Device No. X0 MELSEC-Q PLC CPU) Signal name ON : READY OFF : Not READY/ Watch dog timer error Unit READY Details • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting range is checked. If no error is found, this signal turns ON. • It turns OFF when the PLC READY signal [Y0] turns OFF. • It turns OFF when the watch dog timer error occurs. • It is used for interlock in a sequence program, etc. ON PLC READY signal [Y0] OFF ON Unit READY signal [X0] X1 X2 X3 ON : Error occurrence OFF : No error Error detection OFF • This signal turns ON when the error occurs by any axis of from Axis 1 to 16. • It turns OFF by error reset of all axes in which the error occurred. (Confirm the axis error status in " Md.100 Axis error status".) POINT Start of positioning, OPR or manual control cannot be executed for the axis in operation error occurrence. Start after reset errors. • This signal turns ON when the error occurs by any axis of from Axis 1 to 16. • It turns OFF by warning release of all axes in which the warning occurred. (Confirm the axis warning status in " Md.101 Axis warning status".) Warning detection ON : Warning occurrence OFF : No warning Synchronization flag ON : Module access enabled OFF : Module access disabled • When "Asynchronous" is selected in the module synchronization setting of the CPU module, this signal can be used as interlock for the access from a sequence program to the QD74MH. (After the system power supply ON or reset, this signal turns ON if the access from the PLC CPU to the QD74MH is possible.) ON : BUSY OFF : Not BUSY • This signal turns ON at the start of positioning, OPR and manual control. • It turns OFF at passage of " Da.8 Dwell time" after positioning stops, OPR completion and manual control completion. • It turns OFF at error completion or positioning stop. X10 Axis 1 X11 Axis 2 X12 Axis 3 X13 Axis 4 X14 Axis 5 X15 Axis 6 X16 Axis 7 X17 Axis 8 X18 Axis 9 X19 Axis 10 X1A Axis 11 X1B Axis 12 X1C Axis 13 X1D Axis 14 X1E Axis 15 X1F Axis 16 BUSY (Note-1) • Warnings of servo amplifier are automatically released by warning release on the servo amplifier side also on the QD74MH side. Therefore, warnings are not released by error reset for an axis. POINT (Note-1): The BUSY signal turns ON even when position control of movement amount 0 is executed. However, since the ON time is short, the ON status may not to be detected in the sequence program. 5-2 5 SPECIFICATIONS AND FUNCTIONS 5.1.3 Output signals (PLC CPU Device No. MELSEC-Q QD74MH) Signal name Details (a) This signal notifies the QD74MH that the PLC CPU is normal. • It is turned ON/OFF with the sequence program. (b) This signal turns OFF at the change of the basic parameters or OPR parameters. (c) The following processes are executed at the PLC READY signal ON. • The setting range check of the basic parameters, OPR parameters and system parameters. • Unit READY signal [X0] ON (d) The following processes are executed at the PLC READY signal from ON to OFF. • Unit READY signal [X0] OFF • Sudden stop of operating axis. Y0 PLC READY ON : PLC READY ON OFF : PLC READY OFF Y1 All axis servo ON ON : Servo ON OFF : Servo OFF • The servo ON/OFF is executed for all servo amplifiers connected to the QD74MH. ([READY ON, Servo ON] / [READY OFF, Servo OFF]) Y2 Forced stop input ON : Requested OFF : Not requested • The forced stop is requested from the PLC CPU to the QD74MH. Y10 Axis 1 Y11 Axis 2 Y12 Axis 3 Y13 Axis 4 Y14 Axis 5 Y15 Axis 6 Y16 Axis 7 Y17 Axis 8 Y18 Axis 9 Y19 Axis 10 Y1A Axis 11 Y1B Axis 12 Y1C Axis 13 Y1D Axis 14 Y1E Axis 15 Y1F Axis 16 Positioning ON : Requested start OFF : Not requested • Positioning, OPR and new current change is started. • The positioning start signal becomes valid at the leading edge, and the operation is started. 5-3 5 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 5.2 Functions 5.2.1 QD74MH control functions (1) OPR control "OPR control" is a function that established the start point for carrying out positioning control, and carries out positioning toward that start point. This is used to return a workpiece, located at a position other than the OP when the power is turned ON or after positioning stop, to the OP. The OPR control is preregistered in the QD74MH as the "Positioning start data No. 9000 (OPR)". (Refer to Chapter 7 "OPR Control".) (2) Major positioning control This control is carried out using the positioning data stored in the QD74MH. Positioning control is executed by setting the required items in this positioning data and starting that positioning data. An operation pattern can be set in this positioning data, and with this whether to carry out control with continuous positioning data (ex.: positioning data No.1, No.2, No.3, ...) can be set. (Refer to Chapter 8 "Positioning Control".) (3) Manual control Use this manual control to move the workpiece to a random position (JOG operation) and to finely adjust the positioning (incremental feed operation). (Refer to Chapter 9 "Manual Control".) (4) Sub functions When executing the above functions, control compensation, limits and functions can be added. (Refer to Chapter 10 "Function Details".) 5-4 5 SPECIFICATIONS AND FUNCTIONS MELSEC-Q 5.2.2 Functions of QD74MH Functions of QD74MH are shown below. Sub functions Manual control • Proximity dog type • Data set type • Stopper type • Dog cradle type • Limit switch combined type • Scale origin signal detection type Details Reference section This function mechanically establishes the positioning start point using a proximity dog, stopper or limit switch. Chapter 7 This function executes the positioning to a target position in a linear path by the address or movement amount set in the positioning data. Chapter 8 JOG operation This function executes the positioning at the specified speed while the JOG start signal is ON. 9.1 Incremental feed operation This function executes the positioning corresponding to minute movement amount by manual operation. 9.2 Servo ON/OFF This function executes the all axes servo ON/OFF or each axis servo ON/OFF. 10.1 Electronic gear function This function changes the machine movement amount per commanded pulse by setting of the movement amount per pulse. 10.2 Hardware stroke limit function This function executes a deceleration stop with the limit switch input via servo amplifier. 10.3 Software stroke limit function If a command outside of the upper/lower limit stroke limit setting range set in the parameters is issued, this function will not execute positioning for that command. 10.4 Backlash compensation function This function compensates the mechanical backlash amount. Feed pulses equivalent to the set backlash amount are output each time the movement direction change. 10.5 Speed limit function If the command speed exceeds " Pr.10 Speed limit value" during control, this function limits the commanded speed within the setting range of " Pr.10 Speed limit value". 10.6 Position control Positioning control OPR control Functions Linear control • 1-axis linear control • 2-axis linear interpolation control • 3-axis linear interpolation control • 4-axis linear interpolation control Acceleration/deceleration control This function adjusts the acceleration/deceleration for the control. 10.7 Stop control This function executes a deceleration stop with the stop command. 10.8 Sudden stop control This function executes a sudden stop with the sudden stop command. 10.9 Forced stop control This function stops the all axes of servo amplifier by input from DC24V connected to the forced stop input connector of QD74MH or input from PLC CPU. 10.10 Command in-position function This function calculates the remaining distance to reach the positioning stop position at the automatic deceleration, if the value is less than the set value, the "Command in-position ( Md.10 Status 2: b1)" signal turns ON. 10.11 Pausing function This function pauses a positioning or continues a positioning from the interruption position. 10.12 Torque limit function If the torque generated by the servomotor exceeds the torque limit value during control, this function limits the torque generated within the setting range of torque limit value 10.13 Speed change function This function changes the speed during positioning operation. 10.14 Acceleration/deceleration time change function This function changes the acceleration/deceleration time at the speed change. 10.15 5-5 5 SPECIFICATIONS AND FUNCTIONS MELSEC-Q Sub functions Functions Details Reference section Target position change function This function changes the target position during positioning operation. 10.16 Current value change function This function changes the feed current value to any address. 10.17 External signal logic selection This function selects a logic of I/O signals. 10.18 Operation setting for incompletion of OPR function This function selects whether the positioning control is started or not at the incompletion of OPR. 10.19 Axis error reset This function resets the errors occurred. 10.20 Absolute position system This function restores the absolute position. 10.21 Flash ROM write function This function writes (back-up) the parameter data and positioning data in the flash ROM. 10.22 Parameter initialization function This function returns the parameters and positioning data stored in the QD74MH buffer memory and flash ROM to the default values (shipped from the factory). 10.23 5-6 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6. DATA USED FOR POSITIONING CONTROL 6.1 Memory Configuration and Roles The QD74MH is equipped with the following two memories for data exchange with PLC CPU and data save. Table 6.1 Memory configuration This area can be directly accessed with sequence program from Buffer memory Backup Servo parameter area Not PLC CPU, and the parameter data and positioning data can be possible changed. Flash ROM Positioning data area Control data area Role configuration Monitor data area Memory Parameter area Area configuration Details of buffer memory required for positioning can be backed up. Possible : Accessible : Not accessible (1) Details of areas (a) Parameter area The parameters, such as basic parameters, OPR parameters, manual control parameters or system parameters required for positioning control can be set and stored. (b) Monitor data area The operation state for the common monitor or axis monitor can be stored. (c) Control data area The data, for positioning such as common control data or axis control data, and for some sub functions can be set and stored. (d) Positioning data area The positioning data No.1 to 32 can be set and stored. (e) Servo parameter area The parameters required for positioning control on servo amplifier can be set and stored. 6-1 6 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) Reading/writing data from buffer memory Read and write the data from the buffer memory in the following method. (a) Reading 1) Sequence program • 1 word .......... Use FROM instruction or intelligent function device. • 2 word .......... Use DFRO instruction or intelligent function device. (b) Writing 1) Sequence program • 1 word .......... Use TO instruction or intelligent function device. • 2 word .......... Use DTO instruction or intelligent function device. (3) Saving data Data of the buffer memory cannot be backed up, and the all data are transmitted from FLASH ROM at the system power supply ON or reset of the PLC CPU. Therefore, back up the data required for positioning using the flash ROM write function. Refer to Section 10.22 for the flash ROM write function. 6-2 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.2 Data Transmission Process 6.2.1 Data transmission process for operation PLC CPU TO(P) instruction, DTO(P) instruction MOV(P) instruction, DMOV(P) instruction FROM(P) instruction, DFRO(P) instruction MOV(P) instruction, DMOV(P) instruction QD74MH Internal memory Parameter PLC READY ON Parameter change request Buffer memory System power supply ON/ Reset of the PLC CPU Flash ROM Positioning data Positioning data Servo parameter "1" is set in " Cd.100 Flash ROM write request". Servo parameter Parameter Monitor data Parameter Control data Interface for communication with servo amplifier Communication start with servo amplifier (PLC READY ON (First time only)) Servo parameter change (Note-1) Servo amplifier (Note-1): When the parameters are chenged by the auto tuning or MR Configurator, the servo parameters are read to the buffer memory of QD74MH. The data can be transmitted with steps (1) to (6) shown below. (1) Transmitting data when power is turned ON or PLC CPU is reset (a) Data stored (backed up) in the flash ROM can be transmitted to the buffer memory. (Refer to Section 10.22) POINT Communication with servo amplifier cannot be executed at the system power supply ON. (The servo parameter can be transmitted from the flash ROM to the buffer memory at the system power supply ON, however, they can not be transmitted to the servo amplifiers.) Communication starts with servo amplifier at the PLC READY ON (first time only). (2) Transmitting data with command from PLC CPU The parameters or control data can be written from the PLC CPU to the buffer memory using the commands (TO(P) instruction, DTO(P) instruction, MOV(P) instruction or DMOV(P) instruction). 6-3 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) PLC READY ON (a) The buffer memory data of QD74MH can be taken to the internal memory. (Refer to Section 6.4 for the parameters taken at the PLC READY ON.) (b) The communication starts with servo amplifiers at the PLC READY ON (first time only) after the system power supply ON, and the servo parameters to the buffer memory can be transmitted from QD74MH to the servo amplifier. POINT If the backup of parameters in the flash ROM is unnecessary, set the parameters required to the buffer memory of QD74MH with the sequence program before the PLC READY ON after the system power supply ON. (4) Accessing with command from PLC CPU The data can be read from the buffer memory to the PLC CPU using the commands (FROM(P) instruction, DFRO(P) instruction, MOV(P) instruction or DMOV(P) instruction). (5) Reading the servo parameter from the servo amplifier When the parameters can be changed by the auto tuning etc. of servo amplifier, the servo parameters can be read automatically from the servo amplifier to the buffer memory. Make the writing operation to the flash ROM to write the servo parameters to the flash ROM. (Refer to Section 10.22.) (6) Writing the flash ROM by PLC CPU request The data can be backed up from the buffer memory to the flash ROM by setting to "1" in " Cd.100 Flash ROM write request". 6-4 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.2.2 Setting of servo amplifier series Up to 8 axes servo amplifies in QD74MH8 and up to 16 axes servo amplifies in QD74MH16 can be connected. Set the servo amplifier series in the servo parameter for each axis. Table 6.2 Setting of servo amplifier series Symbol Pr.300 Item Servo amplifier series Setting range Details 0: None 1: MR-J3-B 3: MR-J3-B (Fully closed loop control) 4: MR-J3-B (Linear) Set the servo amplifiers connected to QD74MH. Communication with servo amplifiers is possible setting by the servo amplifier series. The procedure to communicate with servo amplifiers is shown below. Turn ON the system power supply. Set the servo amplifier series. It is not necessary to set every time, if the flash ROM write is executed once after setting of the servo amplifier series. Turn ON the control power supply of servo amplifier. Turn ON the PLC REDEY. Communiction start with servo amplifier. POINT (1) The communicate with servo amplifiers can be executed at the first PLC READY ON after the system power supply ON. An error code 400 will occur and the unit READY does not turn ON in the following cases. • The servo amplifiers corresponding to servo amplifier series cannot be connected. • The power supply of servo amplifiers are OFF. The communication does not start and the error reset cannot be executed, even if the power supply of servo amplifier is turned ON. Turn the PLC READY ON after the power supply ON for all axes. (2) The communication continues even if the PLC READY is turned OFF after communication start with the servo amplifiers. (3) The servo amplifier series cannot be changed after the PLC READY ON. Set it before PLC READY ON in the following procedure. • Write the data to the flash ROM beforehand. • Set the servo amplifier series before the PLC READY ON, after turning ON/OFF of the system power supply or reset of the PLC CPU. (4) If the power supply of the servo amplifier is turned OFF after communication start with the servo amplifiers, an error code 400 will occur, and the unit READY turns OFF. The communication does not start and the error reset cannot be executed, even if the power supply of servo amplifier is turned ON. 6-5 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.2.3 Exchange of the servo parameters This section describes the exchange of the servo parameters. (1) Writing the servo parameters from QD74MH to servo amplifier Some servo parameters become valid by turning OFF/ON of the power supply of the servo amplifiers. (Refer to Section 6.8.) Change procedure is shown below. 1) Change the servo parameters and write them to the buffer memory. 2) Execute the flash ROM write. 3) (Change the parameters after procedure 3), if not required.) 4) Turn the power supply ON of the servo amplifiers. 5) Turn the PLC READY ON. (The parameters changed can be transmitted to the servo amplifiers.) 6) Turn the power supply OFF of the system and the servo amplifiers. 7) Turn the power supply ON of the system and the servo amplifiers. (The parameters changed become valid.) 8) Turn the PLC READY ON. PLC CPU 1) TO(P) instruction, DTO(P) instruction MOV(P) instruction, DMOV(P) instruction FROM(P) instruction, DFRO(P) instruction MOV(P) instruction, DMOV(P) instruction QD74MH Internal memory Parameter PLC READY ON 3), 7) System power supply ON/ Reset of the PLC CPU Buffer memory Parameter Flash ROM Parameter Positioning data Positioning data Servo parameter Servo parameter Monitor data Control data 2) "1" is set in " Cd.100 Flash ROM write request". Interface for communication with servo amplifier 5), 8) Communication start with servo amplifier (PLC READY ON (First time only)) Servo parameter change Servo amplifier 4), 6), 7) 6-6 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) Transmitting the servo parameters from servo amplifier to buffer memory of QD74MH The parameters changed in the servo amplifier can be automatically transmitted to the buffer memory of QD74MH. However, they cannot be transmitted to the flash ROM of QD74MH. Since the contents changed is lost by turning OFF of the system power supply or reset of the PLC CPU, execute the flash ROM write, if required. There is a limitation in the write count to the flash ROM. (Refer to Section 10.22.) Transmitting procedure is shown below. 1) The parameters can be changed by MR Configurator or the parameters, such as gain by auto tuning. 2) The servo parameters changed in procedure 1) can be automatically transmitted to the buffer memory of QD74MH. 3) When "1" is set in the " Cd.100 Flash ROM write request" in the sequence program, the buffer memory data can be transmitted to the flash ROM. PLC CPU TO(P) instruction, DTO(P) instruction MOV(P) instruction, DMOV(P) instruction 3) Flash ROM write request ON FROM(P) instruction, DFRO(P) instruction MOV(P) instruction, DMOV(P) instruction QD74MH Internal memory Parameter System power supply ON/ Reset of the PLC CPU Flash ROM Positioning data Positioning data Servo parameter Monitor data "1" is set in " Cd.100 Flash ROM write request". Servo parameter Control data 3) Flash ROM write operation Buffer memory PLC READY ON Parameter Parameter Interface for communication with servo amplifier 2) Servo parameter change Communication start with servo amplifier (PLC READY ON (First time only)) Servo amplifier 1) 1) MR Configurator (Servo set up software) 6-7 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.3 Buffer Memory Configuration This section describes the configuration and contents of the buffer memory. Table 6.3 List of buffer memory Buffer memory address Buffer memory area configuration Parameter area Axis 1 Axis 2 Basic parameter 0 to 49 100 to 149 to OPR parameter 50 to 79 150 to 179 Manual control parameter 80 to 99 180 to 199 1700 to 1799 1800 to 1899 to System parameter Monitor data area Control data area Positioning data area Axis monitor data 3400 to 3499 to 3500 to 3599 1550 to 1579 1580 to 1599 3100 to 3199 3200 to 3299 to 4800 to 4899 4900 to 4999 9580 to 9899 9900 to 10219 5000 to 5099 5100 to 5419 5420 to 5739 Unusable Servo parameter area 1450 to 1479 1480 to 1499 3300 to 3399 System control data Positioning data (32 data/axis) Axis 16 1500 to 1549 1600 to 1699 System monitor data Axis control data Axis 15 1400 to 1449 to 10220 to 1299 Servo parameter 10300 to 10599 10600 to 10899 Unusable to 14500 to 14799 14800 to 15099 15100 to 32767 POINT The range of axis No.1 to 8 is valid for the QD74MH8. REMARK In the buffer memory address, "n" in "0+100n", etc. indicates a value corresponding to axis No. such as the following tables. Axis No. n Axis No. n 1 0 9 8 2 1 10 9 3 2 11 10 4 3 12 11 5 4 13 12 6 5 14 13 7 6 15 14 8 7 16 15 • Calculate as follows for the buffer memory address corresponding to each axis. (Example) For axis 16 50+100n ( Pr.50 OPR method) = 50+100×15=1550 3415+100n ( Cd.15 Speed change request) = 3415+100×15=4915 • The range (n=0 to 7) of axis No.1 to 8 is valid for the QD74MH8. 6-8 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (1) List of basic parameter Axis No. Buffer memory address 1 0 to 49 2 100 to 149 3 4 5 6 7 8 9 10 11 12 13 14 15 16 200 to 249 300 to 349 400 to 449 500 to 549 600 to 649 700 to 749 800 to 849 900 to 949 1000 to 1049 1100 to 1149 1200 to 1249 1300 to 1349 1400 to 1449 1500 to 1549 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 Parameter item Pr.0 Electronic gear numerator (AP) Pr.2 Electronic gear denominator (AL) Pr.4 Software stroke limit upper limit value Pr.6 Software stroke limit lower limit value Pr.8 — Backlash compensation amount Unusable Pr.10 Speed limit value — Pr.15 Pr.16 Pr.17 — Unusable Acceleration/deceleration method S-curve acceleration/deceleration time constant Sudden stop deceleration time Unusable Pr.20 Command in-position range — Pr.23 — Pr.25 Unusable Target position change overrun processing selection Unusable Interpolation group Pr.26 Linear interpolation speed limit value — Pr.31 — Unusable External input signal logic selection Unusable 6-9 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) List of OPR parameter Axis No. Buffer memory address 1 50 to 79 Parameter item 2 150 to 179 3 250 to 279 0 Pr.50 OPR method 4 350 to 379 1 Pr.51 OPR direction 5 450 to 479 2 6 550 to 579 3 Pr.52 OP address 7 650 to 679 4 8 750 to 779 5 Pr.54 OPR speed Creep speed Symbol Parameter item 9 850 to 879 6 Pr.56 10 950 to 979 7 — 11 1050 to 1079 8 Pr.58 OPR acceleration time 12 1150 to 1179 9 Pr.59 OPR deceleration time 13 1250 to 1279 10 14 1350 to 1379 11 Pr.60 OP shift amount 15 1450 to 1479 12 16 1550 to 1579 13 Pr.62 OP search limit 14 15 16 — Pr.66 Unusable Unusable Operation setting for incompletion of OPR 17 18 19 20 21 22 23 — Unusable 24 25 26 27 28 29 6 - 10 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) List of manual control parameter Axis No. Buffer memory address 1 80 to 99 Parameter item 2 180 to 199 3 280 to 299 0 4 380 to 399 1 5 480 to 499 6 580 to 599 7 680 to 699 4 8 780 to 799 5 Symbol Parameter item Pr.80 JOG speed 2 Pr.82 JOG operation acceleration time 3 Pr.83 JOG operation deceleration time Pr.84 Incremental feedrate 9 880 to 899 6 10 980 to 999 7 11 1080 to 1099 8 12 1180 to 1199 9 13 1280 to 1299 10 14 1380 to 1399 11 15 1480 to 1499 12 16 1580 to 1599 13 — Unusable 14 15 16 17 18 19 6 - 11 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (4) List of system parameter Buffer memory address 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 1621 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 1632 1633 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1644 1645 1646 1647 1648 1649 Symbol Parameter item Buffer memory address Symbol 1650 1651 1652 1653 1654 1655 1656 1657 1658 1659 1660 1661 1662 1663 1664 1665 1666 1667 1668 1669 1670 1671 1672 1673 1674 1675 1676 1677 1678 1679 1680 1681 1682 1683 1684 1685 1686 1687 1688 1689 1690 1691 1692 1693 1694 1695 1696 1697 1698 1699 — — Unusable Pr.101 External forced stop selection — Unusable 6 - 12 Parameter item Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (5) List of axis monitor data Axis No. Buffer memory address 1 1700 to 1799 2 1800 to 1899 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1900 to 1999 2000 to 2099 2100 to 2199 2200 to 2299 2300 to 2399 2400 to 2499 2500 to 2599 2600 to 2699 2700 to 2799 2800 to 2899 2900 to 2999 3000 to 3099 3100 to 3199 3200 to 3299 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 Parameter item Md.0 Current feed value Md.2 Feedrate Md.4 Md.5 Md.6 Md.7 Md.8 Md.9 Md.10 External input signal Positioning data No. being executed Error code Error details Warning code Status 1 Status 2 — Unusable Md.26 Real current value Md.28 Deviation counter value — Unusable Md.31 Motor current value Md.32 Motor rotation speed Md.34 Regenerative load ratio Md.35 Effective load torque ratio Md.36 Peak torque ratio — Unusable Md.40 Servo status 1 Md.41 Servo status 2 — Unusable 6 - 13 Symbol 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 — Parameter item Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (6) List of system monitor data Buffer memory address 3300 3301 3302 3303 3304 3305 3306 3307 3308 3309 3310 3311 3312 3313 3314 3315 3316 3317 3318 3319 3320 3321 3322 3323 3324 3325 3326 3327 3328 3329 3330 3331 3332 3333 3334 3335 3336 3337 3338 3339 3340 3341 3342 3343 3344 3345 3346 3347 3348 Symbol Parameter item Buffer memory address Symbol 3350 3351 3352 3353 3354 3355 3356 3357 3358 3359 3360 3361 3362 3363 3364 3365 3366 3367 3368 3369 3370 3371 3372 3373 3374 3375 3376 3377 3378 3379 3380 3381 3382 3383 3384 3385 3386 3387 3388 3389 3390 3391 3392 3393 3394 3395 3396 3397 3398 3399 — Md.100 Axis error status Md.101 Axis warning status Number of write accesses to Md.102 flash ROM Md.103 Forced stop input status — Unusable 3349 6 - 14 Parameter item Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (7) List of axis control data Axis No. Buffer memory address 1 3400 to 3499 2 3500 to 3599 3 4 5 6 7 8 9 10 11 12 13 14 15 16 3600 to 3699 3700 to 3799 3800 to 3899 3900 to 3999 4000 to 4099 4100 to 4199 4200 to 4299 4300 to 4399 4400 to 4499 4500 to 4599 4600 to 4699 4700 to 4799 4800 to 4899 4900 to 4999 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 Cd.0 Cd.1 Cd.2 Cd.3 Cd.4 Cd.5 — Cd.8 Cd.9 — Cd.11 Cd.12 Cd.13 — Cd.15 Parameter item Axis error reset Parameter change request Start method Axis stop Axis sudden stop Pausing Unusable Forward rotation JOG start Reverse rotation JOG start Unusable Torque limit request Forward rotation torque limit value Reverse rotation torque limit value Unusable Speed change request Cd.16 New speed value Cd.18 Cd.19 Cd.20 Cd.21 — Cd.23 Acceleration time change request New acceleration time value Deceleration time change request New deceleration time value Unusable Target position change request Cd.24 New target position value — Unusable Cd.28 New current value Cd.30 Each axis servo OFF — Unusable Cd.46 Gain changing request — Unusable 6 - 15 Symbol 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 — Parameter item Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (8) List of system control data Buffer memory address Symbol Parameter item Buffer memory address 5000 Cd.100 Flash ROM write request 5050 5001 Cd.101 Parameter initialization request 5051 5002 5052 5003 5053 5004 5054 5005 5055 5006 5056 5007 5057 5008 5058 5009 5059 5010 5060 5011 5061 5012 5062 5013 5063 5014 5064 5015 5065 5016 5066 5017 5067 5018 5068 5019 5069 5020 5070 5021 5071 5022 5072 5023 5073 5024 5074 5025 5026 — 5075 Unusable 5076 5027 5077 5028 5078 5029 5079 5030 5080 5031 5081 5032 5082 5033 5083 5034 5084 5035 5085 5036 5086 5037 5087 5038 5088 5039 5089 5040 5090 5041 5091 5042 5092 5043 5093 5044 5094 5045 5095 5046 5096 5047 5097 5048 5098 5049 5099 6 - 16 Symbol — Parameter item Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (9) List of positioning data Axis Point Buffer memory No. No. address 1 2 1 2 5100 to 5109 5110 to 5119 3 4 5 6 7 8 9 10 11 12 5120 to 5129 5130 to 5139 5140 to 5149 5150 to 5159 5160 to 5169 5170 to 5179 5180 to 5189 5190 to 5199 5200 to 5209 5210 to 5219 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 5220 to 5229 5230 to 5239 5240 to 5249 5250 to 5259 5260 to 5269 5270 to 5279 5280 to 5289 5290 to 5299 5300 to 5309 5310 to 5319 5320 to 5329 5330 to 5339 5340 to 5349 5350 to 5359 5360 to 5369 5370 to 5379 5380 to 5389 5390 to 5399 5400 to 5409 5410 to 5419 5420 to 5429 5430 to 5439 5440 to 5449 5450 to 5459 5460 to 5469 5470 to 5479 5480 to 5489 5490 to 5499 5500 to 5509 5510 to 5519 5520 to 5529 5530 to 5539 5540 to 5549 5550 to 5559 5560 to 5569 5570 to 5579 5580 to 5589 5590 to 5599 5600 to 5609 5610 to 5619 5620 to 5629 5630 to 5639 5640 to 5649 5650 to 5659 5660 to 5669 5670 to 5679 5680 to 5689 5690 to 5699 5700 to 5709 5710 to 5719 5720 to 5729 5730 to 5739 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 Axis Point Buffer memory No. No. address Parameter item Da.0 Da.1 Da.2 Da.3 Operation pattern Control system Acceleration time Deceleration time Da.4 Command speed Da.6 Positioning address/ movement amount Da.8 — Dwell time Unusable 3 4 6 - 17 1 2 5740 to 5749 5750 to 5759 3 4 5 6 7 8 9 10 11 12 5760 to 5769 5770 to 5779 5780 to 5789 5790 to 5799 5800 to 5809 5810 to 5819 5820 to 5829 5830 to 5839 5840 to 5849 5850 to 5859 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 5860 to 5869 5870 to 5879 5880 to 5889 5890 to 5899 5900 to 5909 5910 to 5919 5920 to 5929 5930 to 5939 5940 to 5949 5950 to 5959 5960 to 5969 5970 to 5979 5980 to 5989 5990 to 5999 6000 to 6009 6010 to 6019 6020 to 6029 6030 to 6039 6040 to 6049 6050 to 6059 6060 to 6069 6070 to 6079 6080 to 6089 6090 to 6099 6100 to 6109 6110 to 6119 6120 to 6129 6130 to 6139 6140 to 6149 6150 to 6159 6160 to 6169 6170 to 6179 6180 to 6189 6190 to 6199 6200 to 6209 6210 to 6219 6220 to 6229 6230 to 6239 6240 to 6249 6250 to 6259 6260 to 6269 6270 to 6279 6280 to 6289 6290 to 6299 6300 to 6309 6310 to 6319 6320 to 6329 6330 to 6339 6340 to 6349 6350 to 6359 6360 to 6369 6370 to 6379 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 Parameter item Da.0 Da.1 Da.2 Da.3 Operation pattern Control system Acceleration time Deceleration time Da.4 Command speed Da.6 Positioning address/ movement amount Da.8 — Dwell time Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q List of positioning data (Continued) Axis Point Buffer memory No. No. address 5 6 1 2 6380 to 6389 6390 to 6399 3 4 5 6 7 8 9 10 11 12 6400 to 6409 6410 to 6419 6420 to 6429 6430 to 6439 6440 to 6449 6450 to 6459 6460 to 6469 6470 to 6479 6480 to 6489 6490 to 6499 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 6500 to 6509 6510 to 6519 6520 to 6529 6530 to 6539 6540 to 6549 6550 to 6559 6560 to 6569 6570 to 6579 6580 to 6589 6590 to 6599 6600 to 6609 6610 to 6619 6620 to 6629 6630 to 6639 6640 to 6649 6650 to 6659 6660 to 6669 6670 to 6679 6680 to 6689 6690 to 6699 6700 to 6709 6710 to 6719 6720 to 6729 6730 to 6739 6740 to 6749 6750 to 6759 6760 to 6769 6770 to 6779 6780 to 6789 6790 to 6799 6800 to 6809 6810 to 6819 6820 to 6829 6830 to 6839 6840 to 6849 6850 to 6859 6860 to 6869 6870 to 6879 6880 to 6889 6890 to 6899 6900 to 6909 6910 to 6919 6920 to 6929 6930 to 6939 6940 to 6949 6950 to 6959 6960 to 6969 6970 to 6979 6980 to 6989 6990 to 6999 7000 to 7009 7010 to 7019 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 Axis Point Buffer memory No. No. address Parameter item Da.0 Da.1 Da.2 Da.3 Operation pattern Control system Acceleration time Deceleration time Da.4 Command speed Da.6 Positioning address/ movement amount Da.8 — Dwell time Unusable 7 8 6 - 18 1 2 7020 to 7029 7030 to 7039 3 4 5 6 7 8 9 10 11 12 7040 to 7049 7050 to 7059 7060 to 7069 7070 to 7079 7080 to 7089 7090 to 7099 7100 to 7109 7110 to 7119 7120 to 7129 7130 to 7139 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 7140 to 7149 7150 to 7159 7160 to 7169 7170 to 7179 7180 to 7189 7190 to 7199 7200 to 7209 7210 to 7219 7220 to 7229 7230 to 7239 7240 to 7249 7250 to 7259 7260 to 7269 7270 to 7279 7280 to 7289 7290 to 7299 7300 to 7309 7310 to 7319 7320 to 7329 7330 to 7339 7340 to 7349 7350 to 7359 7360 to 7369 7370 to 7379 7380 to 7389 7390 to 7399 7400 to 7409 7410 to 7419 7420 to 7429 7430 to 7439 7440 to 7449 7450 to 7459 7460 to 7469 7470 to 7479 7480 to 7489 7490 to 7499 7500 to 7509 7510 to 7519 7520 to 7529 7530 to 7539 7540 to 7549 7550 to 7559 7560 to 7569 7570 to 7579 7580 to 7589 7590 to 7599 7600 to 7609 7610 to 7619 7620 to 7629 7630 to 7639 7640 to 7649 7650 to 7659 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 Parameter item Da.0 Da.1 Da.2 Da.3 Operation pattern Control system Acceleration time Deceleration time Da.4 Command speed Da.6 Positioning address/ movement amount Da.8 — Dwell time Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q List of positioning data (Continued) Axis Point Buffer memory No. No. address 9 10 1 2 7660 to 7669 7670 to 7679 3 4 5 6 7 8 9 10 11 12 7680 to 7689 7690 to 7699 7700 to 7709 7710 to 7719 7720 to 7729 7730 to 7739 7740 to 7749 7750 to 7759 7760 to 7769 7770 to 7779 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 7780 to 7789 7790 to 7799 7800 to 7809 7810 to 7819 7820 to 7829 7830 to 7839 7840 to 7849 7850 to 7859 7860 to 7869 7870 to 7879 7880 to 7889 7890 to 7899 7900 to 7909 7910 to 7919 7920 to 7929 7930 to 7939 7940 to 7949 7950 to 7959 7960 to 7969 7970 to 7979 7980 to 7989 7990 to 7999 8000 to 8009 8010 to 8019 8020 to 8029 8030 to 8039 8040 to 8049 8050 to 8059 8060 to 8069 8070 to 8079 8080 to 8089 8090 to 8099 8100 to 8109 8110 to 8119 8120 to 8129 8130 to 8139 8140 to 8149 8150 to 8159 8160 to 8169 8170 to 8179 8180 to 8189 8190 to 8199 8200 to 8209 8210 to 8219 8220 to 8229 8230 to 8239 8240 to 8249 8250 to 8259 8260 to 8269 8270 to 8279 8280 to 8289 8290 to 8299 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 Axis Point Buffer memory No. No. address Parameter item Da.0 Da.1 Da.2 Da.3 Operation pattern Control system Acceleration time Deceleration time Da.4 Command speed Da.6 Positioning address/ movement amount Da.8 — Dwell time Unusable 11 12 6 - 19 1 2 8300 to 8309 8310 to 8319 3 4 5 6 7 8 9 10 11 12 8320 to 8329 8330 to 8339 8340 to 8349 8350 to 8359 8360 to 8369 8370 to 8379 8380 to 8389 8390 to 8399 8400 to 8409 8410 to 8419 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 8420 to 8429 8430 to 8439 8440 to 8449 8450 to 8459 8460 to 8469 8470 to 8479 8480 to 8489 8490 to 8499 8500 to 8509 8510 to 8519 8520 to 8529 8530 to 8539 8540 to 8549 8550 to 8559 8560 to 8569 8570 to 8579 8580 to 8589 8590 to 8599 8600 to 8609 8610 to 8619 8620 to 8629 8630 to 8639 8640 to 8649 8650 to 8659 8660 to 8669 8670 to 8679 8680 to 8689 8690 to 8699 8700 to 8709 8710 to 8719 8720 to 8729 8730 to 8739 8740 to 8749 8750 to 8759 8760 to 8769 8770 to 8779 8780 to 8789 8790 to 8799 8800 to 8809 8810 to 8819 8820 to 8829 8830 to 8839 8840 to 8849 8850 to 8859 8860 to 8869 8870 to 8879 8880 to 8889 8890 to 8899 8900 to 8909 8910 to 8919 8920 to 8929 8930 to 8939 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 Parameter item Da.0 Da.1 Da.2 Da.3 Operation pattern Control system Acceleration time Deceleration time Da.4 Command speed Da.6 Positioning address/ movement amount Da.8 — Dwell time Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q List of positioning data (Continued) Axis Point Buffer memory No. No. address 13 14 1 2 8940 to 8949 8950 to 8959 3 4 5 6 7 8 9 10 11 12 8960 to 8969 8970 to 8979 8980 to 8989 8990 to 8999 9000 to 9009 9010 to 9019 9020 to 9029 9030 to 9039 9040 to 9049 9050 to 9059 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 9060 to 9069 9070 to 9079 9080 to 9089 9090 to 9099 9100 to 9109 9110 to 9119 9120 to 9129 9130 to 9139 9140 to 9149 9150 to 9159 9160 to 9169 9170 to 9179 9180 to 9189 9190 to 9199 9200 to 9209 9210 to 9219 9220 to 9229 9230 to 9239 9240 to 9249 9250 to 9259 9260 to 9269 9270 to 9279 9280 to 9289 9290 to 9299 9300 to 9309 9310 to 9319 9320 to 9329 9330 to 9339 9340 to 9349 9350 to 9359 9360 to 9369 9370 to 9379 9380 to 9389 9390 to 9399 9400 to 9409 9410 to 9419 9420 to 9429 9430 to 9439 9440 to 9449 9450 to 9459 9460 to 9469 9470 to 9479 9480 to 9489 9490 to 9499 9500 to 9509 9510 to 9519 9520 to 9529 9530 to 9539 9540 to 9549 9550 to 9559 9560 to 9569 9570 to 9579 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 Axis Point Buffer memory No. No. address Parameter item Da.0 Da.1 Da.2 Da.3 Operation pattern Control system Acceleration time Deceleration time Da.4 Command speed Da.6 Positioning address/ movement amount Da.8 — Dwell time Unusable 15 16 6 - 20 1 2 9580 to 9589 9590 to 9599 3 4 5 6 7 8 9 10 11 12 9600 to 9609 9610 to 9619 9620 to 9629 9630 to 9639 9640 to 9649 9650 to 9659 9660 to 9669 9670 to 9679 9680 to 9689 9690 to 9699 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 9700 to 9709 9710 to 9719 9720 to 9729 9730 to 9739 9740 to 9749 9750 to 9759 9760 to 9769 9770 to 9779 9780 to 9789 9790 to 9799 9800 to 9809 9810 to 9819 9820 to 9829 9830 to 9839 9840 to 9849 9850 to 9859 9860 to 9869 9870 to 9879 9880 to 9889 9890 to 9899 9900 to 9909 9910 to 9919 9920 to 9929 9930 to 9939 9940 to 9949 9950 to 9959 9960 to 9969 9970 to 9979 9980 to 9989 9990 to 9999 10000 to 10009 10010 to 10019 10020 to 10029 10030 to 10039 10040 to 10049 10050 to 10059 10060 to 10069 10070 to 10079 10080 to 10089 10090 to 10099 10100 to 10109 10110 to 10119 10120 to 10129 10130 to 10139 10140 to 10149 10150 to 10159 10160 to 10169 10170 to 10179 10180 to 10189 10190 to 10199 10200 to 10209 10210 to 10219 Parameter item Symbol 0 1 2 3 4 5 6 7 8 9 Parameter item Da.0 Da.1 Da.2 Da.3 Operation pattern Control system Acceleration time Deceleration time Da.4 Command speed Da.6 Positioning address/ movement amount Da.8 — Dwell time Unusable 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (9) List of servo parameter Axis Buffer memory No. address Parameter item 1 10300 to 10599 2 10600 to 10899 3 10900 to 11199 4 11200 to 11499 1 Pr.301 5 11500 to 11799 2 Pr.302 6 11800 to 12099 3 Pr.303 7 12100 to 12399 4 8 12400 to 12699 5 9 12700 to 12999 10 13000 to 13299 6 Pr.306 PA06 11 13300 to 13599 12 13600 to 13899 7 Pr.307 PA07 0 Symbol No. Pr.300 — Parameter item Servo series Symbol No. Parameter item 45 Pr.345 PB13 Machine resonance suppression filter 1 PA01 For manufacturer setting 46 Pr.346 PB14 Notch shape selection 1 PA02 Regenerative option 47 Pr.347 PB15 Machine resonance suppression filter 2 PA03 Absolute position detection system 48 Pr.348 PB16 Notch shape selection 2 Pr.304 PA04 Function selection A-1 49 Pr.349 PB17 Automatic setting parameter Pr.305 PA05 50 Pr.350 PB18 Low-pass filter setting 51 Pr.351 PB19 Vibration suppression control vibration frequency setting 52 Pr.352 PB20 Vibration suppression control resonance frequency setting For manufacturer setting 13 13900 to 14199 8 Pr.308 PA08 Auto tuning mode 53 Pr.353 PB21 14 14200 to 14499 9 Pr.309 PA09 Auto tuning response 54 Pr.354 PB22 15 14500 to 14799 10 Pr.310 PA10 In-position range 55 Pr.355 PB23 Low-pass filter selection 16 14800 to 15099 11 Pr.311 PA11 56 Pr.356 PB24 12 Pr.312 PA12 57 Pr.357 PB25 For manufacturer setting 13 Pr.313 PA13 58 Pr.358 PB26 Gain changing selection 14 Pr.314 PA14 Rotation direction selection 59 Pr.359 PB27 Gain changing condition 15 Pr.315 PA15 Encoder output pulses 60 Pr.360 PB28 Gain changing time constant 16 Pr.316 PA16 61 Pr.361 PB29 For manufacturer setting For manufacturer setting Slight vibration suppression control selection Gain changing ratio of load inertia moment to servomotor inertia moment 17 Pr.317 PA17 62 Pr.362 PB30 Gain changing position loop gain 18 Pr.318 PA18 63 Pr.363 PB31 Gain changing speed loop gain 19 Pr.319 PA19 64 Pr.364 PB32 Gain changing speed integral compensation 20 Pr.320 65 Pr.365 PB33 Gain changing vibration suppression control vibration frequency setting 21 Pr.321 66 Pr.366 PB34 Gain changing vibration suppression control resonance frequency setting 22 Pr.322 67 Pr.367 PB35 23 Pr.323 68 Pr.368 PB36 24 Pr.324 69 Pr.369 PB37 25 Pr.325 70 Pr.370 PB38 26 Pr.326 71 Pr.371 PB39 27 Pr.327 72 Pr.372 PB40 28 Pr.328 73 Pr.373 PB41 29 Pr.329 74 Pr.374 PB42 30 Pr.330 75 Pr.375 PB43 31 Pr.331 76 Pr.376 PB44 32 Pr.332 77 Pr.377 PB45 33 Pr.333 PB01 Adaptive tuning mode (Adaptive filter ) 78 Pr.378 34 Pr.334 Vibration suppression control tuning PB02 mode (advanced vibration suppression control) 79 Pr.379 For manufacturer setting — For manufacturer setting — 35 Pr.335 PB03 For manufacturer setting 80 Pr.380 36 Pr.336 PB04 Feed forward gain 81 Pr.381 PC01 Error excessive alarm level 37 Pr.337 PB05 For manufacturer setting 82 Pr.382 PC02 Electromagnetic brake sequence output 38 Pr.338 Ratio of load inertia moment to servo PB06 motor inertia moment 83 Pr.383 PC03 Encoder output pulses selection 39 Pr.339 PB07 Model loop gain 84 Pr.384 PC04 Function selection C-1 40 Pr.340 PB08 Position loop gain 85 Pr.385 PC05 Function selection C-2 41 Pr.341 PB09 Speed loop gain 86 Pr.386 PC06 Function selection C-3 42 Pr.342 PB10 Speed integral compensation 87 Pr.387 PC07 Zero speed 43 Pr.343 PB11 Speed differential compensation 88 Pr.388 PC08 For manufacturer setting 44 Pr.344 PB12 For manufacturer setting 89 Pr.389 PC09 Analog monitor 1 output 6 - 21 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q List of servo parameter (Continued) Axis Buffer memory No. address 1 Parameter item 10300 to 10599 2 10600 to 10899 3 10900 to 11199 90 Symbol Pr.390 PC10 Analog monitor 2 output No. Parameter item 143 Pr.443 PD31 4 11200 to 11499 91 Pr.391 PC11 Analog monitor 1 offset 144 Pr.444 PD32 5 11500 to 11799 92 Pr.392 PC12 Analog monitor 2 offset 145 Pr.445 PE01 6 11800 to 12099 7 12100 to 12399 93 Analog monitor feedback position output Pr.393 PC13 standard data Low 146 Pr.446 PE02 8 12400 to 12699 9 12700 to 12999 94 Pr.394 PC14 Analog monitor feedback position output standard data High 147 Pr.447 PE03 10 13000 to 13299 95 Pr.395 PC15 148 Pr.448 PE04 11 13300 to 13599 96 Pr.396 PC16 12 13600 to 13899 97 13 13900 to 14199 14 14200 to 14499 15 14500 to 14799 16 14800 to 15099 For manufacturer setting Symbol No. Parameter item 149 Pr.449 PE05 Pr.397 PC17 Function selection C-4 150 Pr.450 PE06 98 Pr.398 PC18 151 Pr.451 PE07 99 Pr.399 PC19 For manufacturer setting 152 Pr.452 PE08 100 Pr.400 PC20 153 Pr.453 PE09 101 Pr.401 PC21 Alarm history clear 154 Pr.454 102 Pr.402 PC22 155 Pr.455 PE10 PE11 For manufacturer setting 103 Pr.403 PC23 156 Pr.456 PE12 104 Pr.404 PC24 157 Pr.457 PE13 105 Pr.405 PC25 158 Pr.458 PE14 106 Pr.406 PC26 159 Pr.459 PE15 107 Pr.407 PC27 160 Pr.460 PE16 108 Pr.408 PC28 161 Pr.461 PE17 109 Pr.409 PC29 162 Pr.462 PE18 110 Pr.410 PC30 For manufacturer setting 163 Pr.463 PE19 111 Pr.411 PC31 164 Pr.464 PE20 112 Pr.412 PC32 165 Pr.465 PE21 113 Pr.413 PD01 166 Pr.466 PE22 114 Pr.414 PD02 167 Pr.467 PE23 115 Pr.415 PD03 168 Pr.468 PE24 116 Pr.416 PD04 169 Pr.469 PE25 117 Pr.417 PD05 170 Pr.470 PE26 Filter coefficient 2-1 118 Pr.418 PD06 171 Pr.471 PE27 Filter coefficient 2-2 119 Pr.419 PD07 Output signal device selection 1 172 Pr.472 PE28 Filter coefficient 2-3 120 Pr.420 PD08 Output signal device selection 2 173 Pr.473 PE29 Filter coefficient 2-4 121 Pr.421 PD09 Output signal device selection 3 174 Pr.474 PE30 Filter coefficient 2-5 122 Pr.422 PD10 175 Pr.475 PE31 Filter coefficient 2-6 176 Pr.476 PE32 Filter coefficient 2-7 123 Pr.423 PD11 124 Pr.424 PD12 For manufacturer setting 177 Pr.477 PE33 Filter coefficient 2-8 125 Pr.425 PD13 178 Pr.478 PE34 126 Pr.426 PD14 Function selection D-3 179 Pr.479 PE35 127 Pr.427 PD15 180 Pr.480 PE36 128 Pr.428 PD16 181 Pr.481 PE37 129 Pr.429 PD17 182 Pr.482 PE38 130 Pr.430 PD18 183 Pr.483 PE39 131 Pr.431 PD19 184 Pr.484 PE40 132 Pr.432 PD20 185 Pr.485 133 Pr.433 PD21 186 Pr.486 134 Pr.434 PD22 135 Pr.435 PD23 For manufacturer setting 187 Pr.487 For manufacturer setting 188 Pr.488 — 136 Pr.436 PD24 189 Pr.489 137 Pr.437 PD25 190 Pr.490 138 Pr.438 PD26 191 Pr.491 139 Pr.439 PD27 192 Pr.492 140 Pr.440 PD28 193 Pr.493 PS01 141 Pr.441 PD29 194 Pr.494 PS02 142 Pr.442 PD30 195 Pr.495 PS03 6 - 22 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q List of servo parameter (Continued) Axis Buffer memory No. address Parameter item 1 10300 to 10599 2 10600 to 10899 Symbol 3 10900 to 11199 196 Pr.496 PS04 248 Pr.548 4 11200 to 11499 197 Pr.497 PS05 249 Pr.549 5 11500 to 11799 198 Pr.498 PS06 250 Pr.550 6 11800 to 12099 199 Pr.499 PS07 251 Pr.551 7 12100 to 12399 200 Pr.500 PS08 252 Pr.552 8 12400 to 12699 201 Pr.501 PS09 253 Pr.553 9 12700 to 12999 202 Pr.502 PS10 254 Pr.554 10 13000 to 13299 203 Pr.503 PS11 255 Pr.555 11 13300 to 13599 204 Pr.504 PS12 256 Pr.556 12 13600 to 13899 205 Pr.505 PS13 257 Pr.557 13 13900 to 14199 206 Pr.506 PS14 258 Pr.558 14 14200 to 14499 207 Pr.507 PS15 259 Pr.559 15 14500 to 14799 208 Pr.508 PS16 260 Pr.560 16 14800 to 15099 209 Pr.509 PS17 261 Pr.561 210 Pr.510 PS18 262 Pr.562 211 Pr.511 PS19 263 Pr.563 212 Pr.512 PS20 264 Pr.564 213 Pr.513 PS21 265 Pr.565 214 Pr.514 PS22 266 Pr.566 215 Pr.515 PS23 267 Pr.567 216 Pr.516 PS24 268 Pr.568 217 Pr.517 PS25 269 Pr.569 218 Pr.518 PS26 270 Pr.570 219 Pr.519 PS27 271 Pr.571 220 Pr.520 PS28 272 Pr.572 221 Pr.521 PS29 222 Pr.522 PS30 223 Pr.523 PS31 275 Pr.575 224 Pr.524 PS32 276 Pr.576 No. Parameter item Symbol 273 Pr.573 For manufacturer setting 274 Pr.574 225 Pr.525 277 Pr.577 226 Pr.526 278 Pr.578 227 Pr.527 279 Pr.579 228 Pr.528 280 Pr.580 229 Pr.529 281 Pr.581 230 Pr.530 282 Pr.582 231 Pr.531 283 Pr.583 232 Pr.532 284 Pr.584 233 Pr.533 285 Pr.585 234 Pr.534 286 Pr.586 235 Pr.535 236 Pr.536 287 Pr.587 — 288 Pr.588 237 Pr.537 289 Pr.589 238 Pr.538 290 Pr.590 239 Pr.539 291 Pr.591 240 Pr.540 292 Pr.592 241 Pr.541 293 Pr.593 242 Pr.542 294 Pr.594 243 Pr.543 295 Pr.595 244 Pr.544 296 Pr.596 245 Pr.545 297 Pr.597 246 Pr.546 298 Pr.598 247 Pr.547 299 Pr.599 6 - 23 No. — Parameter item For manufacturer setting 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.4 Parameter Data The setting value of parameters (basic, OPR, system) is checked at the PLC READY ON. (The manual control parameters cannot be checked.) If the setting value is outside the range, the error code will occur and the unit READY cannot be turned ON. The parameter number outside the range can be stored in the error details. 6.4.1 Basic parameter Buffer Symbol memory address Items Details Setting range Fetch timing Factory default Unit Pr.0 0+100n Electronic gear 1+100n numerator (AP) Set a numerator of electronic gear 1 to 32768 applied to position command. 1 — Pr.2 2+100n Electronic gear 3+100n denominator (AL) Set a denominator of electronic 1 to 32768 gear applied to position command. 1 — Pr.4 4+100n Software stroke limit 5+100n upper limit value Set the upper limit value for software stroke limit. -2147483648 to 2147483647 Pr.6 6+100n Software stroke limit 7+100n lower limit value Set the lower limit value for software stroke limit. -2147483648 to 2147483647 Pr.8 8+100n Pr.10 10+100n Speed limit value 11+100n Set the backlash compensation Backlash amount. Set it by the encoder compensation amount pulse unit. Acceleration/ deceleration method Pr.15 15+100n Pr.16 S-curve acceleration/ 16+100n deceleration time constant Sudden stop deceleration time Pr.17 17+100n Pr.20 20+100n Command in-position 21+100n range Pr.23 Set the maximum speed for each axis. PLC READY ON 2000000000 (First time only) [PLS] -2000000000 [PLS] 0 to 65535 0 1 to 2147 10 [PLS] 6 0: Linear acceleration/ deceleration Select the acceleration/deceleration method. 1: S-curve acceleration/ deceleration ×10 [PLS/s] 0 — 0 [ms] 1000 [ms] Set the time constant for S-curve acceleration/deceleration. 0 to 100 Set the deceleration time to execute a sudden stop. 0 to 20000 Set the remaining distance that turns the command in-position ON. 0 to 2147483647 0 [PLS] 0: Stop by the error 1: Return to change position after deceleration stop 0 — Target position change Set the process when a stop position exceeds a command 23+100n overrun processing position for position change. selection 6 - 24 PLC READY ON/ Parameter change request 6 DATA USED FOR POSITIONING CONTROL Buffer Symbol memory address Items Details MELSEC-Q Setting range Pr.25 25+100n Interpolation group Set the group to specify the combination for axes to be interpolation-controlled. Set the same group number for axes to be interpolation-controlled. • Up to 4 axes can be set to one group. • Up to 4 groups can be set. Pr.26 26+100n Linear interpolation 27+100n speed limit value Set the maximum speed at the linear interpolation control. Fetch timing Factory default Unit — 0: None (Single axis) 1: Group 1 2: Group 2 3: Group 3 4: Group 4 PLC READY ON 0 1 to 2147 PLC READY ON/ Parameter change request 10 0: Negative logic 1: Positive logic PLC READY ON 0 6 ×10 [PLS/s] Select the logic of the external input signal. b15 to b12b11 to b8b7 to b4b3 to b0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Pr.31 External input signal 31+100n logic selection b8: Proximity dog b4: Lower hardware strok limit b0: Upper hardware strok limit (Note): Set to "0" for except the above bits. 6 - 25 — 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.4.2 OPR parameter (1) OPR parameter Buffer Symbol memory address Pr.50 Items 50+100n OPR method Details Setting range Select the OPR method. 0: Proximity dog 2: Data set 3: Stopper 4: Dog cradle 5: Limit switch combined 6: Scale origin signal detection 0: Positive direction (Address increment direction) 1: Negative direction (Address decrement direction) -2147483648 to 2147483647 Fetch timing Factory default Unit 0 — 0 — 0 [PLS] PLC READY ON (First time only) Pr.51 51+100n OPR direction Set the direction to execute the OPR for proximity dog or the movement direction at the creep speed movement. Pr.52 52+100n OP address 53+100n Set the OP address at the OPR completion. Pr.54 54+100n OPR speed 55+100n Set the movement speed for OPR. 5 to 2147000000 5 [PLS/s] Pr.56 56+100n Creep speed Set the creep speed after proximity dog ON (the low speed just before stopping after decelerating from the OPR speed). 5 [PLS/s] Pr.58 Set the acceleration time at the 58+100n OPR acceleration time OPR. 1000 [ms] Pr.59 59+100n OPR deceleration time Set the deceleration at the OPR. 0 to 20000 1000 [ms] Pr.60 60+100n OP shift amount 61+100n Set the shift amount at the OP shift. -2147483648 to 2147483647 0 [PLS] Pr.62 62+100n OP search limit 63+100n Set the limit on the movement amount at the OP search movement. If "0" is set, this function does not operate. 0 to 2147000000 0 [PLS] Pr.66 Operation setting for 66+100n incompletion of OPR Set whether the positioning control is executed or not (When the 0: Not executed PLC READY ON "OPR request ( Md.9 Status 1: 1: Executed b0)" is ON.). 0 — 6 - 26 5 to 32767 0 to 20000 PLC READY ON/ Parameter change request 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) OPR parameter (MR-J3- B-RJ004 use) Buffer Symbol memory address Pr.64 Items Details Setting range Set whether the incremental linear scale is used for OPR (except scale origin signal Incremental linear scale detection type). 64+100n Set to "0: Need to pass motor Z setting pause after the power supply is switch on" in " Pr.397 Function selection C-4". 1: Used Except 1: Not used Fetch timing PLC READY ON (First time only) Factory default Unit 0 — Refer to the servo amplifier instruction manual. Servo amplifier type MR-J3- B-RJ004 Instruction manual name SSCNET Compatible Linear Servo MR-J3- B-RJ004U (SH-030054) Instruction Manual 6.4.3 Manual control parameter Buffer Symbol memory address Items Pr.80 80+100n JOG speed 81+100n Pr.82 82+100n JOG operation acceleration time Pr.83 83+100n JOG operation deceleration time Pr.84 84+100n Incremental feedrate 85+100n Details Setting range Fetch timing Set the speed for JOG operation. 5 to 2147000000 Leading edge of the forward Set the acceleration time for JOG rotation JOG/ 0 to 20000 operation. Reverse rotation Set the deceleration time for JOG JOG start 0 to 20000 operation. Set the feedrate for incremental feed. 0 to 2147483647 Incremental feed start Factory default Unit 0 [PLS/s] 1000 [ms] 1000 [ms] 0 [PLS] Factory default Unit 1 — 6.4.4 System parameter Buffer Symbol memory address Pr.101 1601 Items External forced stop selection Details Setting range Select "Valid/Invalid" of the forced stop input by external 24VDC. (Forced stop input signal [Y2] 0: Valid does not become invalid.) If the value outside setting range 1: Invalid is set, the error code 1037 will occur, and it operates considering that it is "0: Valid". 6 - 27 Fetch timing PLC READY ON 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.5 Monitor Data 6.5.1 Axis monitor data (1) Axis monitor data Symbol Md.0 Md.2 Buffer memory address Items Details Updated cycle Unit 1700+100n Current feed value 1701+100n The currently commanded address can be stored. When the current value is changed with the current value change function, the changed value can be stored. (It returns to the address before change by the system power supply ON/OFF.) [PLS] 1702+100n Feedrate 1703+100n The command output speed of operating axis can be stored. The command speed of each axis at the interpolation operation. (A feedrate calculated from movement amount for every axis can be stored. The movement amount might not steady at the fixed speed either because of the fractions generated when operating. Therefore, a value different from the speed set in the positioning might be stored.) [PLS/s] The ON/OFF state of the external input signal can be stored. The following items can be stored. 0.88[ms] b15 to b12b11 to b8b7 to b4b3 to b0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Md.4 b0: Upper hardware stroke limit b4: Lower hardware stroke limit b8: Proximity dog 1704+100n External input signal — (Note): The state of signal can be stored regardless of a logic selection. Md.5 Md.6 Md.7 Md.8 A positioning data No. currently being executed can be stored. "0" can be stored at the except for positioning execution. — 1706+100n Error code An error code corresponding to error content can be stored at the error detection. Always, a latest error code can be stored. (If new error will occur, the error code can be updated. However, a system error cannot be updated.) An error code can be cleared by setting "1" in " Cd.0 Axis error reset". — 1707+100n Error detail A number of error details corresponding to error content can be stored at the error detection. (If new error will occur, a detail corresponded to new error can be stored.) An error detail can be cleared by setting "1" in " Cd.0 Axis error reset". 1708+100n Warning code A warning code corresponding to warning content can be stored at the warning detection. Always, a latest warning code can be stored. (If new warning will occur, the warning code can be updated.) A warning code can be not automatically cleared even if the warning can be released on the servo amplifier side at the warning detection.) 1705+100n Positioning data No. being executed 6 - 28 Error occurrence — — 6 DATA USED FOR POSITIONING CONTROL Symbol Buffer memory address Items MELSEC-Q Details Updated cycle Unit The ON/OFF state of various signals can be stored. b15 to b12b11 to b8b7 to b4b3 to b0 Md.9 1709+100n Status 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 — b0: OPR request b1: OPR complete The ON/OFF state of various signals can be stored. b15 to b12b11 to b8b7 to b4b3 to b0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 b0: Positioning complete b1: Command in-position b2: Pausing b3: Operation complete b8: Speed change READY b9: Accerelation time change READY b10: Decerelation time change READY b11: Target position change READY Status change Md.10 1710+100n Status 2 Md.26 1726+100n Real current value 1727+100n The real current value can be stored. [PLS] Md.28 1728+100n Deviation counter value 1729+100n The difference between the feed current value and real current value can be stored. [PLS] Md.31 1731+100n Motor current The motor current can be stored. Md.32 1732+100n Motor rotation speed 1733+100n The motor rotation speed can be stored. Md.34 1734+100n Regenerative load ratio The rate of regenerative power to the allowable regenerative power can be stored. [%] Md.35 1735+100n Effective load torque ratio The effective load torque can be stored. The average value of the load rates for the past 15 seconds to the rated torque can be stored as percentage, rated torque being 100[%]. [%] Md.36 1736+100n Peak torque ratio The maximum torque can be stored. The peak value for the past 15 seconds can be stored, rated torque being 100[%]. [%] — -1 10 [%] The ON/OFF state of various signals can be stored. -2 10 [r/min] 0.88[ms] b15 to b12b11 to b8b7 to b4b3 to b0 Md.40 b0: READY ON b1: Servo ON b7: Servo error (Servo alarm) b12: In-position b13: Torque limit b14: Absolute position lost b15: Servo warning 1740+100n Servo status 1 — The ON/OFF state of various signals can be stored. b15 to b12b11 to b8b7 to b4b3 to b0 Md.41 — 1741+100n Servo status 2 b0: Zero point pass b3: Zero speed 6 - 29 6 DATA USED FOR POSITIONING CONTROL (a) MELSEC-Q Current feed value / Md.26 Real current value / Md.28 Deviation counter value / Md.2 Feedrate Md.0 The following relations exist between " Md.0 Current feed value", " Md.26 Real current value", " Md.28 Deviation" and " Md.2 Feedrate". Electronic gear numerator Command value = Current feed value × Electronic gear denominator to servo amplifier Real current value = Feedback value × Electronic gear denominator Electronic gear numerator Speed Md.2 Feedrate Time Position Md.0 Current feed value Md.28 Deviation counter value Md.26 Real current value Time (b) Md.6 Error code / Md.7 Error detail / Md.100 Axis error status / Error detection signal [X1] / Cd.0 Axis error reset " Md.6 Error code", " Md.7 Error detail" and " Md.100 Axis error status" are output to the buffer memory if an error will occur, and the error detection signal [X1] is turned ON. The servo errors are also output in a similar way. Remove the error causes and set "1" in " Cd.0 Axis error reset" to release an error. Error YES Md.6 Error code 0 Md.7 Error details 0 NO Error code 0 Error details 0 ON Md.100 Axis error status OFF ON Error detection signal [X1] OFF Cd.0 Axis error reset 0 6 - 30 1 0 6 DATA USED FOR POSITIONING CONTROL (c) MELSEC-Q Warning code / Md.101 Axis warning status / Warning detection signal [X2] Md.8 " Md.8 Warning code" and " Md.101 Axis warning status" are output to the buffer memory if a warning will occur, and the warning detection signal [X2] is turned ON. The servo warnings are also output in a similar way. Remove the warning causes to release a warning. Warning YES Md.8 Warning code Warning code 0 NO 0 ON Md.101 Axis warning status OFF ON Warning detection signal [X2] OFF (d) Md.9 Status 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 b0: OPR request b1: OPR complete 1) b0: OPR request This signal turns ON when the OPR is required as the following cases, and it turns OFF at OPR completion. • The electronic gear (" Pr.0 Electronic gear numerator", " Pr.2 Electronic gear denominator") or the servo parameter " Pr.314 Rotation direction selection" are changed. (First PLC READY ON) • "Error code 2025" or "Warning code 2143" occurred. (First PLC READY ON) • "Error code 1201" occurred. (First PLC READY ON) • The OPR never is executed for the absolute position system. (First PLC READY ON) • Change the servo parameter " Pr.303 Absolute position detection system" from "0: Invalid (Used in incremental system)" to "1: Valid (Used absolute position detection system)". (First PLC READY ON) • The OPR is started. • The setting value of software stroke limit is outside the range. (First PLC READY ON) 2) b1: OPR complete This signal turns ON at the OPR complete. And, It turns OFF at the positioning start. 6 - 31 6 DATA USED FOR POSITIONING CONTROL (e) Md.10 MELSEC-Q Status 2 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 b0: Positioning complete b1: Command in-position b2: Pausing b3: Operation complete b8: Speed change READY b9: Accerelation time change READY b10: Decerelation time change READY b11: Target position change READY 1) b0: Positioning complete This signal turns ON at the positioning control (1 axis linear control, Interpolation control) complete. It turns OFF at the next start (1 axis linear control, Interpolation control, OPR, Manual control). The BUSY signal [X10 to X1F] OFF and this signal ON can be executed at the same timing. 2) b1: Command in-position This signal turns ON when the remaining distance is equal to or less than " Pr.20 Command in-position range", and it turns OFF at the positioning control start, OPR start and manual control start. 3) b2: Pausing This signal turns ON after sudden stop by pausing command. This signal turns OFF by pausing release. 4) b3: Operation complete This signal turns ON at the positioning completion as the following cases, and it turns OFF at next positioning start. • After the JOG stop • After the incremental feed completion • Positioning control completion (Only the final positioning data completion at execution of the continuous positioning or continuous path control.) • After the stop by the stop signal • After the sudden stop by the sudden stop signal • After the stop by the hardware stroke limit • Servo alarm occurrence (Not after the stop) • After the stop by the operation alarm occurrence • After the stop by the servo OFF • After the stop by the software stroke limit • Deceleration by the forced stop (Not after the stop) The BUSY signal [X10 to X1F] OFF and this signal ON can be executed at the same timing. 6 - 32 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 5) b8: Speed change READY This signal turns ON at the ready by setting "1" in " Cd.15 Speed change request". It does not turn ON if it cannot be changed. (The warning code 11011 will occur.) This signal turns OFF by setting "0" in " Cd.15 Speed change request". 6) b9: Acceleration time change READY This signal turns ON at the ready by setting "1" is set in " Cd.18 Acceleration time change request". It does not turn ON if it cannot be changed. (The warning code 11012 will occur.) This signal turns OFF by setting "0" in " Cd.18 Acceleration time change request". 7) b10: Deceleration time change READY This signal turns ON at the ready by setting "1" is set in " Cd.20 Deceleration time change request". It does not turn ON if it cannot be changed. (The warning code 11013 will occur.) This signal turns OFF by setting "0" in " Cd.20 Deceleration time change request". 8) b11: Target position change READY This signal turns ON at the ready by setting "1" is set in " Cd.23 Target position change request". It does not turn ON if it cannot be changed. (The warning code 11014 will occur.) This signal turns OFF by setting "0" in " Cd.23 Target position change request". (f) Md.40 Servo status 1 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b0: READY ON b1: Servo ON b7: Servo error (Servo alarm) b12: In-position b13: Torque limit b14: Absolute position lost b15: Servo warning 1) b0: READY ON The servo READY ON/OFF status is indicated. 2) b1: Servo ON The servo ON/OFF status is indicated. 3) b7: Servo error (Servo alarm) This signal turns ON in the servo error occurrence. 4) b12: In-position The dwell pulse turns ON within the servo parameter " Pr.310 Inposition range". 5) b13: Torque limit This signal turns ON when the servo amplifier is having the torque restricted. 6 - 33 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6) b14: Absolute position lost This signal turns ON in "Error code 2025" and "Warning code 2143" occurrence. 7) b15: Servo warning This signal turns ON in servo warning occurrence. (f) Md.41 Servo status 2 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 b0: Zero point pass b3: Zero speed 1) b0: Zero point pass This signal turns ON if the zero point of the encoder has been passsed even once. 2) b3: Zero speed This signal turns ON when the motor speed is lower than the servo parameter " Pr.387 Zero speed". (2) Axis monitor data (MR-J3- B-RJ006 use) Symbol Buffer memory address Items Details Updated cycle Unit 0.88[ms] — b5: The switching status of the semi closed loop control/ fully closed loop control can be stored. b15 to b12b11 to b8b7 to b4b3 to b0 Md.40 1740+100n Servo status 1 b0: Fully closed loop control switching 0: In semi closed loop control 1: In fully closed loop control Refer to the servo amplifier instruction manual. Servo amplifier type MR-J3- B-RJ006 Instruction manual name SSCNET Fully Closed Loop Control MR-J3- B-RJ006 Servo Amplifier Instruction Manual (SH-030056) 6 - 34 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.5.2 System monitor data (1) System monitor data Symbol Buffer memory address Items Details Updated cycle Unit Status change (Error occurrence, Error reset) — Status change (Warning occurrence, Error reset) — Write request — 0.88[ms] — The bits corresponding to the axis that caused the error can be stored at the error occurrence. The error status for the axis can be turned OFF by error reset for every axis. b15 to b12b11 to b8b7 to b4b3 to b0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Md.100 3300 b0 : Axis 1 b1 : Axis 2 b2 : Axis 3 b3 : Axis 4 b4 : Axis 5 b5 : Axis 6 b6 : Axis 7 b7 : Axis 8 b8 : Axis 9 b9 : Axis 10 b10: Axis 11 b11: Axis 12 b12: Axis 13 b13: Axis 14 b14: Axis 15 b15: Axis 16 Axis error status The bits corresponding to the axis in which the warning occurred can be stored at the warning occurrence. The warning status for the axis can be turned OFF by the warning release. b15 to b12b11 to b8b7 to b4b3 to b0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 b0 : Axis 1 b1 : Axis 2 b2 : Axis 3 b3 : Axis 4 b4 : Axis 5 b5 : Axis 6 b6 : Axis 7 b7 : Axis 8 b8 : Axis 9 b9 : Axis 10 b10: Axis 11 b11: Axis 12 b12: Axis 13 b13: Axis 14 b14: Axis 15 b15: Axis 16 Md.101 3301 Axis warning status Md.102 3302 Number of write accesses to flash ROM Number of write accesses to flash ROM and the number of parameter initializations after the system power supply ON can be stored. Forced stop input status The status of the forced stop input can be stored. (The status of forced stop input by external 24VDC and the forced stop input signal [Y2] with input signal from PLC CPU can be stored.) 0: Forced stop 1: Forced stop release Md.103 3303 6 - 35 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.6 Control Data 6.6.1 Axis control data (1) Axis control data Symbol Cd.0 Cd.1 Buffer memory address Items 3400+100n Axis error reset 3401+100n Parameter change request Details Setting range Release error that occurs in axis. • Clear the error detection signal [X1], " Md.6 Error code" and " Md.7 Error detail". • Turn the bit of " Md.100 Axis error status" OFF for target axis. • Transmit the error reset on 0: Not commanded servo amplifier side. (The error 1: Commanded reset cannot be executed for (Leading edge some servo errors. Refer to the only) servo amplifier instruction manuals for details.) • Clear the warning detection signal [X2] and " Md.8 Warning code". • Turn the bit of " Md.101 Axis warning status" OFF for target axis. Fetch timing Factory default Unit 0 — 0 — 0 — Main cycle (Note-1) 0: Not requested Execute the parameter change 1: Requested request when the fetch timing of (Note): "0" can be automatically the basic parameter or OPR set after the parameter is set to "parameter change of change request". parameter. Cd.2 3402+100n Start method Set the start method. 1 to 32: Positioning data No. to be started. 9000: OPR 9003: New current value Cd.3 3403+100n Axis stop Stop the operating axis. 0: Not commanded 1: Commanded 0 — Cd.4 3404+100n Axis sudden stop Stop the operating axis suddenly. 0: Not commanded 1: Commanded 0 — Cd.5 3405+100n Pausing Command the pausing. 0: Pausing release 1: Pausing 0 — 0 — Leading edge of the positioning start signal [Y10 to Y1F] 0.88[ms] Cd.8 3408+100n Forward rotation JOG Start the forward rotation JOG. start 0: Stop 1: Start Cd.9 3409+100n Reverse rotation JOG Start the reverse rotation JOG. start 0: Stop 1: Start 0 — 0: Not requested 1: Requested 0 — Cd.11 3411+100n Torque limit request Command the torque limit request. (Note-1): Cycle of processing executed at free time except the positioning control. It changes by status of axis start. 6 - 36 6 DATA USED FOR POSITIONING CONTROL Symbol Buffer memory address Items Details MELSEC-Q Setting range Set the limiting torque Forward rotation torque generated in the CW direction 0 to 32767 Cd.12 3412+100n when the servo motor is limit value (Note): It is treated executing in the CCW direction. as "0" if the Set the limiting torque negative Reverse rotation torque generated in the CCW direction value is set. Cd.13 3413+100n when the servo motor is limit value executing in the CW direction. Cd.15 3415+100n Speed change request Cd.16 3416+100n New speed value 3417+100n Execute the speed change request. 10 [%] 0 10 [%] -1 -1 — Set the speed after the change. 5 to 2147000000 Speed change request 0 [PLS/s] 0.88[ms] 0 — Acceleration time change request 0 [ms] 0.88[ms] 0 — Deceleration time change request 0 [ms] 0.88[ms] 0 — Target position change request 0 New current value start 0 0: Not requested 1: Requested Cd.19 3419+100n New acceleration time value Set the acceleration time after the change. 0 to 20000 Cd.20 3420+100n Deceleration time change request Execute the deceleration time change request. 0: Not requested 1: Requested Cd.21 3421+100n New deceleration time Set the deceleration time after value the change. 0 to 20000 Cd.23 3423+100n Target position change Execute the target position request change request. 0: Not requested 1: Requested Cd.30 3430+100n Each axis servo OFF 0 0 Execute the acceleration time change request. 3428+100n New current value 3429+100n Unit 0.88[ms] Acceleration time change request Cd.28 Torque limit request, For every 0.88[ms] Factory default 0: Not requested 1: Requested Cd.18 3418+100n 3424+100n New target position Cd.24 3425+100n value Fetch timing Set the target position after the change. -2147483648 to 2147483647 Set the address after change. Execute the servo ON/OFF for each axis. Execute the gain changing of the servo amplifier from Cd.46 3446+100n Gain changing request QD74MH. Refer to the servo amplifier instruction manual. 6 - 37 0: Not commanded 1: Commanded 0: Not requested 1: Requested [PLS] 0 — 0 — 0.88[ms] 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) Axis control data (MR-J3- B-RJ006 use) Symbol Buffer memory address Items Details Setting range 0: Semi closed loop control Semi/Fully closed loop Execute the sSemi/Fully closed Cd.45 3445+100n 1: Fully closed loop switching request loop switching request. control (Note): The above command is enable when "1" is set to " Pr.445 Fetch timing Factory default Unit 0.88[ms] 0 — (PE01) Fully closed loop selection 1". Refer to the servo amplifier instruction manual. Servo amplifier type MR-J3- B-RJ006 Instruction manual name SSCNET Fully Closed Loop Control MR-J3- B-RJ006 Servo Amplifier Instruction Manual (SH-030056) 6 - 38 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.6.2 System control data (1) System control data Symbol Cd.100 Cd.101 Buffer memory address Items Details Setting range Fetch timing 0: Not requested Write the contents (Basic 1: Requested parameters, OPR parameters, (Note): "0" can be Manual control parameters, System automatically parameters, Positioning data and stored after the servo parameters) from the buffer writing memory to the flash ROM. completion. 5000 Flash ROM write request 5001 0: Not requested Execute the parameter (Basic 1: Requested parameters, OPR parameters, Manual control parameters, System (Note): "0" can be automatically parameters, Positioning data and stored after the Parameter initialization servo parameters) initialization initialization request stored in the flash ROM. request completion. (Also, (Note): Initialization "0" can be stored The setting data can be at the initialization returned to the factory error occurrence.) default. Factory default 0 Main cycle (Note-1) 0 (Note-1): Cycle of processing executed at free time except the positioning control. It changes by status of axis start. 6 - 39 6 DATA USED FOR POSITIONING CONTROL (a) MELSEC-Q Flash ROM write request / Md.102 Number of write accesses to flash ROM Cd.100 Set "1" in " Cd.100 Flash ROM write request" in the state of the PLC READY signal [Y0] OFF. 1 is added to " Md.102 Number of write accesses to flash ROM", and the value can be wrote to the flash ROM. "0" can be automatically set in " Cd.100 Flash ROM write request" with the writing completion. ON PLC READY signal [Y0] OFF Cd.100 Flash ROM write 0 request 1 0 ON Flash ROM write process (QD74MH) OFF Md.102 Number of write accesses to flash ROM 0 1 POINT (1) Do not turn the system power supply OFF or reset the PLC CPU while writing to the flash ROM. If the system power supply is turned OFF or the PLC CPU is reset to forcibly end the process, the data backed up in the flash ROM will be lost. (2) Do not write the data to the buffer memory before writing to the flash ROM is completed. (3) The number of the flash ROM write with the sequence program after the single system power supply ON or single PLC CPU reset is limited to up to 25. Writing of the 26th times will cause an "error code 1902". (4) The number of writes to the flash ROM after the system power supply ON can be monitored in " Md.102 Number of write accesses to flash ROM". (5) The flash ROM write can be executed, after the system's power supply ON and the PLC READY signal [Y0] ON. If the flash ROM write is executed without turning ON the PLC READY signal [Y0] after the system's power supply ON, a "warning code 10001" will occur and the flash ROM write cannot be executed. 6 - 40 6 DATA USED FOR POSITIONING CONTROL (b) Cd.101 MELSEC-Q Parameter initialization request Set "1" in " Cd.101 Parameter initialization request " in the state of the PLC READY signal [Y0] OFF. Process of the parameter initialization can be executed. "0" can be automatically set in " Cd.101 Parameter initialization request "with the process completion. ON PLC READY signal [Y0] OFF Cd.101 Parameter initialization 0 request Parameter initialization process (QD74MH) 1 0 ON OFF POINT (1) Execute the parameter initialization when the positioning control do not execute (PLC READY signal [Y0] OFF). An "error code 1903" will occur if it is executed at the PLC READY signal [Y0] ON. (2) A writing to the flash ROM is up to 100,000 times. If writing exceeds 100,000 times, the writing may be become impossible, and an "error code 1901" will occur. (3) Be sure to turn the system power supply ON/OFF or reset the PLC CPU after the parameter initialization. (4) The number of the flash ROM write with the sequence program after the single system power supply ON or single PLC CPU reset is limited to up to 25. Writing of the 26th times will cause an "error code 1902". (5) The number of parameter initialization after the system power supply ON can be monitored in " Md.102 Number of write accesses to flash ROM". (6) The parameter initialization can be executed, after the system's power supply ON and the PLC READY signal [Y0] ON. If the parameter initialization is executed without turning ON the PLC READY signal [Y0] after the system's power supply ON, a "warning code 10001" will occur and the parameter initialization cannot be executed. 6 - 41 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.7 Positioning Data The positioning data of 32 points can be set for one axis. The positioning data stored in the buffer memory of QD74MH are shown below. 16 axes positioning data No.1 9900 to 9909 No.2 9910 to 9919 No.3 9920 to 9929 2 axes positioning data 1 axis positioningNo.1 data 5420 to 5429 No.1 5100 to No.2 5109 5430 to 5439 No.2 5110 to No.3 5119 5440 to 5449 No.3 5120 to 5129 No.32 No.32 5410 to 5419 No.32 10210 to 10219 5730 to 5739 Table 6.9 List of buffer memory for positioning data Point No. Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 No.1 5100 5420 5740 6060 6380 6700 7020 7340 7660 7980 8300 8620 8940 9260 9580 9900 to 5109 to 5429 to 5749 to 6069 to 6389 to 6709 to 7029 to 7349 to 7669 to 7989 to 8309 to 8629 to 8949 to 9269 to 9589 to 9909 No.2 5110 5430 5750 6070 6390 6710 7030 7350 7670 7990 8310 8630 8950 9270 9590 9910 to 5119 to 5439 to 5759 to 6079 to 6399 to 6719 to 7039 to 7359 to 7679 to 7999 to 8319 to 8639 to 8959 to 9279 to 9599 to 9919 No.3 5120 5440 5760 6080 6400 6720 7040 7360 7680 8000 8320 8640 8960 9280 9600 9920 to 5129 to 5449 to 5769 to 6089 to 6409 to 6729 to 7049 to 7369 to 7689 to 8009 to 8329 to 8649 to 8969 to 9289 to 9609 to 9929 to to No.31 5400 5720 6040 6360 6680 7000 7320 7640 7960 8280 8600 8920 9240 9560 9880 to 5409 to 5729 to 6049 to 6369 to 6689 to 7009 to 7329 to 7649 to 7969 to 8289 to 8609 to 8929 to 9249 to 9569 to 9889 10200 to 10209 No.32 5410 5730 6050 6370 6690 7010 7330 7650 7970 8290 8610 8930 9250 9570 9890 to 5419 to 5739 to 6059 to 6379 to 6699 to 7019 to 7339 to 7659 to 7979 to 8299 to 8619 to 8939 to 9259 to 9579 to 9899 10210 to 10219 6 - 42 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (1) Positioning data Symbol Buffer memory address Items Details Setting range Fetch timing Factory default Unit 5100+320n Operation pattern Set the operation pattern for the continuous positioning data. 0: Independent positioning (Positioning complete) 1: Continuous positioning 3: Continuous path 0 — Da.1 5101+320n Control system Set the positioning control system. 0: ABS linear 1 1: INC linear 1 2: ABS linear interpolation 3: INC linear interpolation 0 — Da.2 5102+320n Acceleration time Set the acceleration time. 0 to 20000 0 [ms] Da.3 5103+320n Deceleration time Set the deceleration time. 0 to 20000 0 [ms] Da.4 5104+320n Command speed 5105+320n Set the positioning speed. 5 to 2147000000 0 [PLS/s] Da.6 Set the positioning address/movement amount. 1 axis linear control: -2147483648 to Set an absolute address in 5106+320n Positioning address/ 2147483647 the absolute system, and set 5107+320n movement amount Interpolation control: a movement amount with -999999999 to 999999999 sign in the incremental system. 0 [PLS] Da.8 5108+320n Dwell time 0 [ms] Da.0 Set the time from when the positioning data ends to when 0 to 65535 the positioning completes. 6 - 43 Positioning data execution 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q 6.8 Servo Parameter Symbol Pr.300 Buffer memory address Items 10300+300n Servo series Details Setting range Set the servo amplifier series connected to QD74MH. POINT Set correctly the servo amplifier series to match the number of axes and axis number to be connected. If the servo amplifier series setting is not corresponding to the actual number of axes, an error will occur and the system cannot be started. 0: None 1: MR-J3-B 3: MR-J3-B (Fully closed loop control) 4: MR-J3-B (Linear) Fetch timing Factory default First PLC READY ON after the system power supply ON 0 Refer to the servo amplifier instruction manual. Instruction Manual list is shown below. Servo amplifier type Instruction manual name MR-J3- B SSCNET Compatible MR-J3- B Servo Amplifier Instruction Manual (SH-030051) MR-J3- B-RJ004 SSCNET Compatible Linear Servo MR-J3- B-RJ004U (SH-030054) MR-J3- B-RJ006 SSCNET Fully Closed Loop Control MR-J3- B-RJ006 Servo Amplifier Instruction Manual (SH-030056) Instruction Manual POINT Parameters whose symbol is followed by "∗" or "∗∗" become valid as follows. Set the parameter value and transmit the parameter to servo amplifier from QD74MH with the PLC READY ON. And then, once execute the power cycle of servo amplifier to make the parameter setting valid. Refer to Section 6.2.3 for details of change procedure. 6 - 44 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (1) Servo parameter (MR-J3- B use) (a) Basic setting parameters Symbol Buffer memory address No. Symbol Pr.301 10301+300n PA01 — Pr.302 10302+300n PA02 Pr.303 10303+300n PA03 Pr.304 10304+300n PA04 Pr.305 10305+300n PA05 — Pr.306 10306+300n PA06 — Name For manufacturer setting REG∗∗ Regenerative option ABS* Absolute position detection system AOP1* Function selection A-1 For manufacturer setting Factory default of QD74MH Unit Setting range 0000h — 0000h to 0230h 0000h — 0000h to 000Ah 0000h — 0000h to 0001h 0000h — 0000h to 0110h 0 — — 1 — — 1 — — 0001h — 0000h to 0003h Pr.307 10307+300n PA07 — Pr.308 10308+300n PA08 ATU Auto tuning mode Pr.309 10309+300n PA09 RSP Auto tuning response 12 — 1 to 32 Pr.310 10310+300n PA10 INP In-position range 100 PLS 0 to 50000 Pr.311 10311+300n PA11 — 10000 — — Pr.312 10312+300n PA12 — 10000 — — For manufacturer setting Pr.313 10313+300n PA13 — Pr.314 10314+300n PA14 POL* Rotation direction selection Pr.315 10315+300n PA15 ENR* Encoder output pulses Pr.316 10316+300n PA16 — Pr.317 10317+300n PA17 — Pr.318 10318+300n PA18 — Pr.319 10319+300n PA19 — For manufacturer setting 6 - 45 0000h — — 0 — 0 to1 4000 PLS/rev 1 to 65535 0 — — 0000h — — 0000h — — 000Bh — 0000h to FFFFh 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (b) Gain/filter parameters Symbol Buffer memory address No. Symbol Pr.333 10333+300n PB01 FILT Pr.334 10334+300n PB02 Pr.335 Pr.336 Pr.337 10335+300n 10336+300n 10337+300n PB03 PB04 PB05 Pr.338 10338+300n PB06 Pr.339 Pr.340 Pr.341 10339+300n 10340+300n 10341+300n PB07 PB08 PB09 Pr.342 10342+300n PB10 VIC Pr.343 Pr.344 Pr.345 Pr.346 Pr.347 Pr.348 Pr.349 Pr.350 10343+300n 10344+300n 10345+300n 10346+300n 10347+300n 10348+300n 10349+300n 10350+300n PB11 PB12 PB13 PB14 PB15 PB16 PB17 PB18 VDC — NH1 NHQ1 NH2 NHQ2 — LPF Pr.351 10351+300n PB19 VRF1 Pr.352 10352+300n PB20 VRF2 Pr.353 Pr.354 Pr.355 Pr.356 Pr.357 Pr.358 Pr.359 Pr.360 10353+300n 10354+300n 10355+300n 10356+300n 10357+300n 10358+300n 10359+300n 10360+300n PB21 PB22 PB23 PB24 PB25 PB26 PB27 PB28 — — VFBF MVS* — CDP* CDL CDT Pr.361 10361+300n PB29 Pr.362 Pr.363 10362+300n 10363+300n PB30 PB31 Low-pass filter selection Slight vibration suppression control selection For manufacturer setting Gain changing selection Gain changing condition Gain changing time constant Gain changing ratio of load inertia moment to GD2B servomotor inertia moment PG2B Gain changing position loop gain VG2B Gain changing speed loop gain Pr.364 10364+300n PB32 VICB Pr.365 10365+300n PB33 VRF1B Pr.366 10366+300n PB34 Pr.367 Pr.368 Pr.369 Pr.370 Pr.371 Pr.372 Pr.373 Pr.374 Pr.375 Pr.376 Pr.377 10367+300n 10368+300n 10369+300n 10370+300n 10371+300n 10372+300n 10373+300n 10374+300n 10375+300n 10376+300n 10377+300n PB35 PB36 PB37 PB38 PB39 PB40 PB41 PB42 PB43 PB44 PB45 Name Adaptive tuning mode (Adaptive filter ) Vibration suppression control tuning mode VRFT (Advanced vibration suppression control) — For manufacturer setting FFC Feed forward gain — For manufacturer setting Ratio of load inertia moment to servo motor CD2 inertia moment PG1 Model loop gain PG2 Position loop gain VG2 Speed loop gain Speed integral compensation Speed differential compensation For manufacturer setting Machine resonance suppression filter 1 Notch shape selection 1 Machine resonance suppression filter 2 Notch shape selection 2 Automatic setting parameter Low-pass filter setting Vibration suppression control vibration frequency setting Vibration suppression control resonance frequency setting For manufacturer setting Gain changing speed integral compensation Gain changing vibration suppression control vibration frequency setting Gain changing vibration suppression control VRF2B resonance frequency setting — — — — — For manufacturer setting — — — — — — 6 - 46 Factory default of QD74MH Unit Setting range 0000h — 0000h to 0002h 0000h — 0000h to 0002h 0 0 500 — % — — 0 to 100 — 70 ×10 times 0 to 3000 24 37 823 rad/s rad/s rad/s 1 to 2000 1 to 1000 20 to 50000 337 ×10 ms 1 to 10000 980 0 4500 0000h 4500 0000h — 3141 — — Hz — Hz — — Hz 0 to 1000 — 100 to 4500 0000h to 0330h 100 to 4500 0000h to 0331h 0000h to 031Fh 100 to 18000 1000 ×10 Hz 1000 ×10 Hz 1 to 1000 0 0 0000h 0000h 0000h 0000h 10 1 — — — — — — — ms — — 0000h to 0011h 0000h to 0031h — 0000h to 0014h 0 to 9999 0 to 100 70 ×10 times 0 to 3000 37 823 rad/s rad/s 1to 2000 20 to 50000 337 ×10 ms 1000 ×10 Hz 1000 ×10 Hz 1 to 1000 0 0 100 0 0 0 1125 1125 0004h 0 0000h — — — — — — — — — — — — — — — — — — — — — — -1 -1 -1 -1 -1 -1 -1 -1 1 to 1000 1 to 50000 1 to 1000 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (c) Expansion setting parameters Symbol Buffer memory address No. Symbol Name Factory default of QD74MH Unit Setting range Pr.381 10381+300n PC01 ERZ* Error excessive alarm level 3 rev 1 to 200 Pr.382 10382+300n PC02 MBR Electromagnetic brake sequence output 0 ms 0 to 1000 Pr.383 10383+300n PC03 0000h — 0000h to 0021h Pr.384 10384+300n PC04 COP1** Function selection C-1 0000h — 0000h to 1110h Pr.385 10385+300n PC05 COP2** Function selection C-2 0000h — 0000h to 1110h Pr.386 10386+300n PC06 COP3** Function selection C-3 0000h — 0000h to 3021h Pr.387 10387+300n PC07 ZSP Zero speed 50 r/min 0 to 10000 Pr.388 10388+300n PC08 — For manufacturer setting 0 — — Pr.389 10389+300n PC09 MOD1 Analog monitor 1 output 0000h — 0000h to 041Fh Pr.390 10390+300n PC10 MOD2 Analog monitor 2 output 0001h — 0000h to 041Fh Pr.391 10391+300n PC11 MO1 Analog monitor 1 offset 0 mV -999 to 999 Pr.392 10392+300n PC12 MO2 Analog monitor 2 offset 0 mV -999 to 999 Pr.393 10393+300n Analog monitor feedback position output PC13 MOSDL standard data Low 0 PLS -9999 to 9999 Pr.394 10394+300n PC14 MOSDH Analog monitor feedback position output standard data High 0 10000PLS -9999 to 9999 ENRS* Encoder output pulses selection Pr.395 10395+300n PC15 — Pr.396 10396+300n PC16 — 0 — — 0000h — — Pr.397 10397+300n Pr.398 10398+300n PC17 COP4** Function selection C-4 0000h — 0000h to 0001h PC18 — 0000h — Pr.399 — 10399+300n PC19 — 0000h — — Pr.400 10400+300n PC20 — 0000h — — Pr.401 10401+300n PC21 — 0000h — 0000h to 0001h Pr.402 10402+300n PC22 — 0000h — — Pr.403 10403+300n PC23 — 0000h — — Pr.404 10404+300n PC24 — 0000h — — Pr.405 10405+300n PC25 — 0000h — — Pr.406 10406+300n PC26 — 0000h — — Pr.407 10407+300n PC27 — 0000h — — Pr.408 10408+300n PC28 — 0000h — — Pr.409 10409+300n PC29 — 0000h — — Pr.410 10410+300n PC30 — 0000h — — For manufacturer setting For manufacturer setting Alarm history clear For manufacturer setting Pr.411 10411+300n PC31 — 0000h — — Pr.412 10412+300n PC32 — 0000h — — 6 - 47 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (d) I/O setting parameters Symbol Buffer memory address No. Symbol Factory default of QD74MH Unit Setting range Pr.413 10413+300n PD01 Pr.414 10414+300n PD02 — 0000h — — — 0000h — Pr.415 10415+300n — PD03 — 0000h — Pr.416 10416+300n — PD04 — 0000h — — Name For manufacturer setting Pr.417 10417+300n PD05 — 0000h — — Pr.418 10418+300n PD06 — 0000h — — Pr.419 10419+300n PD07 DO1* Output signal device selection 1 0005h — 0000h to 003Fh Pr.420 10420+300n PD08 DO2* Output signal device selection 2 0004h — 0000h to 003Fh Pr.421 10421+300n PD09 DO3* Output signal device selection 3 0003h — 0000h to 003Fh Pr.422 10422+300n PD10 — 0000h — — Pr.423 10423+300n PD11 — 0004h — — Pr.424 10424+300n PD12 — 0000h — — Pr.425 10425+300n PD13 — 0000h — — Pr.426 10426+300n PD14 0000h — 0000h to 0100h Pr.427 10427+300n PD15 — 0000h — — Pr.428 10428+300n PD16 — 0000h — — Pr.429 10429+300n PD17 — 0000h — — Pr.430 10430+300n PD18 — 0000h — — Pr.431 10431+300n PD19 — 0000h — — Pr.432 10432+300n PD20 — 0000h — — Pr.433 10433+300n PD21 — 0000h — — Pr.434 10434+300n PD22 — 0000h — — Pr.435 10435+300n PD23 — 0000h — — Pr.436 10436+300n PD24 — 0000h — — Pr.437 10437+300n PD25 — 0000h — — Pr.438 10438+300n PD26 — 0000h — — Pr.439 10439+300n PD27 — 0000h — — Pr.440 10440+300n PD28 — 0000h — — Pr.441 10441+300n PD29 — 0000h — — Pr.442 10442+300n PD30 — 0000h — — For manufacturer setting DOP3* Function selection D-3 For manufacturer setting Pr.443 10443+300n PD31 — 0000h — — Pr.444 10444+300n PD32 — 0000h — — 6 - 48 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (e) Extension control parameters Symbol Buffer memory address No. Symbol Factory default of QD74MH Unit Setting range Pr.445 10445+300n PE01 Pr.446 10446+300n PE02 — 0000h — — — 0102h — Pr.447 10447+300n — PE03 — 0002h — Pr.448 — 10448+300n PE04 — 1 — — Pr.449 10449+300n PE05 — 1 — — Pr.450 10450+300n PE06 — 400 — — Pr.451 10451+300n PE07 — 100 — — Pr.452 10452+300n PE08 — 10 — — Pr.453 10453+300n PE09 — 0000h — — Name Pr.454 10454+300n PE10 — 0000h — — Pr.455 10455+300n PE11 — 0 — — Pr.456 10456+300n PE12 — Pr.457 10457+300n PE13 — Pr.458 10458+300n PE14 — Pr.459 10459+300n PE15 Pr.460 10460+300n PE16 Pr.461 10461+300n Pr.462 40 — — FFFEh — — 0111h — — — 20 — — — 0000h — — PE17 — 0000h — — 10462+300n PE18 — 0000h — — Pr.463 10463+300n PE19 — 0000h — — Pr.464 10464+300n PE20 — 0000h — — Pr.465 10465+300n PE21 — 0000h — — Pr.466 10466+300n PE22 — 0000h — — Pr.467 10467+300n PE23 — 0000h — — Pr.468 10468+300n PE24 — 0000h — — Pr.469 10469+300n PE25 — 0000h — — Pr.470 10470+300n PE26 IIRC21 Filter coefficient 2-1 0000h — 0000h to FFFFh Pr.471 10471+300n PE27 IIRC22 Filter coefficient 2-2 0000h — 0000h to FFFFh Pr.472 10472+300n PE28 IIRC23 Filter coefficient 2-3 0000h — 0000h to FFFFh Pr.473 10473+300n PE29 IIRC24 Filter coefficient 2-4 0000h — 0000h to FFFFh Pr.474 10474+300n PE30 IIRC25 Filter coefficient 2-5 0000h — 0000h to FFFFh Pr.475 10475+300n PE31 IIRC26 Filter coefficient 2-6 0000h — 0000h to FFFFh Pr.476 10476+300n PE32 IIRC27 Filter coefficient 2-7 0000h — 0000h to FFFFh Pr.477 10477+300n PE33 IIRC28 Filter coefficient 2-8 0000h — 0000h to FFFFh Pr.478 10478+300n PE34 — 0 — — Pr.479 10479+300n PE35 — 0 — — Pr.480 10480+300n PE36 — 0 — — Pr.481 10481+300n PE37 — 0 — — Pr.482 10482+300n PE38 — 0 — — Pr.483 10483+300n PE39 — 0 — — Pr.484 10484+300n PE40 — 0 — — For manufacturer setting For manufacturer setting 6 - 49 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (f) Special setting parameters Symbol Buffer memory address No. Symbol Factory default of QD74MH Unit Setting range Pr.493 10493+300n PS01 Pr.494 10494+300n PS02 — 0 — — — 0 — Pr.495 10495+300n — PS03 — 0 — Pr.496 — 10496+300n PS04 — 0 — — Pr.497 10497+300n PS05 — 0 — — Pr.498 10498+300n PS06 — 0 — — Pr.499 10499+300n PS07 — 0 — — Pr.500 10500+300n PS08 — 0 — — Pr.501 10501+300n PS09 — 0 — — Pr.502 10502+300n PS10 — 0 — — Pr.503 10503+300n PS11 — 0 — — Pr.504 10504+300n PS12 — 0 — — Pr.505 10505+300n PS13 — 0 — — Pr.506 10506+300n PS14 — 0 — — Pr.507 10507+300n PS15 — 0 — — Pr.508 10508+300n PS16 — 0 — — Pr.509 10509+300n PS17 — 0 — — Pr.510 10510+300n PS18 — 0 — — Pr.511 10511+300n PS19 — 0 — — Pr.512 10512+300n PS20 — 0 — — Pr.513 10513+300n PS21 — 0 — — Pr.514 10514+300n PS22 — 0 — — Pr.515 10515+300n PS23 — 0 — — Pr.516 10516+300n PS24 — 0 — — Pr.517 10517+300n PS25 — 0 — — Pr.518 10518+300n PS26 — 0 — — Pr.519 10519+300n PS27 — 0 — — Pr.520 10520+300n PS28 — 0 — — Pr.521 10521+300n PS29 — 0 — — Pr.522 10522+300n PS30 — 0 — — Name For manufacturer setting Pr.523 10523+300n PS31 — 0 — — Pr.524 10524+300n PS32 — 0 — — 6 - 50 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (2) Servo parameters (MR-J3- B-RJ006 use) The parameters (refer to this section (1)) used in the MR-J3- B besides the following parameters are required. Symbol Buffer memory address No. Factory default of QD74MH Unit Setting range Pr.301 10301+300n PA01 STY** Control mode Pr.316 10316+300n PA16 ENR2* Encoder output pulses 2 0000h — 0000h, 0010h 0 — Pr.381 10381+300n PC01 0 to 65535 3 rev Pr.383 10383+300n PC03 1 to 200 0000h — 0000h to 0131h Pr.406 10406+300n Pr.407 10407+300n PC26 COP8** Function selection C-8 0000h — 0100h, 1100h PC27 COP9** Function selection C-9 0000h — 0000h to 0101h Pr.414 10414+300n PD02 0000h — — Pr.445 10445+300n PE01 FCT1** Fully closed loop selection 1 0000h — 0000h to 0001h Pr.447 10447+300n PE03 FCT2* Fully closed loop selection 2 0002h — 0000h, 1013h Pr.448 10448+300n PE04 FBN** Fully closed loop feedback pulse electronic gear numerator 1 1 — 1 to 65535 Pr.449 10449+300n PE05 FBD** Fully closed loop feedback pulse electronic gear denominator 1 1 — 1 to 65535 Pr.450 10450+300n PE06 BC1 Fully closed loop control speed deviation error detection level 400 r/min 1 to 50000 Pr.451 10451+300n PE07 BC2 Fully closed loop control position deviation error detection level 100 kPLS 1 to 20000 Pr.452 10452+300n PE08 DUF Fully closed loop dual feedback filter 10 rad/s 0 to 4500 Pr.454 10454+300n PE10 FCT3 Fully closed loop selection 3 Symbol ERZ Name Error excessive alarm level ENRS* Encoder output pulses selection DIA2* For manufacturer setting 0000h — 0000h to 1200h 0 — 0 to 32767 Fully closed loop feedback pulse electronic gear denominator 2 0 — 0 to 32767 Pr.478 10478+300n PE34 Fully closed loop feedback pulse electronic FBN2** gear numerator 2 Pr.479 10479+300n PE35 FBD2** REMARK • When using the fully closed loop control system, set "0010h" in " Pr.301 Control mode". • When using the fully closed loop control system, the default value of servo amplifier differs from the default value of QD74MH. Set an appropriate value referring to the servo amplifier instruction manual. (The servo amplifier does not operate normally with the default value of QD74MH.) Refer to the servo amplifier instruction manual for details Servo amplifier type MR-J3- B-RJ006 Instruction manual name SSCNET Fully Closed Loop Control MR-J3- B-RJ006 Servo Amplifier Instruction Manual (SH-030056) 6 - 51 6 DATA USED FOR POSITIONING CONTROL MELSEC-Q (3) Servo parameter (MR-J3- B-RJ004 use) The parameters (refer to this section (1)) used in the MR-J3- B besides the following parameters are required. Symbol Buffer memory address No. Symbol Pr.301 10301+300n PA01 STY** Control mode Pr.316 10316+300n PA16 ENR2* Encoder output pulses 2 Setting range 0000h — — 0 — 1 to 65535 10381+300n PC01 Pr.383 10383+300n PC03 3 mm 1 to 1000 0000h — 0010h to 0031h Pr.406 10406+300n Pr.407 10407+300n PC26 COP8** Function selection C-8 0000h — 0100h, 1100h PC27 COP9** Function selection C-9 0000h — 0000h to 0101h Pr.414 10414+300n PD02 DIA2* Input signal automatic ON selection 0000h — 0000h to 0003h Pr.493 10493+300n PS01 LIT1** Linear function selection 1 0000h — 0000h to 1601h Pr.494 10494+300n PS02 LIM** 0 — 1 to 65535 Pr.495 10495+300n PS03 LID** Linear encoder resolution setting denominator Pr.496 10496+300n PS04 LIT2* Linear function selection 2 Pr.497 10497+300n PS05 LB1 Pr.498 10498+300n PS06 Pr.499 10499+300n PS07 10500+300n PS08 Pr.501 10501+300n PS09 Error excessive alarm level Unit Pr.381 Pr.500 ERZ Factory default of QD74MH Name ENRS* Encoder output pulses selection Linear encoder resolution setting numerator 0 — 1 to 65535 0000h — 0000h to 1007h Linear servo motor control position deviation error detection level 0 mm 1 to 1000 LB2 Linear servo motor control speed deviation error detection level 0 mm/s 1 to 5000 LB3 Linear servo motor control thrust deviation error detection level 0 % 1 to 1000 LIT3* Linear function selection 3 0000h — 0010h to 0012h 0 % 0 to 100 0 Hz 1 to 500 LPWM Magnetic pole detection voltage level Pr.502 10502+300n PS10 LFH At magnetic pole detection current detection method Identification signal frequency Pr.503 10503+300n PS11 LIDH At magnetic pole detection current detection method Identification signal amplitude. 0 % 50 to 100 Pr.504 10504+300n PS12 — For manufacturer setting 0 — — REMARK • When using the linear servo, set "0040h" in " Pr.301 Control mode". • When using the linear servo, the default value of servo amplifier differs from the default value of QD74MH. Set an appropriate value referring to the servo amplifier instruction manual. (The servo amplifier does not operate normally with the default value of QD74MH.) Refer to the servo amplifier instruction manual. Servo amplifier type MR-J3- B-RJ004 Instruction manual name SSCNET 030054) Compatible Linear Servo MR-J3- B-RJ004U 6 - 52 Instruction Manual (SH- 7 OPR CONTROL MELSEC-Q 7. OPR CONTROL 7.1 Outline of OPR Control In OPR control, a position is established as the starting point when executing positioning control. The six methods of OPR control are shown below. Through use of any of the methods, the current position becomes the value set in " Pr.52 OP address" at OPR completion, and the "OPR complete ( Md.9 Status 1: b1)" turns ON. "OPR complete" turns OFF at the next operation start. The OPR retry in the negative direction is executed at the hardware stroke limit detection for some OPR methods. Presence/absence of retry is also shown below. Table 7.1 OPR method list Method Details Retry Proximity dog type A method where deceleration being when the proximity dog turns ON and then the OP is defined as the first zero point after the proximity dog turns back OFF. Data set type A method which uses the JOG operation to move to any arbitrary position and then sets that position as the home position. A proximity dog is unnecessary. Stopper type To set the OP, first set the torque limit to a value in which the stopper will not be damaged. Next, perform a JOG operation and continue to JOG until the torque limit is reached due to the stopper. The stopper type OPR is now set. Dog cradle type The dog cradle method performs a deceleration when the proximity dog turns ON. Then, movement direction is reversed until the dog turns back OFF. At this point, movement is again towards the dog sensor but at the set creep speed. As soon as the dog turns back ON again, movement stops and the OP is defined. Limit switch combined type The limit switch sensor in the opposite direction of the home sensor is used for OPR. This method moves towards the limit switch and beings decelerating when the sensor turns on. Movement then reverses and the home position is the first Z pulse after the sensor turns back off. Scale origin signal detection type The scale origin signal detection method beings deceleration upon the dog sensor ON. Then, movement is reversed and the system detects for the linear scale's OP signal. Once detected, the system decelerates to a stop and then returns to the scale's OP at the set creep speed. : Possible 7 : Not possible 7.1.1 Data used for control The parameters and control data used for OPR are shown below. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Parameter Control data Items Details Pr.50 OPR method Pr.51 OPR direction Select the OPR method. Set the direction to execute the OPR. Pr.52 OP address Set the OP address at the OPR completion. Pr.54 OPR speed Set the movement speed for OPR. Pr.56 Creep speed Set the creep speed after proximity dog ON. Pr.58 OPR acceleration time Set the acceleration time at the OPR. Pr.59 OPR deceleration time Set the deceleration at the OPR. Pr.60 OP shift amount Set the shift amount at the OP shift. Pr.62 OP search limit Set the limit on the movement amount at the OP search movement. Cd.2 Start method Set the start method (9000: OPR). 7-1 7 OPR CONTROL MELSEC-Q 7.1.2 Starting method of OPR Starting method of OPR is shown below. 1) Set the OPR control related parameters as shown Table 7.1.1. 2) Set "9000" in " Cd.2 Start method". 3) Turn the positioning start signal [Y10 to Y1F] ON. 4) "OPR request ( Md.9 Status 1: b0)" is turned OFF with the OPR completion, and "OPR complete ( Md.9 Status 1: b1)" is turned ON. V Pr.51 OPR direction Pr.54 OPR speed Pr.56 Creep speed OP Proximity dog Zero point 1) OPR related parameter setting OPR related parameter Cd.2 Start method 2) 9000 ON Positioning start signal [Y10 to Y1F] OFF 3) ON OPR request ( Md.9 Status 1: b0) OFF ON 4) OPR complete ( Md.9 Status 1: b1) OFF 7-2 7 OPR CONTROL MELSEC-Q 7.2 Proximity Dog Type A method where deceleration being when the proximity dog turns ON and then the OP is defined as the first zero point after the proximity dog turns back OFF. Operation outline is shown below. (1) There is a proximity dog in the direction of OPR 1) Start the OPR. (It starts to accelerate at the time set in" Pr.58 OPR acceleration time" to the direction set in " Pr.51 OPR direction", and it moves at the speed set in " Pr.54 OPR speed".) 2) The proximity dog ON is detected, and it starts to decelerate at the speed set in " Pr.56 Creep speed". 3) It decelerates to the creep speed, and subsequently moves at the creep speed. 4) It stops with the proximity dog OFF. Thereafter, it restarts and the OPR completes at the first zero point. V Pr.51 OPR direction Pr.54 OPR speed 2) Pr.56 Creep speed 3) 1) 4) OP OPR start Proximity dog Zero point 7-3 7 OPR CONTROL MELSEC-Q (2) There is a proximity dog in the opposite direction against of OPR 1) Start the OPR. (It starts to accelerate at the time set in" Pr.58 OPR acceleration time" to the direction set in " Pr.51 OPR direction", and it moves at the speed set in " Pr.54 OPR speed".) 2) It stops at the time set in " Pr.17 Sudden stop deceleration time" with the limit switch detection of "OPR direction". 3) After stop, it moves in the opposite direction against of OPR at the OPR speed. 4) If the zero point is passed with the proximity dog OFF, a deceleration stop is made. (If the zero point is not passed, it continues to move until the zero point is passed, and then a deceleration stop is made.) 5) After deceleration stop, it moves in the direction of OPR at the OPR speed. 6) The proximity dog ON is detected, and it starts to decelerate at the speed set in " Pr.56 Creep speed". 7) It decelerates to the creep speed, and subsequently moves at the creep speed. 8) It stops with the proximity dog OFF. Thereafter, it restarts and the OPR completes at the first zero point. V Pr.51 OPR direction 2) 6) Pr.56 Creep speed 7) 5) 1) 3) 8) OP OPR start 4) Pr.54 OPR speed Limit switch Proximity dog Zero point POINT When the limit switch of OPR direction is detected again without the proximity dog ON after operation in (5) the above, the retry (continuation from operation in (2)) is executed again. 7-4 7 OPR CONTROL MELSEC-Q (3) The start position is on a proximity dog 1) It moves in the opposite direction against of direction set in " Pr.51 OPR direction" at the speed set in " Pr.54 OPR speed". 2) If the zero point is passed with the proximity dog OFF, a deceleration stop is made. (If the zero point is not passed, it continues to move until the zero point is passed, and then a deceleration stop is made.) 3) After deceleration stop, it moves in the direction of OPR at the OPR speed. 4) The proximity dog ON is detected, and it starts to decelerate at the speed set in " Pr.56 Creep speed". 5) It decelerates to the creep speed, and subsequently moves at the creep speed. 6) It stops with the proximity dog OFF. Thereafter, it restarts and the OPR completes at the first zero point. V Pr.51 OPR direction Pr.54 OPR speed 4) Pr.56 Creep speed 5) 3) 1) 6) OPR start Pr.54 OPR speed OP 2) Proximity dog Zero point (4) A limit switch is detected at the start up position If a limit switch in the direction of OPR is ON, the OPR is executed in operation of this section (2). If the limit switch in the opposite direction against of OPR is ON, the OPR is executed in operation of this section (1). 7-5 7 OPR CONTROL MELSEC-Q 7.3 Data Set Type A method which uses the JOG operation to move to any arbitrary position and then sets that position as the home position. A proximity dog is unnecessary. OP is the commanded position at the OPR operation. V The commanded position at the OPR start is OP. OPR start (Positioning start signal ON) POINT When the hardware stroke limit is detected at the OPR start, an "error code 1500" will occur, and the OPR is not completed. 7-6 7 OPR CONTROL MELSEC-Q 7.4 Stopper Type To set the OP, first set the torque limit to a value in which the stopper will not be damaged. Next, perform a JOG operation and continue to JOG until the torque limit is reached due to the stopper. The stopper type OPR is now set. V The position that has stopped by stopper, etc. is OP. Torque limit OPR start (Positioning start signal ON) POINT When the "Torque limit ( Md.40 Servo status 1: b13)" is not ON at the OPR start, an "error code 1095" will occur, and the OPR is not completed. 7-7 7 OPR CONTROL MELSEC-Q 7.5 Dog Cradle Type The dog cradle method performs a deceleration when the proximity dog turns ON. Then, movement direction is reversed until the dog turns back OFF. At this point, movement is again towards the dog sensor but at the set creep speed. As soon as the dog turns back ON again, movement stops and the OP is defined. Operation outline is shown below. (1) There is a proximity dog in the direction of OPR 1) Start the OPR. (It starts to accelerate at the time set in" Pr.58 OPR acceleration time" in the direction set in " Pr.51 OPR direction", and it moves at the speed set in " Pr.54 OPR speed".) 2) The proximity dog ON is detected, and a deceleration stop is made. 3) After deceleration stop, it moves in the opposite direction against of OPR at the OPR speed. 4) If the zero point is passed with the proximity dog OFF, a deceleration stop is made. (If the zero point is not passed, it continues to move until the zero point is passed, and then a deceleration stop is made.) 5) After deceleration stop, it moves in the direction of OPR at the speed set in " Pr.56 Creep speed", and the OPR completes at the first zero point after proximity dog ON. Pr.51 OPR direction V Pr.54 OPR speed 2) 5) Pr.56 Creep speed 3) 1) OP OPR start 4) Proximity dog Zero point 7-8 7 OPR CONTROL MELSEC-Q (2) There is a proximity dog in the opposite direction against of OPR 1) Start the OPR. (It starts to accelerate at the time set in" Pr.58 OPR acceleration time" to the direction set in " Pr.51 OPR direction", and it moves at the speed set in " Pr.54 OPR speed".) 2) It stops at the time set in " Pr.17 Sudden stop deceleration time" with the limit switch detection of "OPR direction". 3) After stop, it moves in the opposite direction against of OPR at the OPR speed. 4) If the zero point is passed with the proximity dog OFF, a deceleration stop is made. (If the zero point is not passed, it continues to move until the zero point is passed, and then a deceleration stop is made.) 5) After deceleration stop, it moves in the direction of OPR at the speed set in " Pr.56 Creep speed", and the OPR completes at the first zero point after proximity dog ON. V 2) Pr.51 OPR direction 5) Pr.56 Creep speed 1) 3) OP OPR start 4) Pr.54 Limit switch Proximity dog Zero point 7-9 OPR speed 7 OPR CONTROL MELSEC-Q (3) The start position is on a proximity dog 1) It moves in the opposite direction against of direction set in " Pr.51 OPR direction" at the speed set in " Pr.54 OPR speed". 2) If the zero point is passed with the proximity dog OFF, a deceleration stop is made. (If the zero point is not passed, it continues to move until the zero point is passed, and then a deceleration stop is made.) 3) After deceleration stop, it moves in the direction of OPR at the speed set in " Pr.56 Creep speed", and the OPR completes at the first zero point after proximity dog ON. V Pr.51 OPR direction 3) Pr.56 Creep speed OP 2) 1) OPR start Pr.54 OPR speed Proximity dog Zero point (4) A limit switch is detected at the start up position If a limit switch in the direction of OPR is ON, the OPR is executed in operation of this section (2). If the limit switch in the opposite direction against of OPR is ON, the OPR is executed in operation of this section (1). 7 - 10 7 OPR CONTROL MELSEC-Q 7.6 Limit Switch Combined Type The limit switch sensor in the opposite direction of the home sensor is used for OPR. This method moves towards the limit switch and beings decelerating when the sensor turns on. Movement then reverses and the home position is the first Z pulse after the sensor turns back off. Operation outline is shown below. 1) It moves in the opposite direction against of direction set in " Pr.51 OPR direction" at the speed set in " Pr.54 OPR speed". 2) A deceleration stop is made with the limit switch detection of the opposite direction against of OPR. 3) After deceleration stop, it moves in direction of OPR at the speed set in " Pr.56 Creep speed", and it stops at the limit switch detection. Thereafter, it restarts and the OPR completes at the first zero point. V Pr.51 OPR direction Pr.54 OPR speed 2) 3) 1) OPR start OP Pr.56 Creep speed Limit switch Zero point POINT While it is moving in the direction of OPR at the speed set in " Pr.56 Creep speed", the OPR is executed by calculating the movement distance to OP even if the zero point in not passed at the limit switch OFF. However, it cannot be stopped to zero point securely in the incremental encoder. (1) A limit switch is detected at the start up position If a limit switch of the opposite direction against of OPR is ON at the start, the OPR is executed in operation of this section 3). 7 - 11 7 OPR CONTROL MELSEC-Q 7.7 Scale Origin Signal Detection Type The OPR is executed using a home position signal (zero point) on a linear scale. The scale origin signal detection method beings deceleration upon the dog sensor ON. Then, movement is reversed and the system detects for the linear scale's OP signal. Once detected, the system decelerates to a stop and then returns to the scale's OP at the set creep speed. For linear scales that have multiple home position signals, the position of the home position signal that is nearest the proximity dog becomes the home position. Operation outline is shown below. CAUTION Set "Need to pass motor Z phase after the power supply is switched on" in " Pr.397 Function selection C-4" when using the OPR for scale origin signal detection type. An "error code 1100" will occur at the start of the OPR for scale origin signal detection type, if "Not need to pass motor Z phase after the power supply is switched on" is set. (1) There is a proximity dog in the direction of OPR 1) Start the OPR. (It starts to accelerate at the time set in" Pr.58 OPR acceleration time" in the direction set in " Pr.51 OPR direction", and it moves at the speed set in " Pr.54 OPR speed".) 2) The proximity dog ON is detected, and a deceleration stop is made. 3) After deceleration stop, it moves in the opposite direction against of OPR at the OPR speed. 4) After proximity dog ON, a home position signal (zero point) on a linear scale is detected, and a deceleration stop is made. 5) After deceleration stop, it moves in direction of OPR at the speed set in " Pr.56 Creep speed", and the OPR completes at the position of home position signal (zero point). V Pr.51 OPR direction Pr.54 OPR speed 2) 5) Pr.56 Creep speed 3) 1) OP OPR start 4) Proximity dog Limit switch OP signal (Zero point) 7 - 12 7 OPR CONTROL MELSEC-Q POINT (1) When a limit switch is detected, an "error code 1500" will occur and the OPR is terminated. (Retry is not executed.) When there is a proximity dog in the opposite direction against of OPR, an "error code 1500" will surely occur. Therefore, position the proximity dog in front of the limit switch signal, and as shown in the diagram, position the proximity dog signal so that it overlaps the limit switch signal. (2) While it is moving in the opposite direction against of OPR, it cannot be stopped until the home position search limit or the limit switch of opposite is detected. (3) The start position is on a proximity dog 1) It moves in the opposite direction against of direction set in " Pr.51 OPR direction" at the speed set in " Pr.54 OPR speed". 2) After proximity dog ON, a home position signal (zero point) on a linear scale is detected, and a deceleration stop is made. 3) After deceleration stop, it moves in direction of OPR at the speed set in " Pr.56 Creep speed", and the OPR completes at the position of home position signal (zero point). V Pr.51 OPR direction 3) Pr.56 Creep speed OP 1) Pr.54 2) Proximity dog Limit switch OP signal (Zero point) 7 - 13 OPR start OPR speed 7 OPR CONTROL MELSEC-Q 7.8 OP Shift Function When the OPR is executed, a home position is set by using the proximity dog or zero point signal. However, by using the OP shift function, the position to which only the specified movement amount was moved from the position which detected the zero point signal can be regarded as home position. The OPR methods corresponding to the OP shift function are shown below. OPR Method OP shift function Proximity dog type Data set type Stopper type Dog cradle type Limit switch combined type Scale origin signal detection type : Possible : Not possible 7.8.1 Control details Operation for the OP shift function is shown below. (1) OP shift amount is positive value When a positive value is set in " Pr.60 OP shift amount", it moves in the direction set in " Pr.51 OPR direction". V Pr.51 OPR direction Pr.54 OPR speed Pr.56 Creep speed Pr.60 OP shift amount OPR start Proximity dog Zero point 7 - 14 OP 7 OPR CONTROL MELSEC-Q (1) OP shift amount is negative value When a negative value is set in " Pr.60 OP shift amount", it moves in the opposite direction against of direction set in " Pr.51 OPR direction". V Pr.51 OPR direction Pr.54 OPR speed Pr.60 OP shift amount Pr.56 Creep speed OP OPR start Pr.56 Creep speed Proximity dog Zero point 7.8.2 Setting range of OP shift amount Set " Pr.60 OP shift amount" within the range of from the detected zero point signal to upper/lower limit switches. If the outside the range is set, an "error code 1500" will occur and the OPR is not completed. Setting range of negative " Pr.60 OP shift amount" Limit switch in the opposite direction of OPR Setting range of positive " Pr.60 OP shift amount" Limit switch in the direction of OPR Proximity dog Pr.51 OPR direction Zero point 7 - 15 7 OPR CONTROL MELSEC-Q 7.9 OP Search Limit Function This function is that through movement operation in the opposite direction of OPR (movement operation in the direction of OPR foe the limit switch combined type), if the movement exceeds the parameter set in " Pr.62 OP search limit", an "error code 1098" will occur and the OPR is terminated. (It stops by setting of sudden stop time.) This function is used to prevent over run in case the proximity dog signal and limit switch cannot detect correctly due to a failure. The OPR methods corresponding to the OP search limit function are shown below. Method OP search limit function Proximity dog type Data set type Stopper type Dog cradle type Limit switch combined type Scale origin signal detection type : Possible : Not possible 7.9.1 Control details Operation for the OP search limit function is shown below. (1) OPR for dog cradle type (ex. The proximity dog OFF cannot be detected.) V Pr.51 OPR direction Pr.54 OPR speed OPR start Alarm stop due to " Pr.62 OP search limit" being exceeded The proximity dog OFF cannot be detected for some reason. Proximity dog Zero point 7 - 16 7 OPR CONTROL MELSEC-Q (2) OPR for limit switch combined type (ex. The limit switch OFF cannot be detected.) V Pr.51 OPR direction Pr.54 OPR speed OPR start Pr.56 Creep speed Alarm stop due to " Pr.62 OP search limit" being exceeded The proximity dog OFF cannot be detected for some reason. Limit switch Zero point 7 - 17 7 OPR CONTROL MELSEC-Q MEMO 7 - 18 8 POSITIONING CONTROL MELSEC-Q 8. POSITIONING CONTROL 8.1 Outline of Positioning Controls Positioning controls can be executed using the positioning data stored in QD74MH. It can be executed by starting the positioning data that set the required items, Set the control system in " Da.1 Control system" of the positioning data. Positioning control list is shown below. Positioning control ABS linear 1 INC linear 1 1-axis linear control Linear control Details Control system Interpolation 2 to 4-axes linear control interpolation control Positioning of a designated 1 axis can be executed from the start address (current stop position) to the designated position. ABS linear interpolation INC linear interpolation Using the designated 2 to 4 axes which group is set by parameter, linear interpolation control can be executed out from the start address (current stop position) to the designated position. POINT Up to 4 groups can be set as a group for combination of interpolation axis. 8.1.1 Data required for positioning control Positioning data used for positioning controls are shown below. The positioning data of 32 points can be set for each axis. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Positioning data Items Details Da.0 Operation pattern Set the operation pattern of continuous positioning data. Da.1 Control system Set the control system of positioning. Da.2 Acceleration time Set the acceleration time to accelerate for positioning. Da.3 Deceleration time Set the deceleration time to decelerate for positioning. Da.4 Command speed Set the speed of positioning. Da.6 Positioning address/movement amount Set the positioning address/movement amount of positioning. Da.8 Dwell time Set the time from the completion of positioning data until the judgment of the QD74MH positioning completion. 8-1 8 8 POSITIONING CONTROL MELSEC-Q 8.1.2 Operation patterns of positioning controls " Da.0 Operation pattern" can be set to designate whether to continue executing positioning data after the started positioning data. The following 3 types can be set in " Da.0 Operation pattern". • Independent positioning (Operation pattern: 0) • Continuous positioning (Operation pattern: 1) • Continuous path (Operation pattern: 3) Examples of operation patterns in which "1-axis linear control (ABS linear 1)" is set in positioning data No.1 to No.6 of axis 1 is shown below. No.1 Start Positioning data No.1 Positioning to address [A] at command speed [a] Operation pattern = 3: Continuous path No.2 Positioning to address [B] at command speed [b] Operation pattern = 3: Continuous path No.3 Positioning to address [C] at command speed [a] Operation pattern = 1: Continuous positioning No.4 Positioning to address [D] at command speed [b] Operation pattern = 1: Continuous positioning No.5 Positioning to address [E] at command speed [a] Operation pattern = 0: Independent positioning No.6 Positioning to address [F] at command speed [b] Operation pattern = 3: Continuous path V Da.0 Operation pattern 3 b a Positioning complete 1 3 1 0 The machine stops, and then continues the next positioning Speed is changed without stopping No.1 A No.2 B Positioning complete t No.3 C No.4 D No.5 Address E F (Note): It is possible to start from an arbitrary point by setting the point. 8-2 8 POSITIONING CONTROL MELSEC-Q (1) Independent positioning One positioning data can be executed in this control. If a dwell time is set, the positioning will complete after the specified time elapses. V Independent positioning Da.8 Dwell time t Positioning start signal [Y10 to Y1F] ON OFF ON BUSY signal [X10 to X1F] OFF ON Positioning complete ( Md.10 Status 2: b0) OFF (Turn OFF at the next positioning start) (2) Continuous positioning It always automatically decelerates each time the positioning is completed. Acceleration to operate the next positioning data is executed after the command speed reaches "0". If a dwell time is set, acceleration to operate the next positioning data after the specified time elapses. In operation by continuous positioning, the next positioning is automatically executed. Always set the independent positioning in the last positioning data to complete the positioning. If the independent positioning is not set, an "error code 1022" will occur at the nd switching to the 32 point, and the positioning cannot be started. V Continuous positioning Continuous positioning Da.8 Dwell time Da.8 Dwell time t Set "0" in Da.8 . Positioning start signal [Y10 to Y1F] Independent positioning ON OFF ON BUSY signal [X10 to X1F] Positioning complete ( Md.10 Status 2: b0) OFF ON OFF 8-3 8 POSITIONING CONTROL MELSEC-Q (3) Continuous path The speed can be changed without deceleration stop between the command speed of the positioning data currently being run and the speed of the positioning data that will be run next. The speed switching of next positioning data is executed after passing the point. If a dwell time is set, a deceleration stop is made and it starts to move to the next point after the specified time elapses. In operation by continuous path, the next positioning is automatically executed. Always set the independent positioning in the last positioning data to complete the positioning. If the independent positioning is not set, an "error code 1022" will occur at the nd switching to the 32 point, and a deceleration stop is made. Da.8 Dwell time(=0) V Continuous path Continuous path Independent positioning Continuous path t Set "0" in Da.8 . Positioning start signal [Y10 to Y1F] Set "0" in Da.8 . ON OFF ON BUSY signal [X10 to X1F] Positioning complete ( Md.10 Status 2: b0) OFF ON OFF POINT (1) Do not reverse a movement direction in the "positioning data" of continuous path for 1-axis linear control. If a direction is reversed, an "error code 1024" will occur and a deceleration stop is made. (A movement direction can be reversed in the continuous path at the interpolation control.) (2) Set an address or movement amount where continuous stop is possible in the positioning data of continuous path end. If the movement amount is small, a "warning code 11005" or "warning code 11006" will occur, and the operation is stopped suddenly. (3) The point data is input at the timing of point switching for the continuous path. 8-4 8 POSITIONING CONTROL MELSEC-Q 8.1.3 Designating the positioning address There are two methods (absolute system and incremental system) to design a position in the positioning control. Each method can be set in " Da.1 Control system". (1) Absolute system Positioning can be executed by specifing a position (absolute address) based on the home position. Address 100 Start point Address 150 End point Address 300 Address 150 Address 100 Address 150 0 100 150 300 (2) Incremental system Positioning can be executed by specifing a movement direction and movement amount based on the position that has currently stopped. Movement amount +100 Start point End point Movement amount +100 Movement amount -200 Movement amount -150 0 100 8-5 150 250 300 8 POSITIONING CONTROL MELSEC-Q 8.2 1-axis Linear Control This control is used to execute the position control for 1 axis. Da.1 Control system 0: ABS linear 1 1: INC linear 1 8.2.1 Starting method The starting method for 1-axis linear control is shown below. 1) Set the items of positioning data. 2) Set the starting positioning data No. in " Cd.2 Start method". 3) Turn the positioning start signal [Y10 to Y1F] ON. 4) The BUSY signal [X10 to X1F] is turns OFF by the positioning completion, and the "Positioning complete ( Md.10 Status 2: b0)" is turns ON. V Continuous path Independent positioning Continuous path 1) Positioning data setting Positioning data Cd.2 Start type Positioning start signal [Y10 to Y1F] 2) Starting positioning data No. ON OFF 3) ON BUSY signal [X10 to X1F] Positioning complete ( Md.10 Status 2: b0) Md.5 Positioning data No. being executed OFF 4) ON OFF Started positioning data No. 8-6 Started positioning data No. +1 Started positioning data No. +2 0 8 POSITIONING CONTROL MELSEC-Q 8.2.2 Control details (1) ABS linear 1 In absolute system 1-axis linear control, positioning is executed from the start point address (current stop position) to the end point address (address set in " Da.6 Positioning address/movement amount") by using addresses established by OPR. Example The start point address is 1000, and the end point address is 8000. Start point address (Current stop position) 0 End point address (Positioning address) 1000 8000 Positioning control (Movement amount 7000) (2) INC linear 1 In incremental system 1-axis linear control, positioning is executed from the start point address (current stop position) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount" by using addresses established by OPR are used. The movement direction is depended by a sign of movement amount. Start point address (Current stop position) Reverese direction Forward direction Negative movement amount Positive movement amount Example The start point address is 5000, and the movement amount is -7000. Address after positioning control -3000 -2000 -1000 0 1000 2000 3000 4000 Positioning control in the reverse direction (Movement amount -7000) 8-7 5000 Start point address (Current stop position) 6000 8 POSITIONING CONTROL MELSEC-Q 8.2.3 Restrictions for 1-aixs linear control (1) When the "continuous positioning" or "continuous path is set in " Da.0 Operation pattern", and the "ABS linear 1" or " INC linear 1" is set in " Da.1 Control system", if the except "1-axis linear control" is set to the next positioning data, an "error code 1023" will occur at the point shift , and the positioning is completed. (The point shift from "ABS linear 1" to "INC linear 1", or from "INC linear 1" to "ABS linear 1" are possible.) In an "error code 1023" occurs at the point shift of continuous path, the operation will stops immediately. (2) If the following setting value is set that it decelerates at once after it reaches the command speed by acceleration and is set, it does not reach the command speed, and the constant speed section is caused. • " Da.2 Acceleration time" • " Da.3 Deceleration time" • " Da.4 Command speed" • " Da.6 Positioning address/movement amount" If it does not reach the command speed because the setting value of "positioning address/movement amount" is small, it becomes operation similar to the above. Da.4 Command speed Actual speed If the setting value of " Da.2 Acceleration time" is short, the constant speed section might become long. 8-8 8 POSITIONING CONTROL MELSEC-Q 8.3 Linear Interpolation Control This control is used to execute the position control in a linear path while executing interpolation for the axis directions set in each axis for the axes set as a group. Up to 4 axes interpolation controls are possible in QD74MH. The linear interpolation control for all axes set in one group can be executed by setting the positioning address and command speed in the positioning data, and by input the positioning start signal. Da.1 Control system 2: ABS linear interpolation 3: INC linear interpolation Afterwards, the axis in which the positioning start signal is input is defined as the "reference axis", and the other axis is defined as "interpolation axis". 8.3.1 Data used for control There are data that set to both of "reference axis" and "interpolation axis", and data that set to only "reference axis". The parameters, control data and positioning data used for the linear interpolation control are shown below. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Pr.10 Parameter Control data Reference axis Details Interpolation axis Speed limit value Set the maximum speed for each axis. Pr.25 Interpolation group Set the group to specify the combination for axes to be interpolation-controlled. Pr.26 Linear interpolation speed limit value Set the maximum speed at the linear interpolation control. ⎯ Start method Set the starting positioning data No. Set to only "reference axis". The positioning data of the same No. as the "interpolation axis" are used to the "interpolation axis". ⎯ Cd.2 Da.0 Operation pattern Set the operation pattern for the continuous positioning data. ⎯ Da.1 Control system Set the positioning control system. ⎯ Set the acceleration time. ⎯ Set the deceleration time. ⎯ Set the positioning speed. ⎯ Da.2 Positioning data Items Da.3 Da.4 Da.6 Da.8 Acceleration time Same Deceleration time positioning Command speed No. Positioning address/ movement amount Dwell time Set the positioning address/movement amount. Set the time from when the positioning data ends to when the positioning completes. : Must be set 8-9 ⎯ ⎯ : Must be not set 8 POSITIONING CONTROL MELSEC-Q 8.3.2 Setting of linear interpolation axis Always set the basic parameter " Pr.25 Interpolation group" to execute the linear interpolation. The interpolated axis can be set to "interpolation group". Set the same value to "interpolation group" of interpolated axes. Up to 4 axes can be set to one group, and up to 4 groups can be set. The interpolation control can be executed for the axes that set the same value to the interpolation group. When the "ABS linear interpolation" or "INC linear interpolation" is set in " Da.1 Control system" of reference axis, and the positioning start signal [Y10 to Y1F] is turned ON, the all axes of same interpolation group can be started to execute the interpolation control. The data of reference axis are used in the following positioning data. (The value set in the positioning data of the interpolation axis is ignored.) • " Da.0 Operation pattern" • " Da.1 Control system" • " Da.2 Acceleration time" • " Da.3 Deceleration time" • " Da.4 Command speed" • " Da.8 Dwell time", Set only " Da.6 Positioning address/movement amount" for the all axes of the same group for the interpolation control. POINT (1) Always set the basic parameter " Pr.25 Interpolation group" to execute the interpolation. When "0" is set to interpolation group, an "error code 1040" will occur. (2) The interpolation group becomes valid by input from the buffer memory at the PLC READY ON. (3) Do not turn ON the positioning start signal [Y10 to Y1F] of the interpolation axis except reference axis at the interpolation control start. An error may occur at the start. (4) The linear interpolation can be started for the axes that set the same value to the interpolation group. A part of the axes cannot be started among those axes. (5) A single axis can be started by setting the "ABS linear interpolation" or "INC linear interpolation" in " Da.1 Control system" even if "Interpolation group" is set. 8 - 10 8 POSITIONING CONTROL MELSEC-Q 8.3.3 Starting method The starting method for linear interpolation control is shown below. 1) Set the parameters required for linear interpolation control. 2) Set the items of positioning data. Set the all items for reference axis, and set only " Da.6 Positioning address/movement amount" for interpolation axis. 3) Set the starting positioning data No. in " Cd.2 Start method" of reference axis. 3) Turn the positioning start signal [Y10 to Y1F] ON of reference axis. 4) The BUSY signal [X10 to X1F] both of reference axis and interpolation axis are turn OFF by the positioning completion, and the "Positioning complete ( Md.10 Status 2: b0)" is turns ON. V Reference axis Interpolation axis Positioning data 2) Positioning data setting "Reference axis" Cd.2 Start type 3) Starting positioning data No. ON "Reference axis" Positioning start signal [Y10 to Y1F] OFF "Reference axis" BUSY signal [X10 to X1F] OFF 4) ON ON 5) "Reference axis" Positioning complete ( Md.10 Status 2: b0) OFF "Interpolation axis" BUSY signal [X10 to X1F] OFF "Interpolation axis" Positioning complete ( Md.10 Status 2: b0) OFF ON ON 5) 8 - 11 8 POSITIONING CONTROL MELSEC-Q 8.3.4 Control details (1) ABS linear interpolation In absolute system 1-axis linear control, linear interpolation positioning is executed from the start point address (current stop position) to the end point address (address set in " Da.6 Positioning address/movement amount") by using addresses established by OPR. • 2-axes linear interpolation control Forward direction (Y-axis) Start point address (X1, Y1) (Current stop position) Y2 End point address (X2, Y2) (Positioning address) Operation by linear interpolation for X-axis and Y-axis Y1 Reverse direction X1 X2 Forward direction (X-axis) Reverse direction Example The start point address is (1000, 1000) and the end point address is (10000, 4000). Axis 2 Start point address (Current stop position) 4000 End point address (Positioning address) Axis 2 Movement amount (4000-1000=3000) 1000 Axis 1 1000 8 - 12 5000 Axis 1 Movement amount (10000-1000=9000) 10000 8 POSITIONING CONTROL MELSEC-Q (2) INC linear In incremental system 2-axes linear interpolation control, linear interpolation positioning is executed from the start point address (current stop position) to a position at the end of the movement amount set in " Da.6 Positioning address/movement amount" by using addresses established by OPR are used. The movement direction is depended by a sign of movement amount. • 2-axes linear interpolation control Forward direction (Y-axis) Start point address (X1, Y1) (Current stop position) Y2 Y-axis Movement amount Operation by linear interpolation for X-axis and Y-axis Y1 Reverse direction X1 Reverse direction X-axis Movement amount X2 Forward direction (X-axis) Example The start point address is (1000, 4000), the movement amount of axis 1 is 9000 and the movement amount of axis 2 is -3000. Axis 2 4000 Start point address (Current stop position) Axis 2 Movement amount (-3000) Stop address after the positioning control 1000 Axis 1 5000 1000 Axis 1 Movement amount (9000) 8 - 13 10000 8 POSITIONING CONTROL MELSEC-Q 8.3.5 Speed/acceleration/deceleration The speed of each axis in linear interpolation control is equal to the speed at which " Da.4 Command speed" set in the positioning data of reference axis is distributed with the movement amount. Axis 2 Da.4 Command speed (F) Axis 2 Speed (F2) • Axis 1 movement amount: D1 • Axis 2 movement amount: D2 • Da.4 Command speed: F F × D1 2 2 D1 +D2 F × D2 Axis 2 speed: F1 = 2 2 D1 +D2 Axis 1 speed: F1 = Axis 1 Speed (F1) Axis 1 Fig. 8.1 Speed for linear interpolation control POINT (1) The vector speed is limited by " Pr.26 Linear interpolation speed limit value" in the interpolation control. (2) Also, the speed of each axis is limited by the parameter " Pr.10 Speed limit value" of each axis. In that case, the speed for the other axes is also cramped to match the cramped axes. Set the acceleration/deceleration time to the positioning data of reference axis in the linear interpolation control. Set " Da.2 Acceleration time" and " Da.3 Deceleration time" within the range of " Pr.26 Linear interpolation speed limit value". V Pr.26 Linear interpolation speed limit value Da.4 Command speed 1-axis speed 2-axis speed Actual acceleration time Actual deceleration time Da.2 Da.3 Acceleration time Deceleration time Fig. 8.2 Acceleration/deceleration time for linear interpolation control 8 - 14 8 POSITIONING CONTROL MELSEC-Q 8.3.6 Restrictions (1) Up to 4 groups can be set in " Pr.25 Interpolation group". For 16 axes control, it cannot be used as "2 axes interpolation × 8 groups". (2) In the following cases, an "error code 1040" will occur in reference axis, and the linear interpolation cannot be started. • One group is defined with 5 or more axes. • The linear interpolation is started with a group number that exceeds the valid group number. (3) In the following cases, an "error code 1041" will occur in reference axis, and an "error code 1016" will occur in interpolation axis, and the linear interpolation cannot be started. • There is an axis whose amount of movement exceeds the maximum of 999999999 in one axis. (4) An "error code 1042" will occur in reference axis, and the linear interpolation cannot be started, if it is started while the busy signal is ON, or an alarm is set in the linear interpolation control. (5) A corresponding error in the axis that caused the error, and an "error code 1016" in the other axes will occur, if an error will occur in the linear interpolation control start. (6) An "error code 1501" in the corresponding axis and an "error code 1016" in the other axes will occur, if there is an axis that moves from within software stroke limits to outside the limits. (7) The command change is executed to the reference axis. Request of change to the interpolation axis becomes invalid, and the following warning codes will occur. • Warning code 11011 ..................................... When changing speed • Warning code 11012 ..................................... When changing acceleration time • Warning code 11013 ..................................... When changing deceleration time (8) Target position change cannot be executed in the linear interpolation control. Request of target position change becomes invalid, and an "warning code 11014" will occur. (9) When the "continuous positioning" or "continuous path is set in " Da.0 Operation pattern", and the "ABS linear 1" or " INC linear 1" is set in " Da.1 Control system", if the except "linear interpolation" is set to the next positioning data, an "error code 1023" will occur at the point shift , and the deceleration stop is made. (The point shift from "ABS linear 1" to "INC linear 1", or from "INC linear 1" to "ABS linear 1" are possible.) 8 - 15 8 POSITIONING CONTROL MELSEC-Q (10) If the following setting value is set that it decelerates at once after it reaches the command speed by acceleration and is set, it does not reach the command speed, and the constant speed section is caused. • " Da.2 Acceleration time" • " Da.3 Deceleration time" • " Da.4 Command speed" • " Da.6 Positioning address/movement amount" If it does not reach the command speed because the setting value of "positioning address/movement amount" is small, it becomes operation similar to the above. Da.4 Command speed Actual speed If the setting value of " Da.2 Acceleration time" is short, the constant speed section might become long. 8 - 16 9 MANUAL CONTROL MELSEC-Q 9. MANUAL CONTROL "Manual control" refers to control in which positioning data is not used. The two types (JOG operation, incremental feed operation) of this "manual control" are explained below. 9.1 JOG Operation In the JOG operation, the command is output from the QD74MH to the servo amplifier while "1" is set by setting "1" in " Cd.8 Forward rotation JOG start" or " Cd.9 Reverse rotation JOG start", and it makes to move the work piece in the specified direction. While the positioning start signal [Y10 toY1F] is ON, "forward rotation JOG start" and "reverse rotation JOG start" for that axis are ignored regardless of positioning executing. CAUTION The feed (unlimited length feed) that exceeds the moveable range cannot be executed using the JOG operation. Doing so may cause an error with the software stroke limit, and the operation stops. 9 9-1 9 MANUAL CONTROL MELSEC-Q 9.1.1 Control details Operation procedure for JOG operation is shown below. 1) When "1" is set in " Cd.8 Forward rotation JOG start" or " Cd.9 Reverse rotation JOG start", an acceleration is started by the specified direction and the acceleration time set in " Pr.82 JOG operation acceleration time". At this time, the BUSY signal [X10 to X1F] changes from OFF to ON. 2) When the command reaches the speed set in " Pr.80 JOG speed", the movement continues at this speed. 3) When the JOG start is changed from "1" to "0", a deceleration is started by the deceleration time set in " Pr.83 JOG operation deceleration time" from the current speed. 4) The operation stops when the speed becomes "0". At this time, the BUSY signal [X10 to X1F] changes from ON to OFF. Pr.80 JOG speed Acceleration set in " Pr.82 JOG operation acceleration time" 1) Cd.8 Forward rotation JOG start Cd.9 Reverse rotation JOG start Deceleration set in " Pr.83 JOG operation deceleration time" Forward rotation JOG operation 0 2) 3) 4) Reverse rotation JOG operation 1 0 0 1 0 ON BUSY signal [X10 to X1F] OFF POINT • JOG operation can be used without completing OPR. • Set "0" in " Pr.84 Incremental feedrate". If except "0" is set, the incremental feed operation is executed. 9-2 9 MANUAL CONTROL MELSEC-Q (1) When "1" is set in both the forward rotation JOG start and reverse rotation JOG start simultaneously When "1" is set in both " Cd.8 Forward rotation JOG start" and " Cd.9 Reverse rotation JOG start" simultaneously for one axis, the "forward rotation JOG start" is given priority. In this case, the reverse rotation JOG start signal is validated when the forward rotation JOG operation is stopped. Forward rotation JOG operation Reverse rotation JOG operation Cd.8 Forward rotation JOG start 0 1 0 Reverse rotation JOG start signal is ignored. Cd.9 Reverse rotation JOG start 0 0 1 ON BUSY signal [X10 to X1F] OFF (2) When "1" is set again in JOG start during deceleration caused by changing from "1" to "0" of JOG start setting When "1" is set again in JOG start for same direction during deceleration caused by changing from "1" to "0" of JOG start setting, the acceleration and JOG operation are executed without wating for the stop. Forward rotation JOG operation Cd.8 Forward rotation JOG start 0 1 ON BUSY signal [X10 to X1F] OFF 9-3 0 1 0 9 MANUAL CONTROL MELSEC-Q 9.1.2 Data used for control The parameters and control data used for JOG operation are shown below. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Parameter Control data Item Details Pr.80 JOG speed Set the speed for JOG operation. Pr.82 JOG operation acceleration time Set the acceleration time for JOG operation. Pr.83 JOG operation deceleration time Set the deceleration time for JOG operation. Cd.8 Forward rotation JOG start Start the forward rotation JOG. Cd.9 Reverse rotation JOG start Start the reverse rotation JOG. 9-4 9 MANUAL CONTROL MELSEC-Q 9.2 Incremental Feed Operation In the incremental feed operation, the constant feedrate set in " Pr.84 Incremental feedrate" is output to the servo amplifier by setting "1" in " Cd.8 Forward rotation JOG start" or " Cd.9 Reverse rotation JOG start". While the positioning start signal [Y10 toY1F] is ON, "forward rotation JOG start" and "reverse rotation JOG start" for that axis are ignored regardless of positioning executing. 9.2.1 Control details Operation procedure for incremental feed operation is shown below. 1) When except "0" is set in " Pr.84 Incremental feedrate", and "1" is set in " Cd.8 Forward rotation JOG start" or " Cd.9 Reverse rotation JOG start", an acceleration is started by the specified direction and the acceleration time set in " Pr.82 JOG operation acceleration time". At this time, the BUSY signal [X10 to X1F] changes from OFF to ON. 2) When the command reaches the speed set in " Pr.80 JOG speed", the movement continues at this speed. 3) A deceleration is started by the deceleration time set in " Pr.83 JOG operation deceleration time" so that the movement amount that moved after operation start becomes the incremental feedrate. 4) The operation stops when the speed becomes "0". At this time, the BUSY signal [X10 to X1F] changes from ON to OFF. Pr.80 JOG speed Stop after moving the movement amount set in " Pr.84 Incremental feedrate" Forward rotation incremental feed operation 1) Pr.84 Incremental feedrate Cd.8 Forward rotation JOG start 2) 3) 4) Feedrate 0 1 0 ON BUSY signal [X10 to X1F] OFF POINT • Incremental feed operation can be used without completing OPR. • When both the forward rotation start and reverse rotation start are set simultaneously, the "forward rotation start" is given priority. Reverse operation cannot be executed after the forward incremental feed stop. • Set except "0" in " Pr.84 Incremental feedrate". If "0" is set, the incremental feed operation is executed. 9-5 9 MANUAL CONTROL MELSEC-Q 9.2.2 Precautions for control If the following setting value is set that it decelerates at once after it reaches the specified JOG speed by acceleration and is set, it does not reach the specified JOG speed, and the constant speed section is caused. • " Pr.82 JOG operation acceleration time" • " Pr.83 JOG operation deceleration time" • " Pr.80 JOG speed" • " Pr.84 Incremental feedrate" If it does not reach the specified JOG speed because the setting value of "positioning address/movement amount" is small, it becomes operation similar to the above. Da.4 Command speed Actual speed If the setting value of " Pr.82 JOG operation acceleration time" is short, the constant speed section might become long. 9.2.3 Data used for control The parameters and control data used for incremental feed operation are shown below. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Parameter Pr.84 Item Incremental feedrate Details Set the feedrate for incremental feed. 9-6 10 FUNCTION DETAILS MELSEC-Q 10. FUNCTION DETAILS 10.1 Servo ON/OFF This function is used to execute the servo ON or OFF of the servo amplifiers connected to the QD74MH. By establishing the servo ON status with the servo ON command, servomotor operation is enabled. 10.1.1 Control details The following two types of servo ON or OFF can be used. • All axis servo ON signal [Y1] • Cd.30 Each axis servo OFF A combination of the "All axis servo ON signal [Y1]" and " Cd.30 Each axis servo OFF" is shown below. Cd.30 Each axis servo OFF Set value "0" LED indication of Set value "1" LED indication of servo amplifier servo amplifier All axis servo ON signal [Y1] ON OFF (Note-1) (Note-2) d b (Note-3) (Note-2) c b : Servo ON (Servo operation enabled) : Servo OFF (Servo operation disabled) The procedure for servo ON/OFF is shown below. (1) Servo ON (Servo operation enabled) ........................................ The above (Note-1) (a) Make sure that the servo LED indicates "b ". (b) Set "0" in " Cd.30 Each axis servo OFF". (c) Turn ON "All axis servo ON signal [Y1]". (LED indication of servo amplifier : d ) (2) All axis servo OFF (Servo operation disabled) ........................... The above (Note-2) (a) Turn OFF "All axis servo ON signal [Y1]". (LED indication of servo amplifier : b ) (3) Each axis servo OFF (Servo operation disabled) ...................... The above (Note-3) (a) Turn ON "All axis servo ON signal [Y1]". (b) Set "1" in " Cd.30 Each axis servo OFF". (LED indication of servo amplifier : c ) (Thereafter, the servo operation enabled if "0" is set again in " Cd.30 Each axis servo OFF".) 10 - 1 10 10 FUNCTION DETAILS MELSEC-Q POINT • If the servomotor is rotated by external force during the servo OFF status, the follow up processing is executed. • An "error code 1702" will occur and the operation does not start, if the OPR control, positioning control or manual control is started in servo OFF,. • An "error code 1703" will occur and the servo OFF can be executed after sudden stop. If the servo OFF is executed in the positioning, The positioning interrupted by servo OFF cannot be resumed even if the servo OFF is executed again. • When the servo OFF is executed to all axes, "All axis servo ON signal [Y1]" is applied even if all axis servo ON command is turned ON to OFF with " Cd.30 Each axis servo OFF" set "0". 10.1.2 Data used for control Set the following data for the servo ON/OFF. Refer to Section "5.1 Specifications of Input/Output Signals" and Section 6.3 to 6.8 for the buffer memory address and details. Symbol Input/output signal ⎯ Control data Cd.30 Items Details All axis servo ON signal [Y1] The servo for all servo amplifiers connected to the QD74MH is turned ON or OFF. Each axis servo OFF Execute the servo ON/OFF for each axis. 10.1.3 Follow up function If the servomotor is rotated by external force during the servo OFF status, the follow up processing is executed. The follow up processing monitors the number of motor rotations (real current value) with the servo OFF and reflects the value in the "Current feed value ". Therefore, even if the servomotor rotates while the servo OFF, the servomotor will not just rotate for the quantify of droop pulses the next time the servo turns ON but positioning can be performed from the stop position. POINT • The follow up processing is executed if "QD74MH and the servo amplifier is turned ON" and "servo OFF" regardless of the presence of the absolute position system. 10 - 2 10 FUNCTION DETAILS MELSEC-Q 10.2 Electronic Gear Function This function is used to adjust the position command units at positioning command to QD74MH. The machine can be moved using an arbitrary multiplication constant for the movement amount by changing the electronic gear. 10.2.1 Control details The position in which the value of an electronic gear is multiplied by the command value to the QD74MH are output to the servo amplifier. The electronic gear is shown by the following expression. Electronic gear numerator (AP) Electronic gear = Electronic gear denominator (AL) POINT The setting range of the electronic gear is "1/12<AP/AL<10000". An "error code 1037" will occur, and the unit READY does not turn ON if the electronic gear is "1/12" or less. (1) Setting example when the command unit is [μm] for a machine that uses ball screws (a) Machine specifications Ball screw lead : Pb = 10[mm] = 10000[μm] Reduction ratio : n = 1/2 Encoder resolution : Pt = 262144[PLS/rev] Pt 262144 262144 32768 AP Pt = 5000 = 625 AL = S = n × Pb = 1 2 × 10000 (Note): S is the movement amount for 1 revolution of the servomotor. Deceleration ratio n=1/2 Servomotor Ball screw lead Pb=10[mm] Encoder resolution Pt=262144 10 - 3 10 FUNCTION DETAILS MELSEC-Q (2) Setting example when the gear's value is outside the settable range (a) Machine specification Ball screw lead : Pb = 10[mm] = 10000[μm] Reduction ratio : n = 1/6 Encoder resolution : Pt = 262144[PLS/rev] Pt 262144 AP Pt = AL = S = n × Pb = 1 × 10000 6 19660.8 19660 = 125 125 262144 × 6 32768 × 3 16 5 32768 × 3 = 10000 = 625 625 16 5 When the electronic gear's value is outside the settable range or contains a decimal point, calculate the denominator and numerator according to the following procedure. <Procedure for setting the numerator and denominator> The calculated value after reduction must be as close as possible to the origial value. 1) Reduce both the numerator and denominator to as small an integer as possible. In thsi case, the minimum integer value is found by reducing the denominator and numerator by 16. 2) Regarding the numerator and dinominator, one must be a true integer and the othr should be rounded off to an integer. Both must be a value equal to or less than 32768. a) Calculated value without reduction Divide using simple division and keep the remainder after the decimal point. 262144 × 6 16 262144 262144 × 6 32768 × 3 AP = = 10000 = 10000 = = 157.2864 625 AL 1 × 10000 16 6 b) Result of reduction when AL is chosen to be the true integer. Reduce the denominator (AL) to an integer, and keep the remainder after the decimal point. AP 32768 × 3 = 625 AL = 32768 × 3 5 19660.8 = 125 625 5 19660 125 = 157.2800 c) Result of reduction when AP is chosen to be the true integer Reduce the numerator (AP) to an integer, and keep the remainder after the decimal point. AP 32768 × 3 = 625 AL = 32768 × 3 3 32768 = 208.333 625 3 10 - 4 32768 208 = 157.5384 10 FUNCTION DETAILS MELSEC-Q d) Subtract the result of expression a) above from that of c) and b) respectively, and then compare the results as shown below. | b) - a) | = | 157.2800 - 157.2864 | = 0.0064 | c) - a) | = | 157.5384 - 157.2864 | = 0.2520 From the above comparison, it is easy to see that the calculation result of b) is closer to the value of a). 3) The value of the electronic gear has setting range and integer restrictions. Therefore, round down the calculated value of the numerator (AP) from expression (2) to the nearest integer and set it as follows. AP = 19660, AL = 125 (Note): Due to rounding down the numerator, this setting will result in a differenve in value between the machine's actual position and the position calculated by the controller. This example's calculation error. 125 ⎛ 19660 ⎞ -3 ⎜ 625 - 1⎟ × 100 = 4.07 × 10 [%] ⎝(3 × 32768) ⎠ This mwans that for every 1km of movement, there is 40.7[mm] of error. The error at the home position is 0. Also, in an absolute position system, error does not accumulate even if power is removed at the 1km mark mentiond in this example. 10 - 5 10 FUNCTION DETAILS MELSEC-Q (3) Setting example when the command unit is [μm] for the linear servo QD74MH AP AL Command value PLS Servo amplifier Linear servo motor PLS PLS Feedback pulse Linear encoder Calculate the number of pulses (AP) and movement amount (AL) for the linear encoder in the following conditions. Number of pulses(AP) Liner encoder resolution = Movement amount value(AL) Liner encoder resolution: 0.05[μm] 1 20 20 AP AL = 0.05 = 1.0 = 1[×1μm] ................................ For command unit: 1[μm] 2 20 = 10[×0.1μm] = 1 .................... For command unit: 0.1[μm] Set the followings. For command unit: 1[μm]........... Pr.0 Electronic gear numerator = 20 Pr.2 Electronic gear denominator = 1 For command unit: 0.1[μm]........ Pr.0 Electronic gear numerator = 2 Pr.2 Electronic gear denominator = 1 Set the number of pulses in " Pr.0 Electronic gear numerator ", and the movement amount in " Pr.2 Electronic gear denominator" in the actual setting. 10.2.2 Data used for control Set the following parameters for the electronic gear function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Parameter Items Details Pr.0 Electronic gear numerator (AP) Set a numerator of electronic gear applied to position command. Pr.2 Electronic gear denominator (AL) Set a denominator of electronic gear applied to position command. 10 - 6 10 FUNCTION DETAILS MELSEC-Q 10.3 Hardware Stroke Limit Function CAUTION When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using B-contact. If it is set in positive logic using A-contact, the hardware stroke limit may not be detected even if the signal wires are disconnected. This function is used to make stop (sudden stop) the control by the input of a signal from the limit switch, by setting the limit switches at the upper/lower limit of the physical moveable range. Damage to the machine can be prevented by stopping the control before the upper/lower limit of the physical moveable range is reached. Use "external input signal of servo amplifier" in the hardware stroke limit. 10.3.1 Control details The operation for the hardware stroke limit function is shown below. Lower limit Upper limit Control moveable range Mechanical stopper Movement direction Start Movement direction Mechanical stopper Sudden stop at lower limit switch detection Sudden stop at upper limit switch detection Lower limit switch Upper limit switch QD74MH Servo amplifier Servo amplifier input POINT The deceleration stop is executed by setting the sudden stop deceleration time. Keep enough distance between the limit switch and the mechanical stopper in consideration of a distance necessary for the stop. 10 - 7 10 FUNCTION DETAILS MELSEC-Q The relation between the hard ware stroke limit and the each control is shown below. Control Positioning control Manual control At the start 1-axis linear control 2 to 4-axes linear interpolation control If the limit switch of positioning direction is in operaion, an "error code 1500" will occur in the axis that the stroke limit is detected, an "error code 1016" will occur in the other axes, and then the operation does not start. JOG operation Incremental feed operation Refer to "Section 7 OPR CONTROL". Data set type If the upper or lower limit switch is in operaion, an "error code 1500" will occur and the operation does not start. Dog cradle type Limit switch combined type Other If the limit switch of positioning direction is operated, an "error code 1500" will occur in the axis that the stroke limit is detected, an "error code 1016" will occur in the other axes, and then the operation does not start. If the limit switch of positioning direction is If the limit switch of positioning direction is in operaion, an "error code 1500" will occur operated, an "error code 1500" will occur and the operation does not start and the operation does not start Proximity dog type Stopper type OPR In operation If the limit switch of positioning direction is If the limit switch of positioning direction is in operaion, an "error code 1500" will occur operated, an "error code 1500" will occur and the operation does not start and the operation does not start Refer to "Section 7 OPR CONTROL". Scale origin signal detection type If the limit switch of OPR direction is in operaion, an "error code 1500" will occur and the operation does not start. Current value change Possible to change If the limit switch of current rotation direction is operated, an "error code 1500" will occur, and the sudden stop is made. (However, an error will not occur at retry. Refer to "Section 7 OPR CONTROL".) ⎯ POINT (1) If the servo is stopped with the position (prohibited area) in which the limit switch operated, it can be moved in the direction of the movement allowed area. However, execute the start operation after resetting the errors. Limit switch Movement allowed area (Including the bounds) Prohibited area Movement prohibited Movement allowed Currnet position (2) If S-curve acceleration/deceleration is set, the " Pr.16 S-curve acceleration/ deceleration time constant" is always valid. Therefore, sudden stop as well will use the S-curve acceleration/deceleration. 10.3.2 Data used for control Refer to Section "10.18 External Signal Logic Selection" for the input signal logic selection of limit switch. 10 - 8 10 FUNCTION DETAILS MELSEC-Q 10.4 Software Stroke Limit Function The address established by OPR is used to set the upper and lower limits of the moveable range of the workpiece in this function. Movement commands issued to addresses outside that setting range will not be executed. 10.4.1 Control details The relation between the software stroke limit and the each control is shown below. Control Operation 1-axis linear control If the positioning data of position command exceeds the software limit is started, an "error code 1501" will occur and the operation does not start. And, an "error code 1501" will occur and the deceleration stop is made at point change in operation. 2 to 4-axes linear interpolation control If the positioning data of position command exceeds the software limit is set for the axes in one group, an "error code 1501" will occur and the operation does not start. And, an "error code 1501" will occur and the deceleration stop is made at point change in operation. JOG operation If it starts in the opposite direction against of OPR from outside the software limit range, an "error code 1501" will occur and the operation does not start. If it is reached to the software stroke limit in operation, an "error code 1502" will occur and the deceleration stop is made so as not to exceed the software stroke limit. Incremental feed operation If the incremental feed amount that exceeds the software stroke limit is set, an "error code 1501" will occur and the operation does not start. Positioning control Manual control Proximity dog type Data set type OPR Stopper type The software stroke limit is not checked. Dog cradle type Limit switch combined type Scale origin signal detection type Target position change If the change address exceeds the software stroke limit at target position change function execution, an "error code 1501" will occur and the deceleration stop is made. Current value change If the change address exceeds the software stroke limit, an "error code 1501" will occur and the current value change is not executed. Other POINT • If a continuous path is set in " Da.0 Operation pattern" and the target address after changing the positioning data exceeds the software stroke limit, an "error code 1501" will occur at positioning data change, and the deceleration stop is made. At this time, if a distance to software stroke limit is shorter than a distance that needed for deceleration, the servo may stop outside the software stroke limit. • In an error set due to exceeding the software stroke limit, the servo is stopped by " Da.3 Deceleration time". 10 - 9 10 FUNCTION DETAILS MELSEC-Q If the current value is outside the software stroke limit range (prohibited area), the servo can be moved in the direction of the movement allowed area. However, execute the start operation after resetting the errors. Sftware limit Movement allowed area (Including the bounds) Prohibited area Movement prohibited Movement allowed Currnet position POINT The software stroke limit is also valid at incompletion of OPR. In the absolute position system, the current position address becomes the outside the movement allowed area differing from a position of the actual machine, the JOG operation might be impossible according to the machine specifications. Execute the current value change to the rough position matched to the actual machine, and then execute the OPR. 10.4.2 Ristrictions at absolute position system use The range that the current value can be restored changes by setting value of the electronic gear and OP address at absolute position system use ("1: Valid" is set in " Pr.303 Absolute position detection system" of servo parameter). Set the software stroke limit range within the range that the current value can be restored as follows. • Electronic gear numerator > Electronic gear denominator " Pr.4 Software stroke limit upper limit (Note-2) value" " Pr.6 Software stroke limit lower limit (Note-2) value" ⎛ ⎝" ⎛ ⎝" Pr.0 Pr.0 2147483647 ⎞ (Note-1) × " Electronic gear numerator"⎠ Pr.2 Electronic gear denominator" + " Pr.52 OP address" (Note-3) -2147483647 ⎞ (Note-1) × " Electronic gear numerator"⎠ Pr.2 Electronic gear denominator" + " Pr.52 OP address" (Note-3) • Electronic gear numerator Electronic gear denominator " -2147483648 + " Pr.52 OP address" (Note-3) Pr.4 value" Software stroke limit upper limit (Note-2) or " Pr.6 value" 2147483647 + " Pr.52 OP address" (Note-3) Software stroke limit lower limit (Note-2) (Note-1): Fractions omitted (Note-2): "-2147483648 to 2147483647" can be set when the calculated result is outside the settable range "-2147483648 to 2147483647". (Note-3): Use " Pr.52 OP address" set at OPR for the setting range check at first PLC READY ON. 10 - 10 10 FUNCTION DETAILS MELSEC-Q An error will occur if the outside the settable range is set. The error occurrence timing and the operation are shown below. (1) At OPR start The above setting range is checked. An "error code 1101" will occur if the outside the settable range is set, and the OPR does not start. ("OPR request ( Md.9 Status 1: b0)" turns ON.) (2) At first PLC READY ON (OPR completion in the absolute position system) The above setting range is checked. An "error code 1101" will occur if the outside the settable range is set, and the current value is not restored. (The current value is set to "0", and "OPR request ( Md.9 Status 1: b0)" turns ON.) 10.4.3 Data used for control Set the following parameters for the software stroke limit function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Item Details Pr.4 Software stroke limit upper limit value Set the upper limit value for software stroke limit. Pr.6 Software stroke limit lower limit value Set the lower limit value for software stroke limit. Parameter CAUTION The unlimited length feed cannot be executed in QD74MH. (The software stroke limit cannot be invalidated.) The moveable range of QD74MH is "-2147483648 to 2147483647". Return to within the moveable range by JOG, etc. if it exceeds the moveable range. POINT If the upper software stroke limit value is the lower value or less, an "error code 1504" will occur at positioning start. 10 - 11 10 FUNCTION DETAILS MELSEC-Q 10.5 Backlash Compensation Function This function is used to compensate the backlash amount in the mechanical system. 10.5.1 Control details When the backlash compensation amount is set, an extra amount of command aquipment to the set backlash amount is output every time the movement direction changes. The backlash compensation is executed at OPR control. Feed screw Workpiece Pr.8 Backlash compensation amount POINT Set " Pr.8 Backlash compensation amount" by encoder pulse unit (PLS unit of instruction to servo amplifier). 10.5.2 Data used for control Set the following parameters for the backlash compensation function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Parameter Pr.8 Item Backlash compensation amount Details Set the backlash compensation amount. 10 - 12 10 FUNCTION DETAILS MELSEC-Q 10.6 Speed Limit Function This function is used to limit the command speed to the speed limit value when the command speed in control exceeds the "speed limit value". 10.6.1 Control details The relation between the speed limit function and each control is shown below. Control OPR control Speed limit function OPR control Set item Pr.10 Speed limit value 2 to 4-axes linear Pr.10 Speed limit value interpolation control Pr.26 Linear interpolation speed limit value Pr.10 Speed limit value 1-axis linear control Positioning Position control control Manual JOG operation control Incremental feed operation : Valid (1) Speed clamp The each axis speed is limited with the speed limit value. When the axis speed exceeds the speed limit value set in the each axis, the axis speed is cramped with the speed limit value. A "warning code 11001" will occur by executing the speed cramp. (However, a warning will occur at positioning start. It will not occur when the speed reached the speed limit value.) Speed before clamp Speed after clamp Pr.10 Speed limit value Da.2 Acceleration time Positioning start signal OFF [Y10 to Y1F] Da.3 Deceleration time ON Refer to Section 8.3.5 for the speed of the linear interpolation control. 10 - 13 10 FUNCTION DETAILS MELSEC-Q 10.6.2 Data used for control Set the following parameters for the speed limit function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Parameter Item Details Pr.10 Speed limit value Set the maximum speed for each axis. Pr.26 Linear interpolation speed limit value Set the maximum speed at the linear interpolation control. 10 - 14 10 FUNCTION DETAILS MELSEC-Q 10.7 Acceleration/Deceleration Control This function is used to adjust the acceleration/deceleration when each control is executed. 10.7.1 Control details The relation between the acceleration/deceleration control and each control is shown below. Acceleration/deceleration control Control OPR control Set item Pr.58 OPR acceleration time 1-axis linear control Pr.59 OPR deceleration time 2 to 4-axes linear Da.2 Acceleration time interpolation control OPR control Positioning Position control control Da.3 Deceleration time Manual JOG operation Pr.82 JOG operation acceleration time control Incremental feed operation Pr.83 JOG operation deceleration time : Valid (1) Linear acceleration/deceleration The linear acceleration/deceleration is executed as follows. Set the time to reaching to " Pr.10 Speed limit value" in " Da.2 Acceleration time" or " Da.3 Deceleration time". Da.2 Acceleration time Da.3 Deceleration time Pr.10 Speed limit value Da.4 Command speed (2) S-curve acceleration/deceleration The smooth acceleration/deceleration is executed by setting S-curve acceleration/deceleration. At this time, the actual acceleration and actual deceleration time make the profile be longer. Actual acceleration time Actual deceleration time Pr.10 Speed limit value Da.4 Command speed Pr.16 S-curve acceleration/ deceleration time constant 10 - 15 Pr.16 S-curve acceleration/ deceleration time constant 10 FUNCTION DETAILS MELSEC-Q 10.7.2 Data used for control Set the following parameters and control data used for the acceleration/deceleration control. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Parameter Positioning data Symbol Item Pr.15 Acceleration/deceleration method Select the acceleration/deceleration method. Details Pr.16 S-curve acceleration/deceleration time constant Set the time constant for S-curve acceleration/deceleration. Pr.58 OPR acceleration time Set the acceleration time at the OPR. Pr.59 OPR deceleration time Set the deceleration at the OPR. Pr.82 JOG operation acceleration time Set the acceleration time for JOG operation. Pr.83 JOG operation deceleration time Set the deceleration time for JOG operation. Da.2 Acceleration time Set the acceleration time. Da.3 Deceleration time Set the deceleration time. 10 - 16 10 FUNCTION DETAILS MELSEC-Q 10.8 Stop Control 10.8.1 Control details The operating axis stops by setting "1" in " Cd.3 Axis stop". (Errors and warnings are not output.) The operation does not resume even if "1" is set again in "axis stop". The deceleration time used for stopping for stop axis is " Da.3 Deceleration time". If the axis stop is executed in positioning, the "Positioning complete signal ( Md.10 Status 2: b0)" does not turn ON. Da.3 Deceleration time Pr.10 Speed limit value Command speed Operation does not resume. Actual deceleration time Cd.3 0 Axis stop 1 0 POINT If S-curve acceleration/deceleration is set, " Pr.16 S-curve acceleration/ deceleration time constant" is always valid. Therefore, stop as well will use the S-curve acceleration/deceleration. The operation for when the axis sudden stop or forced stop is commanded in stop control is shown below. Control In axis stop control Input "1" is set in " stop". Cd.4 Operation Axis sudden The sudden stop control is executed. The forced stop is commanded. The forced stop control is executed. 10.8.2 Data used for control Set the following control data for the stop control. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Cd.3 Item Axis stop Details Stop the operating axis. 10 - 17 10 FUNCTION DETAILS MELSEC-Q 10.9 Sudden Stop Control 10.9.1 Control details The operating axis stops abruptly by setting "1" in " Cd.4 Axis sudden stop ". (Errors and warnings are not output.) The operation does not resume even if "1" is set again in "axis stop". The deceleration time used for stopping for sudden stop axis is " Pr.17 Sudden stop deceleration time". If the axis sudden stop is executed in positioning, the "Positioning complete signal ( Md.10 Status 2: b0)" does not turn ON. Pr.10 Speed limit value Command speed Operation does not resume. Actual sudden stop deceleration time Pr.17 Sudden stop deceleration time Cd.4 Axis sudden stop 0 1 0 POINT (1) If S-curve acceleration/deceleration is set, the S-curve acceleration/ deceleration time constant is always valid. Therefore, sudden stop as well will use the S-curve acceleration/deceleration. (2) The sudden stop control is executed by setting "1" in " Cd.4 Axis sudden stop" in deceleration stop of positioning. (3) When the sudden stop time is linger than the stop time (" Pr.83 JOG operation deceleration time", " Pr.59 OPR deceleration time"), a "Warning code 11002" will occur at axis sudden stop command, and then the sudden stop time is cramped with the stop time. The operation when the axis stop or forced stop is commanded in sudden stop control is shown below. Control Input Operation Axis sudden stop "1" is set in " control The forced stop is commanded. The forced stop control is executed. Cd.3 Axis stop". It is ignored. 10.9.2 Data used for control Set the following control data for the sudden stop control. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Cd.4 Item Axis sudden stop Details Stop the operating axis suddenly. 10 - 18 10 FUNCTION DETAILS MELSEC-Q 10.10 Forced Stop Control 10.10.1 Control details Set the command speed to "0" at forced stop. When the forced stop command is input to the servo amplifier ftrom the controller, the base circuit is shut off and the dynamic brake operates to bring the servomotor to stop. Refer to the "Servo amplifier Instruction Manual" for the dynamic brake characterisrics. The current position is updated in forced stop. Therefore, the origin coordinate processing such as OPR is not necessary at forced stop removing. Command speed Stop using dynamic brake Actual speed Forced stop ON OFF Current position Current position is updated according to movement in forced stop. Tthe external forced stop input by external 24VDC or the forced stop input signal [Y2] with input signal from PLC CPU is used to execute the forced stop. Valid/invalid of the external forced stop can be selected in " Pr.101 External forced stop selection". The forced stop input signal [Y2] with input signal from PLC CPU is valid regardless of "valid/Invalid' of the external forced stop, and it operates with positive logic. (The forced stop is operated by the signal ON, and it is releaced by the signal OFF.) The operation when the stop or sudden stop is commanded in sudden stop control is shown below. Control Axis forced stop control Input Operation "1" is set in " Cd.3 Axis stop". "1" is set in " stop". Cd.4 Axis sudden 10 - 19 It is ignored. 10 FUNCTION DETAILS MELSEC-Q 10.10.2 Data used for control Set the following control data for the external forced stop control by external 24VDC. Refer to Section 6.3 to 6.8 for the buffer memory address and details. There are no set parameters for the forced stop input signal [Y2] with input signal from PLC CPU. Symbol Parameter Pr.101 Item External forced stop selection Details Select "Valid/Invalid" of the forced stop input by external 24VDC. Check the following monitor data for the status of the forced stop. Refer to Section 6.3 to 6.8 for the buffer memory address and monitor details. Symbol Monitor data Item Md.103 Forced stop input status Details The status of the forced stop input can be stored. 10 - 20 10 FUNCTION DETAILS MELSEC-Q 10.11 Command In-position Function This function is used to check the remaining distance to the stop position at automatic deceleration of positioning control, and to turn ON the signal. This signal is called the "Command in-position ( Md.10 Status 2: b1)". This signal is used as a front-loading signal indicating beforehand the completion of the position control. 10.11.1 Control details When the command remaining distance (difference between the positioning address and feed current value) becomes equal to or less than " Pr.20 Command in-position range" "Command in-position ( Md.10 Status 2: b1)" is turned ON. This function is valid at only last positioning data execution in positioning control (1axis linear, 2-4 axes linear interpolation). Therefore, it does not turn ON at positioning data execution on the way. Continuous path Continuous positioning Independent positioning Command speed Actual speed Pr.20 Command in-position range ON Command in-position ( Md.10 Status 2: b1) OFF ON In-position ( Md.40 Servo status 1: b12) OFF "Command in-position ( Md.10 Status 2: b1)" does not turn ON at the point on the way of the continuous positioning. Use the indevendent positioning to start the next positioning after confirming the command in-position. ex.) When the positioning is started after confirming the 1-axis command in-position signal ON. 1-axis Independent positioning Actual speed Command speed 2-axis Independent positioning 1-axis Command in-position OFF ( Md.10 Status 2: b1) 2-axis positioning start OFF signal [Y11] 10 - 21 ON ON 10 FUNCTION DETAILS MELSEC-Q When the remaining distance of all interpolation axes becomes to within the command in-position range at interpolation control, "Command in-position ( Md.10 Status 2: b1)" of all axes turn ON. "Command in-position" signal turns OFF in the following cases. • At positioning start • At OPR start • At manual operation start 10.11.2 Data used for control Set the following parameters for the command in-position function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Parameter Pr.20 Item Command in-position range Details Set the remaining distance that turns the command in-position ON. The command in-position signal is stored in the following buffer memory address. Refer to the Section 6.3 to 6.8 for the buffer memory address and monitoring details. Symbol Monitor data Md.10 Item Status 2 Details b1: Command in-position 10 - 22 10 FUNCTION DETAILS MELSEC-Q 10.12 Pausing Function 10.12.1 Control details The relation between the pausing function and the each control is shown below. Control Pausing function Set item 1-axis linear control Positioning Position control control Manual JOG operation control Incremental feed operation 2 to 4-axes linear interpolation control Cd.5 Pausing Proximity dog type Data set type OPR Stopper type ⎯ Dog cradle type Limit switch combined type Scale origin signal detection type : Valid : Invalid The positioning is paused by setting "1" in " Cd.5 Pausing". "Pausing ( Md.10 Status 2: b2)" signal turns ON in positioning stop. The operation is resumed by setting "0". CAUTION Do not command " Cd.5 Pausing" for the control of pausing disable. Operation may cause errors. Deceleration is started according to the sudden stop time to stop by " Cd.5 Pausing". Pr.17 Sudden stop deceleration time Da.2 Acceleration time Pr.10 Speed limit value Da.4 Command speed Cd.5 Pausing 0 1 0 ON Pausing ( Md.10 Status 2: b2) OFF POINT When the sudden stop time is longer than the stop time (" Pr.83 JOG operation deceleration time", " Pr.59 OPR deceleration time"), a "Warning code 11002" will occur at axis sudden stop command, and the sudden stop time is cramped with the stop time. 10 - 23 10 FUNCTION DETAILS MELSEC-Q When the pausing is removed in deceleration, the positioning is resumed without waiting for the stop. At this time, "Pausing ( Md.10 Status 2: b2)" does not turn ON. Da.4 Command speed Cd.5 0 Pausing 1 0 Pausing ( Md.10 Status 2: b2) OFF POINT (1) When " Cd.3 Axis stop" or " Cd.4 Axis sudden stop" is executed in pausing, the positioning does not resume even if the pausing is removed. (2) If S-curve acceleration/deceleration are set, the S-curve acceleration/ deceleration time constant" are always valid. Therefore, the sudden stop or acceleration will use S-curve acceleration/deceleration. (3) If the positioning is started by setting "1" in " Cd.5 Pausing", an "error code 1013" will occur, and the operation does not start. Start after removing the pausing. (4) It is ignored, even if the positioning is started while paused in positioning control. (5) If "1" is set in "pausing" for even by 1 axis in the linear interpolation group, all axes in one group are terminated. And, the operation resumes by removing the pausing of all axes in one group. All axes in one group turn ON in pausing. (6) Pausing is also valid in positioning deceleration. If pausing is turned OFF after the sudden stop by pausing, the deceleration is started after the acceleration is executed to the speed in deceleration. However, because the acceleration/ deceleration for pausing is executed more extra than normal deceleration, the sudden stop is executed when it reached the target position after pausing. (7) Pausing is also valid in deceleration by the axis stop. The operation stops with the sudden stop by pausing. After that, the positioning does not resume even if the pausing is turned OFF. 10.12.2 Data used for control Set the following control data for the pausing function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Cd.5 Item Pausing Details Command the pausing. The pausing flag is stored in the following buffer memory. Refer to the Section 6.3 to 6.8 for the buffer memory address and monitoring details. Symbol Monitor data Md.10 Item Status 2 Details b2: Pausing 10 - 24 10 FUNCTION DETAILS MELSEC-Q 10.13 Torque Limit Function This function is used to limit the generated torque to the torque limit value when the torque of the servomotor exceeds the torque limit value. 10.13.1 Control details The relation between the torque limit fnction and the each control is shown below. Control Torque limit function OPR control OPR control Positioning Position control control Manual JOG operation control Incremental feed operation Set item 1-axis linear control 2 to 4-axes linear Cd.12 Forward rotation torque limit value interpolation control Cd.13 Reverse rotation torque limit value : Valid When "1" is set in " Cd.11 Torque limit request", the torque is limited by the torque limit values set in " Cd.12 Forward rotation torque limit value" and " Cd.13 Reverse rotation torque limit value". At this time, "Torque limit ( Md.40 Servo status 1: b13)" turns ON. If the actual torque does not reach to the torque limit value even if "torque limit request" is "1", "torque limit" does not turn ON. The torque limit fnction can also be implemented in acceleration or deceleration. Also, this function can be used in servo ON even not positioning. 1) 2) 3) 1) Motor maximum torque 1) Control with motor maximum torque 2) Limit with torque limit value 1 3) Limit with torque limit value 2 Torque limit value1 "80" Torque limit value2 "50" Cd.11 Torque limit request Torque limit value 0 1 Torque limit value1 "80" 0 Torque limit value2 "50" POINT (1) " Cd.12 Forward rotation torque limit value" and " Cd.13 Reverse rotation can be separately set in the torque limit function. However, " Cd.11 Torque limit request" is valid to both of the forward rotation/reverse rotation, so set the same value normally to both of them. (2) When " Cd.11 Torque limit request" is "0", the torque limit value is set to the motor maximum torque. 10 - 25 10 FUNCTION DETAILS MELSEC-Q 10.13.2 Data used for control Set the following control data for the torque limit function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Item Details Cd.11 Torque limit request Command the torque limit request. Cd.12 Forward rotation torque limit value Set the limiting torque generated in the CW direction when the servo motor is executing in the CCW direction. Cd.13 Reverse rotation torque limit value Set the limiting torque generated in the CCW direction when the servo motor is executing in the CW direction. Check the following monitor data for the status of the torque limit. Refer to Section 6.3 to 6.8 for the buffer memory address and monitor details. Symbol Monitor data Md.40 Item Servo status 1 Details b13: Torque limit 10 - 26 10 FUNCTION DETAILS MELSEC-Q 10.14 Speed Change Function This function is used to change the speed in control to a newly designated speed at any timing. 10.14.1 Control details The relation between the speed change function and the each control is shown below. Control Speed Change function OPR control OPR control Positioning Position control control Manual JOG operation control Incremental feed operation Set item 1-axis linear control 2 to 4-axes linear Cd.16 interpolation control New speed value : Valid : Invalid When "1" is set in " Cd.15 Speed change repuest", it is changed to the speed set in " Cd.16 New speed value". The speed change fnction can also be implemented in acceleration or deceleration. Da.3 Deceleration time Da.2 Acceleration time Da.2 Acceleration time Pr.10 Speed limit value Command speed 3 Da.4 Command speed Command speed 2 Cd.16 New speed value Command speed 2 Command speed 3 ON Positioning start signal [Y10 to Y1F] OFF Cd.15 Speed change request 0 1 0 1 0 ON Speed change READY ( Md.10 Status 2: b8) OFF A "Warning code 11011" will occur and the speed change does not execute in the following cases. • In operation stop • In decerelation by the stop command, sudden stop command or alarm • In OPR • In current value change • In pausing 10 - 27 10 FUNCTION DETAILS MELSEC-Q 10.14.2 Precautions (1) The pausing command was given to make a stop after a speed change that had been made in position control. After that, the speed when the paising is removed is the new speed value. Da.4 Speed change command Command speed Cd.16 New speed value Pausing removal Pausing command . (2) When the value set in " Cd.16 New speed value" is more than the speed limit value, the speed is cramped with the speed limit value. In this case, a "Warning code 11001" will occur at speed change request. (3) Set the required speed in the reference axis to change the speed at interpolation control. (4) The new speed is valid in execution of the positioning data for which the speed was changed. Even if the speed is changed to the new speed by executing the speed change at continuous positioning control and continuous path control, the control is executed with the previously set speed at the changeover to the next positioning data. 10.14.3 Data used for control Set the following control data for the speed change function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Item Details Cd.15 Speed change request Execute the speed change request. Cd.16 New speed value Set the speed after the change. Check the following monitor data for the status of the speed change. Refer to Section 6.3 to 6.8 for the buffer memory address and monitor details. Symbol Monitor data Md.10 Item Status 2 Details b8: Speed change READY 10 - 28 10 FUNCTION DETAILS MELSEC-Q 10.15 Acceleration/Deceleration Time Change Function 10.15.1 Control details The relation between the acceleration/deceleration time change function and the each control is shown below. Acceleration/deceleration Control Set item time change function OPR control OPR control Positioning Position control control Manual JOG operation control Incremental feed operation 1-axis linear control 2 to 4-axes linear Cd.19 New acceleration time value interpolation control Cd.21 New deceleration time value : Valid : Invalid When "1" is set in " Cd.18 Acceleration time change request" or " Cd.20 Deceleration time change request", it is changed to the acceleration/deceleration time set in " Cd.19 New acceleration time value" or " Cd.21 New deceleration time value". The acceleration/deceleration time change can also be implemented in acceleration or operation. (1) When the acceleration time is changed in acceleration Da.2 Acceleration time Acceleration time 2 Pr.10 Speed limit value Da.4 Command speed Cd.19 New acceleration time value Acceleration time 2 ON Positioning start signal [Y10 to Y1F] OFF Cd.18 Acceleration time change request Accerelation time change READY ( Md.10 Status 2: b9) 0 1 ON OFF 10 - 29 0 10 FUNCTION DETAILS MELSEC-Q A "Warning code 11012" or "Warning code 11013" will occur and the acceleration/deceleration time change does not execute in the following cases. • In operation stop • In decerelation • In OPR • In current value change • In pausing (2) When the speed change function is used simultaneously When this function and the speed change function are simultaneously used, the speed change is executed after the acceleration/deceleration time change. Da.4 Command speed New deceleration time Command speed 2 Deceleration time before change Cd.21 New deceleration time value Deceleration time 2 Cd.20 Deceleration time change request Decerelation time change READY ( Md.10 Status 2: b10) 1 0 0 ON OFF Cd.16 New speed value Command speed 2 Cd.15 Speed change request 0 1 0 ON Speed change READY ( Md.10 Status 2: b8) OFF 10.15.2 Precautions (1) The new acceleration/deceleration time is valid in execution of the positioning data for which the acceleration/deceleration was changed. Even if the acceleration/deceleration is changed to the new acceleration/deceleration by executing the acceleration/deceleration change at continuous positioning control and continuous path control, the control is executed with the previously set acceleration/deceleration at the changeover to the next positioning data. (2) Even if the acceleration/deceleration time change is set to disable after the new acceleration/deceleration time is validated, the positioning data for which the new acceleration/deceleration time was validated will continue to be controlled with that value. (The next positioning data will be controlled with the previously set acceleration/deceleration time.) 10 - 30 10 FUNCTION DETAILS MELSEC-Q 10.15.3 Data used for control Set the following control data for the acceleration/deceleration time change function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Control data Symbol Item Cd.18 Acceleration time change request Execute the acceleration time change request. Details Cd.19 New acceleration time value Set the acceleration time after the change. Cd.20 Deceleration time change request Execute the deceleration time change request. Cd.21 New deceleration time value Set the deceleration time after the change. Check the following monitor data for the status of the acceleration/deceleration time change. Refer to Section 6.3 to 6.8 for the buffer memory address and monitor details. Symbol Monitor data Md.10 Item Status 2 Details b9: Acceleration time change READY b10: Deceleration time change READY 10 - 31 10 FUNCTION DETAILS MELSEC-Q 10.16 Target Position Change Function This function is used to change the target position in position control (1-axis linear control) to a newly designated target position at any timing. Set an absolute address as the change value in the absolute positioning system. And, set a movement direction and movement amount from start position in the incremental positioning system. 10.16.1 Control details The relation between the target position change function and the each control is shown below. Target position change Control OPR control Set item function ⎯ OPR control 1-axis linear control Cd.24 New target position value Positioning Position control control Manual JOG operation ⎯ control Incremental feed operation ⎯ 2 to 4-axes linear ⎯ interpolation control : Valid : Invalid When "1" is set in " Cd.23 Target position change request", it is changed to the position set in " Cd.24 New target position value". The target position change fnction can also be implemented in acceleration or deceleration. The target position change cannot be changed in the linear interpolation operation. Da.3 Deceleration time Da.2 Acceleration time Pr.10 Speed limit value Da.4 Command speed Command position Cd.24 New target position value Command position 2 Command position 2 ON Positioning start signal [Y10 to Y1F] OFF Cd.23 Target position change request Target position change READY ( Md.10 Status 2: b11) 0 1 ON OFF 10 - 32 0 10 FUNCTION DETAILS MELSEC-Q When the position change to the movement direction from the current value is executed in deceleration stop, the axis is accelerated again and positioned. Pr.10 Speed limit value Da.4 Command speed Command position Cd.24 New target position value Command position 2 Command position 2 ON Positioning start signal [Y10 to Y1F] OFF Cd.23 Target position change request Target position change READY ( Md.10 Status 2: b11) 0 1 0 ON OFF The operation for when the axis passed the change position by position change, or the deceleration stop position passes the change position can be selected in " Pr.23 Target position change overrun processing selection" ("Stop by the error" or "Return to change position after deceleration stop"). If "Stop by the error" is selected, an "error code 1024" will occur after turning the target position change READY ON at target position change request. If "Return to change position after deceleration stop" is selected , the operation is shown next page. Da.2 Acceleration time Da.3 Deceleration time Pr.10 Speed limit value Da.4 Command speed Command position at positioning start Command position 2 Cd.24 New target position value Command position 2 ON Positioning start signal [Y10 to Y1F] OFF Cd.23 Target position change request Target position change READY ( Md.10 Status 2: b11) 0 1 ON OFF 10 - 33 0 10 FUNCTION DETAILS MELSEC-Q A "Warning code 11014" will occur and the position change is not executed in the following cases. • In operation stop • In decerelation by the stop command, sudden stop command or alarm • In JOG operation • In OPR • In linear interpolation • In current value change • In pausing 10.16.2 Data used for control Set the following parameters and control data for the target position change function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Parameter Control data Item Details Target position change overrun processing selection Set the process when a stop position exceeds a command position for position change. Cd.23 Target position change request Execute the target position change request. Cd.24 New target position value Set the target position after the change. Pr.23 Check the following monitor data for the status of the target position change function. Refer to Section 6.3 to 6.8 for the buffer memory address and monitor details. Symbol Monitor data Md.10 Item Status 2 Details b11: Target position change READY 10 - 34 10 FUNCTION DETAILS MELSEC-Q 10.17 Current Value Change Function This function is used to change the current position of stopped axis to the address set in " Cd.28 New current value". 10.17.1 Control details Set the new address in " Cd.28 New current value". The current value is changed by setting "9003" in " Cd.2 Start method" to turn the positioning start signal [Y10 to Y1F] ON. If the data outside the stroke limit is set in "new current value", an "error code 1501" will occur. Command speed Start of data No. 9003 Md.0 Current feed value Positioning address new address ON Positioning start signal [Y10 to Y1F] OFF ON Positioning complete ( Md.10 Status 2: b0) Cd.2 Start type OFF Data No. during positioning execution Cd.28 New current value 9003 new address POINT If the system's power cycle is executed after current value change in the absolute position system, it returns to the address before current value change. CAUTION If the operation to one direction within the software stroke limit repeats using the current value change function, the current value may not be correctly restored in the absolute position system. Do not execute such positioning in the absolute position system. 10.17.2 Data used for control Set the following control data for the current value change function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Item Details Cd.2 Start method Set the start method (9003: New current value) Cd.28 New current value Set the address after change. 10 - 35 10 FUNCTION DETAILS MELSEC-Q 10.18 External Signal Logic Selection 10.18.1 Control details The upper hardware stroke limit (FLS), the lower hardware stroke limit (RLS), and the dog signal (DOG) can be input by using the input signal of the servo amplifier. And, the logic selection of input signal is possible. Select the negative logic or positive logic in " Pr.31 External input signal logic selection". (1) Negative logic (a) Input signal is OFF. Limit switch is in operation. (Stroke prohibited area) 1) FLS, RLS OFF 2) DOG (b) Input signal is ON. 1) FLS, RLS Limit switch is removed. (Stroke movement allowed area) ON (DOG ditection) 2) DOG (2) Positive logic Opposite of the negative logic CAUTION When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using B-contact. If it is set in positive logic using A-contact, the hardware stroke limit may not be detected even if the signal wires are disconnected. 10.18.2 Data used for control Set the following parameters for the external signal logic selection. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Parameter Pr.31 Item Details External input signal logic selection Select the logic of the external input signal. 10 - 36 10 FUNCTION DETAILS MELSEC-Q 10.19 Operation Setting for Incompletion of OPR Function This function is used to select whether positioning control is operated or not, when OPR request flag is ON. 10.19.1 Control details An "Error code1090" will occur if the positioning control is executed with the "OPR request flag ( Md.9 Status 1: b0)" has been turned ON, when "0: Positioning control is not executed" (initial value in " Pr.66 Operation setting for incompletion of OPR") is selected. The manual control and OPR can be implemented. The positioning control can be executed even if OPR request flag is ON, when "1: Positioning control is executed." is selected. CAUTION Do not execute the positioning control with the OPR request flag has been turned ON in the axes used in the positioning. Failure to observe this could lead to an accident such as a collosion. The following table shows whether the positioning can be started at operation setting for incompletion of OPR. Pr.66 Control details Positioning control Manual control Operation setting for incompletion of OPR "0: Positioning control is "1: Positioning control is not executed." and "OPR executed." and "OPR request flag ON" request flag ON" 1-axis linear control 2 to 4-axes interpolation control JOG operation Incremental feed operation Proximity dog type Data set type OPR Stopper type Dog cradle type Limit switch combined type Scale origin signal detection type Other Current value change : Applicable 10 - 37 : Not applicable 10 FUNCTION DETAILS MELSEC-Q 10.19.2 Data used for control Set the following parameters for the operation setting for incompletion of OPR function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Parameter Symbol Item Pr.66 Operation setting for incompletion of OPR Details Set whether the positioning control is executed or not (When the "OPR request" ( Md.9 Status 1: b0)" is ON.) 10 - 38 10 FUNCTION DETAILS MELSEC-Q 10.20 Axis Error Reset 10.20.1 Control details The error status is removed after executing the following processing by setting "1" in " Cd.0 Axis error reset" of the buffer memory for axis error reset. • Error detection signal [X1] OFF • " Md.6 Error code" clear • " Md.7 Error detail" clear • Bit OFF correcponding axis of error reset command set in" Md.100 Axis error status" • Error reset transmission to the servo amplifier • Warning detection signal [X2] OFF • " Md.8 Warning code" clear • Bit OFF correcponding axis of error reset command set in " Md.101 Axis warning status" CAUTION The error reset cannot be executed for some servo errors. The error detection of QD74MH cannot be removed even if the error reset is executed at such the servo errors occurrence. Refer to the Servo amplifier Instruction Manuals for details. The servo warning cannot be reset even if the error reset is executed in servo warning occurrence. Execute the error reset after eliminating the error cause, and then clear the servo warning of QD74MH. 10.20.2 Data used for control Set the following control data for the axis error reset. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Cd.0 Item Axis error reset Details Release error that occurs in axis. 10 - 39 10 FUNCTION DETAILS MELSEC-Q 10.21 Absolute position system 10.21.1 Control details In the absolute position system, if machinery position is determined at the system startup, there is no need to execute the OPR because the absolute position is detected at system's power supply ON. Use the OPR for the determination of machinery position. POINT While "OPR request ( Md.9 Status 1: b0)" in ON, the current value becomes "0" at system's power supply ON, and the current value is not restored. Be sure to execute the OPR when the OPR request turned ON in the absolute position system. CAUTION When using the absolute position system function, on starting up, and when the Motion controller or absolute value motor has been replaced, always perform a home position return. In the case of the absolute position system, use the PLC program to check the home position return request before performing the positioning control. Failure to observe this could lead to an accident such as a collision. The "OPR request ( Md.9 Status 1: b0)" turns ON in the following cases. 1) The electronic gear (" Pr.0 Electronic gear numerator", " Pr.2 Electronic gear denominator") or the servo parameter " Pr.314 Rotation direction selection" are changed. (First PLC READY ON) 2) "Error code 2025" or "Warning code 2143" occurred. (First PLC READY ON) 3) "Error code 1201" occurred. (First PLC READY ON) 4) The OPR never is executed for the absolute position system. (First PLC READY ON) 5) Change the servo parameter " Pr.303 Absolute position detection system" from "0: Invalid (Used in incremental system)" to "1: Valid (Used absolute position detection system)". (First PLC READY ON) 6) The OPR is started. 7) The setting value of software stroke limit is outside the range. (First PLC READY ON) POINT When "0: Invalid (Used in incremental system)" is set in " Pr.303 Absolute position detection system" of servo parameter, the "OPR request ( Md.9 Status 1: b0)" turns ON at every first PLC READY ON. 10 - 40 10 FUNCTION DETAILS MELSEC-Q Select "1: Valid (Used absolute position detection system" in Pr.303 Absolute position detection system" of servo parameter to use as the absolute position system. Be sure to install a battery for retaining the location of the OPR in the servo amplifier. POINT When the servo parameter " Pr.303 Absolute position detection system" is changed from "1: Valid (Used absolute position detection system" to "0: Invalid (Used in incremental system)", the established machinery position before change becomes invalid. Execute again the OPR to used as the absolute position system. 10 - 41 10 FUNCTION DETAILS MELSEC-Q 10.22 Flash ROM Write Function When the buffer memory data of QD74MH are rewritten from the PLC CPU, the changed data are not saved if the system's power supply is turned OFF. This function is used to backup by writing the changed data to the flash ROM. The data that was backed up is written to the buffer memory when the system's power supply is turned ON next. 10.22.1 Control details The flash ROM write is executed by setting "1" in " Cd.100 Flash ROM write request". "0" is automatically set in "flash ROM write request" by QD74MH after writing. Important Do not turn the system's power ON/OFF or resetting PLC CPU in writing to the flash ROM. The flash ROM data may be corrupted. The data that can be written to the flash ROM by flash ROM write are shown below. • Basic parameters • OPR parameters • Manual control parameters • System parameters • Positioning data • Servo parameters POINT The absolute position information is automatically backed up in the absolute position system. It is not necessary to back up them by the flash ROM write function. (1) Cautions (a) Execute the flash ROM write when the positioning control do not execute (PLC READY signal [Y0] OFF). (b) A writing to the flash ROM is up to 100,000 times. If writing exceeds 100,000 times, the writing may be become impossible, and an "error code 1901" will occur. (c) The total number of the flash ROM write and parameter initialization with the sequence program after the error reset, system's power supply ON or PLC CPU reset is limiter to up to 25. Writing of the 26th will cause an "error code 1902". Execute the error reset, system's power cycle or PLC CPU reset at error occurrence. (d) The flash ROM write can be executed, after the system's power supply ON and the PLC READY signal [Y0] ON. If the flash ROM write is executed without turning ON the PLC READY signal [Y0] after the system's power supply ON, a "warning code 10001" will occur and the flash ROM write cannot be executed. 10 - 42 10 FUNCTION DETAILS MELSEC-Q 10.22.2 Data used for control Set the following control data for the flash ROM write function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Item Cd.100 Flash ROM write request Details Write the contents from the buffer memory to the flash ROM Number of write accesses to flash ROM by the flash ROM write function is stored in the following buffer memory. Refer to the Section 6.3 to 6.8 for the buffer memory address and monitoring details. Symbol Monitor data Item Details Number of write accesses to flash Number of write accesses to flash ROM and the number of parameter Md.102 ROM initializations after the system power supply ON can be stored. 10 - 43 10 FUNCTION DETAILS MELSEC-Q 10.23 Parameter Initialization Function This function is used to return the setting data set in the buffer memory of QD74MH and flash ROM to the factory default. 10.23.1 Control details The parameter initialization is executed by setting "1" in " Cd.101 Parameter initialization request". "0" is automatically set in "parameter initialization request" by QD74MH after initialization. Important Do not turn the system's power ON/OFF or resetting PLC CPU in parameter initialization. The flash ROM data may be corrupted. The data that can be initialized by the parameter initialization are shown below. • Basic parameters • OPR parameters • Manual control parameters • System parameters • Positioning data • Servo parameters (1) Cautions (a) Execute the parameter initialization when the positioning control do not execute (PLC READY signal [Y0] OFF). An "error code 1903" will occur if it is executed at PLD READY ON. (b) A writing to the flash ROM is up to 100,000 times. If writing exceeds 100,000 times, the writing may be become impossible, and an "error code 1901" will occur. (c) A PLC CPU reset or system's restart must be executed after the parameter initialization. (d) The total number of the flash ROM write and parameter initialization with the sequence program after the error reset, system's power supply ON or PLC CPU reset is limiter to up to 25. Writing of the 26th will cause an "error code 1902". Execute the error reset, system's power cycle or PLC CPU reset at error occurrence. (e) A parameter initialization can be executed, after the system's power supply ON and the PLC READY signal [Y0] is turned ON to OFF. If the parameter initialization is executed without turning ON the PLC READY signal [Y0] after the system's power supply ON, a "warning code 10001" will occur and a writing to the parameter initialization cannot be executed. 10 - 44 10 FUNCTION DETAILS MELSEC-Q 10.23.2 Data used for control Set the following control data for the parameter initialization function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Item Cd.101 Parameter initialization request Details Execute the parameter initialization request stored in the flash ROM Number of write accesses to flash ROM by the parameter initialization function is stored in the following buffer memory. Refer to the Section 6.3 to 6.8 for the buffer memory address and monitoring details. Symbol Monitor data Item Details Number of write accesses to flash Number of write accesses to flash ROM and the number of parameter Md.102 ROM initializations after the system power supply ON can be stored. 10 - 45 10 FUNCTION DETAILS MELSEC-Q 10.24 Parameter Change Function The basic parameters or OPR parameters are taken from the buffer memory at PLC READY ON in QD74MH. This function is used to change the part of these parameters in PLC READY ON. 10.24.1 Control details The following parameters are changed by setting "1" in Cd.1 Parameter change request". "0" will be automatically set in "parameter change request" by QD74MH after changing all parameters. If there are parameters outside the range at parameter change request, an "error code 1037" will occur and the erroneous parameters cannot be changed. In this case, the all parameters within the setting range changed, and "0" is set in "parameter change request". Parameters that can be changed by the parameter change request are shown below. • Pr.4 Software stroke limit upper limit value • Pr.6 Software stroke limit lower limit value • Pr.10 Speed limit value • Pr.15 Acceleration/deceleration method • Pr.16 S-curve acceleration/deceleration time constant • Pr.17 Sudden stop deceleration time • Pr.20 Command in-position range • Pr.23 Target position change overrun processing selection • Pr.26 Linear interpolation speed limit value • Pr.52 OP address • Pr.54 OPR speed • Pr.56 Creep speed • Pr.58 OPR acceleration time • Pr.59 OPR deceleration time • Pr.60 OP shift amount • Pr.62 OP search limit POINT "Parameter change request" is executed for every axis. Set "1" in " Cd.1 Parameter change request" for target axes to change the parameters for the multiple axes. 10.24.2 Data used for control Set the following control data for the parameter change function. Refer to Section 6.3 to 6.8 for the buffer memory address and details. Symbol Control data Cd.1 Item Parameter change request Details Execute the parameter change request. 10 - 46 11 TROUBLESHOOTING MELSEC-Q 11. TROUBLESHOOTING 11.1 Error and Warning Details Outline for the error codes and warning codes detected by the QD74MH are shown below. Error/warning code 1 to 999 1000 to 1899 Details System error Operation error (1200s errors are used for errors for the absolute position system.) 1900 to 1999 Interface error 2000 to 2099 Servo error 2100 to 2199 Servo warning 11000 to 11999 Operation warning 11.1.1 Errors Types of errors are shown below. • System errors by hardware failure, etc. • Operation errors at operation start or in operation • Interface errors • Servo errors detected by servo amplifier Error code ( Md.6 ) and error detail ( Md.7 ) are represented in decimal. Confirm the error codes by the decimal in the buffer memory. Axis cannot be started in error occurrence. Eliminate the error cause, and then start the axis after resetting the error. If the axis is started in error occurrence, the error code is unchanged. (1) System errors (Error code: 1 to 999) The system errors occur by hardware failure, etc. The system errors cannot be reset. If the multiple system errors occur simultaneously, the smallest number is given to priority. (2) Operation errors (Error code: 1000 to 1899) The operation errors occur at the following timing. If the other errors occur at operation error occurrence, the error code is updated. (a) At PLC READY ON The parameters are checked at leading edge (OFF to ON) of PLC READY signal ON [Y0] (at parameter change request). An "error code 1037" will occur if there is a mistake in the parameter setting details. At that time, the Unit READY signal [X0] does not turn ON. Correct the parameters, and then turn ON the PLC READY signal [Y0] after resetting the error. 11 - 1 11 TROUBLESHOOTING MELSEC-Q (b) At operation start or in operation The errors are detected at operation start or in operation such as OPR control, positioning control and JOG operation. If this error occurs at interpolation operation, the error number is stored in both the reference axis and interpolation axis. Release the errors by error reset after eliminating the error cause. (3) Interface errors (Error code: 1900 to 1999) The interface errors occur when the interface with hardware or CPU such as the errors at FLASH ROM writing or PLC CPU failure is abnormal. The interface error is detected as the error for Axis 1. Execute the error reset for Axis 1 after eliminating the error cause. If the other errors occur at interface error occurrence, the error code is updated. (4) Servo errors (Error code: 2000 to 2099) The servo errors occur when the hardware such as servo amplifier and servomotor, or the servo parameter are abnormal. The axis stops by servo OFF at error occurrence. Execute the error reset after eliminating the error cause for the errors that can be execute the axis error reset by the controller. Execute the power cycle of the servo amplifier or system after eliminating the error cause for the errors that cannot be executed the axis error reset by the controller. Refer to the Servo Amplifier Instruction Manual for details of the servo errors. If the other errors occur at servo error occurrence, the error code is updated. POINT Start of positioning, OPR or manual control cannot be executed for the axis in operation error occurrence. Start after reset errors. 11 - 2 11 TROUBLESHOOTING MELSEC-Q 11.1.2 Warnings Types of warnings are shown below. • Servo warnings detected by servo amplifier • Operation warnings at operation start or in operation Warning code ( Md.8 ) is represented in decimal. Confirm the warning codes by the decimal in the buffer memory. (1) Servo warnings (Warning code: 2100 to 2199) The servo warnings occur in the state immediately before error occurrence such as the excessive regeneration or overload. Error or normality operation cannot be executed by waning when warning is left as it is though servo off is not executed. The warnings can be automatically released by eliminating the warning cause in the servo amplifier side. However, at that time, the detected servo warnings cannot be automatically released in the QD74MH side. Eliminate the error cause, and then execute the error reset after confirming the warning release of the servo amplifier side. If the other warnings occur at servo warning occurrence, the warning code is updated. (2) Operation warnings (Warning code: 11000 to 11999) The operation warnings occur when the operation is limited by the wrong positioning setting value at operation start or in operation. The positioning can be executed or continued. However, the intended operation may not execute by the warnings. Execute the error reset after eliminating the error cause. If the other warnings occur at operation warning occurrence, the warning code is updated. 11.1.3 Confirming the error and warning definitions The error detection signal [X1] turns ON" at error occurrence. Simultaneously, the bit corresponding to axis No. of axis that caused the error of the buffer memory " Md.100 Axis error status" turns ON. The error codes are stored in buffer memory " Md.6 Error code", and the numbers of error details are stored in buffer memory " Md.7 Error detail" of axis that caused the error. Confirm the errors using these information. The warning detection signal [X2] turns ON" at warning occurrence. Simultaneously, the bit corresponding to axis No. of axis that caused the warning of the buffer memory " Md.101 Axis warning status" turns ON. The warning codes are stored in buffer memory " Md.8 Warning code" of axis that caused the warning. Confirm the warnings using these information. 11.1.4 Resetting errors Refet to Section10.20 for the error reset. 11 - 3 11 TROUBLESHOOTING MELSEC-Q 11.2 List of Errors (1) System errors (1 to 999) Error Error code detail Error 1 1 Flash ROM error 2 1 DRAM error 4 1 High speed SRAM error 6 1 SSCNET communication IC send buffer error 7 1 SSCNET communication IC receive buffer error 8 1 Board information error 9 1 "Hold" is set for QD74MH in "Error time output mode" of the PLC CPU parameter. 1 CPU error (Instruction code error at power supply ON) 4 CPU error (Instruction code error) 5 CPU error (Watch dog) 100 Error check At power supply ON Unit READY does not turn ON. Set "Clear" for QD74MH in "Error time output mode" of the parameter. Unit READY turns OFF. Check the influence of noise. Replace the hardware. Execute the power cycle after checking the followings. (1) Setting for " Pr.300 Servo series" matches to the connecting status and rotary switch of servo amplifier. (1) Setting for " Pr.300 Servo series" (2) Power supply status to servo differs from the connecting status of amplifier. servo amplifier. After PLC READY ON, (3) SSCNET cable connection (2) Communication was cut off by the servo amplifier's power supply OFF. Always status. (4) Discconection of SSCNET cable. (Note): Turn the servo amplifire's power supplies on the Forced stop for except communication route ON. axis that caused the error, and unit READY Check the followings. SSCNET communication error turns OFF. (1) SSCNET cable connection (CRC error) status. SSCNET communication error (2) Discconection of SSCNET (Data ID error) cable. 1 401 1 403 1 405 1 Setting for " Pr.300 Servo series" differs from the connecting type of servo At PLC READY ON amplifier. 406 1 SSCNET communication error (Connector not connected error) 1 Remedy Replace the QH74MH. 400 407 Operation status at error occurrence After PLC READY ON, Always No response from the servo amplifier and a communication time out occurred. 11 - 4 Check the connected servo amplifiers. Check the followings. (1) Power supply status to servo amplifier. (2) SSCNET cable connection status. (3) Discconection of SSCNET cable. 11 TROUBLESHOOTING MELSEC-Q System errors (1 to 999) (continued) Error Error code detail 800 801 1 1 Error Error check Sum check error of parameter stored in the FLASH ROM. (The system's power At power supply ON supply was turned OFF in FLASH ROM write.) Data cannot be written to the FLASH ROM. Operation status at error occurrence Remedy Unit READY does not turn ON. Return to the parameters at (Note) factory default using the FALSH ROM write/ parameter initialization function. parameter initialization function can be used. At FALSH ROM write/ parameter initialization FALSH ROM write/ parameter initialization Replace the QH74MH. function use after the cannot be executed. system error occurrence 11 - 5 11 TROUBLESHOOTING MELSEC-Q (2) Oparation errors (1000 to 1899) Error Error code detail 1 1010 2 1012 1 Error Error check • At positioning start • At OPR start The axis sudden stop command is ON. • At manual operation start The axis stop command is ON. Operation status at error occurrence The operation does not start. Remedy Remove the axis stop. Remove the axis sudden stop. • In positioning control or at positioning start (1) The forced stop was input in In start: Forced stop • In OPR control or at positioning. At strat: The operation Remove the forced stop. (2) The operation was started in forced OPR start does not start. • In manual control or at stop. manual control start 1013 1 In pausing • At positioning start • At OPR start • At manual operation start 1016 1 An error occurred for the interpolation group configured axis. • At interpolation control start • In interpolation control 1 The command speed is 4 [PLS/s] or less. • At OPR start (OPR speed and creep speed) • At positioning start Set the command speed to 5 • At "positioning data" [PLS/s] or more. point change of At strat: The operation positioning control does not start. • At JOG operation start In control: ecerelation • At incremental feed stop operation start 4 The positioning data number set in " Cd.2 Start method" is outside the range. Set the " Cd.2 Start method" within the setting range. 5 • At positioning start All " Da.0 Operation pattern" for from • At point change the positioning data number to final positioning data No.32 set in " Cd.2 Start method" are set to the continuous positioning or continuous path only. Set the final positioning data to the independent positioning in " Da.0 Operation pattern". 1 (1) The control method was changed in positioning. (1 axis linear ↔ Linear interpolation) (2) The manual control start or OPR start was requested in positioning. At positioning data change (3) The positioning start or OPR start was requested in manual control. (4) The positioning start or manual control start was requested in OPR control. 1021 1022 1023 11 - 6 The operation does not start. Remove the pausing Remove the error cause for the erroneous axis. Positioning end (Immediate stop in continuous path) (1) Review the positioning data (" Da.1 Control system"). (2) Review the start timing of the positioning control. manual control or OPR control. 11 TROUBLESHOOTING MELSEC-Q Oparation errors (1000 to 1899) (Continued) Error Error code detail 1024 Error check Operation status at error occurrence 1 (1) The movement direction was reversed in the "positioning data" on • At positioning data the way continuous path. change of continuous (2) "Stop by the error" is set in " Pr.23 Deceleration stop path Target position change overrun • At target position processing selection", and the chnage change position was passed by the target position change. 1 Setting of " wrong. Da.1 2 Setting of " wrong. Da.0 1 A negative value is set in " Incremental feedrate". 1025 1026 Error Control system" is Operation pattern" is Pr.84 • At positioning start • At positioning data change At strat: The operation does not start. In control: Positioning end (Immediate stop in continuous path) • At JOG operation start The operation does • At incremental feed not start. operation start Remedy (1) Set " Da.6 Positioning address/movement amount" not to reverse. (2) Execute the position command in which minimum required deceleration distance to stop was secured. Set " Da.1 Control system" correctly. Set " Da.0 Operation pattern" correctly. Set "0 to 2147483647" in " Incremental feedrate". Pr.84 Setting value of parrameters is outside the range. 1037 → 1091 Pr.0 1 Pr.1 to to 99 Pr.99 101 Pr.101 300 Pr.300 • At PLC READY ON • At parameter change request • Unit READY turns OFF. • The operation does not start. Set the parameters within the range. There are 5 or more axes in the group formation of linear interpolation. Set the group formation up to 4 axes. 3 The linear interpolation was started with the invalid linear interpolation group number. Review the setting of linear interpolation group. 1 There is an axis whose movement amount exceeds the maximum of 999999999 in the group. 1 The linear interpolation cannot be started because the interpolation axis is in operation. 2 The linear interpolation cannot be started because an error has set for the interpolation axis. Remove the error cause on the interpolation axis. 1 The positioning control or current value • At positioning start • At current value change were executed without change executing the OPR. Execute the OPR. Or, Set "1: Executed" in " Pr.66 Operation setting for incompletion of OPR". 1 (1) The zero point has not been passed at limit switch combined type OPR. (2) "1: Used" is set in " Pr.64 At proximity dog OFF Incremental linear scale setting", and the zero point has not been passed at proximity dog type OPR. 1042 1090 Parameter No. 0 2 1040 1041 Stored value At linear interpolation start 11 - 7 Review the setting for movement amount. The operation does not start. Start after making sure all axes in the group formation are OFF. Turn the servomotor more than 1 The sudden stop/OPR revolution in the + / - direction, is not completed. and then execute the OPR. 11 TROUBLESHOOTING MELSEC-Q Oparation errors (1000 to 1899) (Continued) Error Error code detail Error Error check Operation status at error occurrence Remedy Lengthen the proximity dog. Or, The sudden stop/OPR adjust the OPR speed to stop on is not completed. the proximity dog. 1092 1 The proximity sog has been turned OFF before it reached to the cramp speed in At proximity dog OFF the proximity dog type OPR. 1094 1 The OPR direction and push direction are opposite in the stopper type OPR. 1 "Torque limit ( Md.40 Servo status 1: b13)" has not been turned ON at stopper type OPR. 1 "AL96" has occuured in the servo amplifier, and the OP setting has been failed. Even after 1000[ms] passed at OPR stop, in-position was not achieved. At OPR stop 1 Even after 1800[ms] passed at OPR stop, in-position was not achieved. At OPR stop (Before setting of the distance to Z phase) (1) Reduce the OPR speed and creep speed. (2) Lengthen the OPR time constant. (3) Broaden the in-position range. 1 When the dog cradle type, proximity dog type or limit switch combined type OPR is used, the movement amount moved to detect the proximity dog signal or zero point exceeded the value set in " Pr.62 OP search limit". When the movement amount of oppsite direction against of OPR direction passed the "OP search limit". Sudden stop (1) Confirm the input status of proximity dog signal, etc. (2) Confirm the setting value of OP serch limit. 2 When the scale origin signal direction type OPR, or dog cradle type, proximity dog type and limit switch combined type using the incremental linear scale is At OPR start used, "Need to pass motor Z phase after the power supply is switched on" is not set in " Pr.397 Function selection C4". The OPR does not start. Set "Need to pass motor Z phase after the power supply is switched on" in " Pr.397 Function selection C-4". 1 The setting value of software stroke limit exceeded the setting range at OPR At OPR start start. The OPR does not start. (The OPR request turns ON.) 1095 1096 1097 1098 1100 1101 At stopper type OPR start Set the OPR direction to be the same as the push direction. The stopper type OPR is not completed. Execute push, and after turning the torque limit on, start OPR. Adjust the servo amplifier so that it stabilizes quickly at OPR stop. The OPR is not completed. Set the value of software stroke limit within the range. (Refer to Section 10.4.2.) 2 The OPR request The setting value of software stroke turns ON. limit exceeded the setting range at first At first PLC READY ON (The current value PLC READY ON. does not restored.) 1 The backup data for current value restoration is wrong. The OPR has not been executed after At PLC READY ON setting the absolute position system. The servo parameter " Pr.314 Rotation direction selection" was changed. The current value does not restored. Execute the OPR. 2 The backup data for current value restoration cannot be saved normally. The OPR is not completed. Replace the QH74MH. 1201 At OPR completion 11 - 8 11 TROUBLESHOOTING MELSEC-Q Oparation errors (1000 to 1899) (Continued) Error Error code detail Error Error check Operation status at error occurrence Remedy (Note) 1 is OFF at "+" "+" side limit switch side positioning start. (Note) "+" side limit switch turned OFF in "+" side positioning. (Note): Upper hardware stroke limit swich 1500 (Note) 2 is OFF at "-" "-" side limit switch side positioning start. (Note) "-" side limit switch turned OFF in "-" side positioning. At positioning start At strat: The operation does not start. Move in the opposite direction by the JOG operation, etc. In control: Sudden stop (Note): Lower hardware stroke limit swich 1501 1 At strat: The operation does not start. • At positioning start Set the movement command Positioning outside the software stroke • At manual control start In continuous path: within the software stroke limit. limit was set. Deceleration • In continuous path stop When the deceleration stop position from Deceleration stop current value passed the software stroke limit. Move in the opposite direction by the JOG operation, etc. 1502 1 The software stroke limit has been reached. 1504 1 The parameter settings for the software stroke limits is "upper stroke limit At positioning start lower stroke limit". The operation does not start. Set the parameter for the software stroke limit as such "upper stroke limit > lower stroke limit". 1 The axis not to set the servo series was At positioning start started. The operation does not start. Set " 3 (1) The operation started in servo ready OFF. • At positioning start (2) The servo ready OFF mode was • In positioning entered in positioning. (Servo amplifier status) At strat: The operation does not start. (1) Remove the servo alarm. In start: Stop by (2) Turn the main circuit ON. dynamic brake 1 (1) Servo is OFF status at positioning start, OPR start or manual operation • At positioning start start. • In positioning (2) The servo off mode was entered in positioning. (Servo amplifier status) At strat: The operation does not start. In start: Stop by dynamic brake 1 • At all axis servo OFF (1) The all axis servo ON command (in positioning) was turned OFF in positioing. • At " Cd.30 Each axis (2) "1" is set in " Cd.30 Each axis servo servo OFF" ON OFF". (in positioning) Sudden stop 1 The operation started in servo warinig (2146, 2149) occurrence. At positioning start The operation does not start. 2 The servo warinig (2146) occuured in operation start. In positioning Servo forced stop (Stop by dynamic brake) 1700 1702 1703 1704 11 - 9 Pr.300 Servo series". Enter the servo ON. Remove the servo warning. 11 TROUBLESHOOTING MELSEC-Q (3) Interface errors (1900 to 1999) Error Error code detail 1901 Error 1 Data is not written to the flash ROM. 2 A sum check error occurred while data is written to the flash ROM. Error check • At flash ROM write function use • At parameter initialization function use Operation status at error occurrence Remedy Replace the QH74MH. The flash ROM write/ Review the sequence program parameter initialization not to exceed 25 times flash is not executed. ROM write and parameter initialization in system's power supply ON. 1902 1 Over 25 times flash ROM write and parameter initialization were executed from the sequence program in power supply ON. 1903 1 The parameter initialization is requested At parameter in PLC READY ON. initialization request The parameter initialization is not executed. The PLC CPU has an error. (Stop error) In strat: Deceleration Refer to the "QCPU User's stop Manual (Hardware Design, At start: The operation Maintenance and Inspection)". does not start. 1904 1 Always 11 - 10 Execute the parameter initialization after PLC READY OFF. 11 TROUBLESHOOTING MELSEC-Q (4) Servo errors (2000 to 2099) Refer to the "Servo amplifier Instruction Manual" for details of servo error. Error code LED indicator of servo amplifier Error detail 2010 10 0 Error name Undervoltage 2012 12 0 Memory error 1 (RAM) 2013 13 0 Clock error 2015 15 0 Memory error 2 (EEP-ROM) 2016 16 0 Encoder error 1 (At power on) 2017 17 0 Board error 2019 19 0 Memory error 3 (Flash-ROM) 2020 20 0 Encoder error 2 2024 24 0 Main circuit error 2025 25 0 Absolute position erase 2030 30 0 Regenerative error 2031 31 0 Overspeed 2032 32 0 Overcurrent 2033 33 0 Overvoltage 2034 34 0 Receive error 1 2035 35 0 Command frequency error 2036 36 0 Receive error 2 2037 37 Refer to next page. 2045 45 0 Main circuit device overheat 2046 46 0 Servomotor overheat 2047 47 0 Cooling fan error 2050 50 0 Overload 1 Parameter error 2051 51 0 Overload 2 2052 52 0 Error excessive 2060 1A 0 Motor combination error 2088 888 0 Watchdog 2090 8A 0 USB communication time-out error 2094 8E 0 USB communication error 11 - 11 11 TROUBLESHOOTING MELSEC-Q • Error detail of parameter errors (Error code: 2037) Error detail Parameter No. Error detail Parameter No. Error detail Parameter No. Error detail Parameter No. 1 PA01 64 PB32 117 PD05 167 PE23 2 PA02 65 PB33 118 PD06 168 PE24 3 PA03 66 PB34 119 PD07 169 PE25 4 PA04 67 PB35 120 PD08 170 PE26 5 PA05 68 PB36 121 PD09 171 PE27 6 PA06 69 PB37 122 PD10 172 PE28 7 PA07 70 PB38 123 PD11 173 PE29 8 PA08 71 PB39 124 PD12 174 PE30 9 PA09 72 PB40 125 PD13 175 PE31 10 PA10 73 PB41 126 PD14 176 PE32 11 PA11 74 PB42 127 PD15 177 PE33 12 PA12 75 PB43 128 PD16 178 PE34 13 PA13 76 PB44 129 PD17 179 PE35 14 PA14 77 PB45 130 PD18 180 PE36 15 PA15 81 PC01 131 PD19 181 PE37 16 PA16 82 PC02 132 PD20 182 PE38 17 PA17 83 PC03 133 PD21 183 PE39 18 PA18 84 PC04 134 PD22 184 PE40 19 PA19 85 PC05 135 PD23 193 PS01 33 PB01 86 PC06 136 PD24 194 PS02 34 PB02 87 PC07 137 PD25 195 PS03 35 PB03 88 PC08 138 PD26 196 PS04 36 PB04 89 PC09 139 PD27 197 PS05 37 PB05 90 PC10 140 PD28 198 PS06 38 PB06 91 PC11 141 PD29 199 PS07 39 PB07 92 PC12 142 PD30 200 PS08 40 PB08 93 PC13 143 PD31 201 PS09 41 PB09 94 PC14 144 PD32 202 PS10 42 PB10 95 PC15 145 PE01 203 PS11 43 PB11 96 PC16 146 PE02 204 PS12 44 PB12 97 PC17 147 PE03 205 PS13 45 PB13 98 PC18 148 PE04 206 PS14 46 PB14 99 PC19 149 PE05 207 PS15 47 PB15 100 PC20 150 PE06 208 PS16 48 PB16 101 PC21 151 PE07 209 PS17 49 PB17 102 PC22 152 PE08 210 PS18 50 PB18 103 PC23 153 PE09 211 PS19 51 PB19 104 PC24 154 PE10 212 PS20 52 PB20 105 PC25 155 PE11 213 PS21 53 PB21 106 PC26 156 PE12 214 PS22 54 PB22 107 PC27 157 PE13 215 PS23 55 PB23 108 PC28 158 PE14 216 PS24 56 PB24 109 PC29 159 PE15 217 PS25 57 PB25 110 PC30 160 PE16 218 PS26 58 PB26 111 PC31 161 PE17 219 PS27 59 PB27 112 PC32 162 PE18 220 PS28 60 PB28 113 PD01 163 PE19 221 PS29 61 PB29 114 PD02 164 PE20 222 PS30 62 PB30 115 PD03 165 PE21 223 PS31 63 PB31 116 PD04 166 PE22 224 PS32 11 - 12 11 TROUBLESHOOTING MELSEC-Q (5) Servo warning (2100 to 2199) Refer to the "Servo amplifier Instruction Manual" for details of servo warning. Warning code LED indicator of servo amplifier 2101 91 Main circuit device overheat warning 2102 92 Battery cable disconnection warning 2106 96 Home position setting warning 2116 9F Battery warning 2140 E0 Excessive regeneration warning 2141 E1 Overload warning 1 2143 E3 Absolute position counter warning 2144 E4 Parameter warning 2146 E6 Servo forced stop warning 2147 E7 Controller forced stop warning 2148 E8 Cooling fan speed reduction warning 2149 E9 Main circuit off warning 2151 EB The other axis fault warning 2152 EC Overload warning 2 2153 ED Output watt excess warning Warning name 11 - 13 11 TROUBLESHOOTING MELSEC-Q (6) Operation warnings (11000 to 11999) Warning code Error Error check • At flash ROM write The flash ROM write request or request 10001 parameter initialization request turned ON • At parameter initialization after the first PLC READY ON. request The speed command that exceeds the 11001 speed limit value was executed. The flash ROM write or parameter initialization is not executed. Remedy Turn the PLC READY ON. • At positioning start The speed is cramped Set the speed within the speed • At OPR start with the speed limit limit value. • At manual control start value. • At speed change request The setting of " Pr.17 Sudden stop • At axis sudden stop deceleration time" is lager than the 11002 deceleration time (" Pr.83 JOG operation command • At pausing command deceleration time", " Pr.59 OPR deceleration time"). The speed command that exceeds the 11003 maximum motor speed was executed. Operation status at warning occurrence The speed is cramped with the deceleration time (JOG operation, OPR). Shorten the setting of " Pr.17 Sudden stop deceleration time" than the deceleration time (" Pr.83 JOG operation deceleration time", " Pr.59 OPR deceleration time"). • At positioning start The speed is cramped Set the speed within the maximum • At OPR start with the maximum motor speed. • At manual control start motor speed. • At speed change request For the positioning data of continuous path completion, the machine passed a In cotinuous path 11005 command position and immediately stopped, because the movement amount was short. • At independent The machine immediately stopped with positioning the specified address in positioning, • At continuous path last 11006 because the movement amount required point to execute the deceleration stop from the • At Incremental feed currend speed cannot be secured. operation Set the address/movement amount required to execute the deceleration stop. Immediately stop (If the positioning data continues, the positioning is executed after immediately stop. Set the positioning data required to execute the deceleration stop. The speed change request was executed in the following cases. • In operation stop • In deceleration by stop command, At speed change request sudden stop command or error 11011 occurrence • In OPR • In current value change • In pausing The speed change is not executed. The acceleration speed change request was executed in the following cases. • In operation stop 11012 • In deceleration • In OPR • In current value change • In pausing At acceleration time change request The acceleration time Change the acceleration time when the speed change can be change is not executed. executed. The deceleration speed change request was executed in the following cases. • In operation stop 11013 • In deceleration • In OPR • In current value change • In pausing At deceleration time change request The deceleration time Change the deceleration time when the speed change can be change is not executed. executed. 11 - 14 Change the speed when the speed change can be executed. 11 TROUBLESHOOTING MELSEC-Q Operation warnings (11000 to 11999) (continued) Warning code Error The target position change request was executed in the following cases. • In operation stop • In deceleration by stop command, sudden stop command or error 11014 • In JOG operation • In OPR • In linear interpolation • In current value change • In pausing Error check At target position change request 11 - 15 Operation status at warning occurrence The target position change is not executed. Remedy Change the target position when the speed change can be executed. 11 TROUBLESHOOTING MELSEC-Q MEMO 11 - 16 APPENDICES MELSEC-Q APPENDICES Appendix 1 External Dimension Drawing (1) QD74MH8 APP QD74MH8 RUN CN1 98(3.86) ERR. EMI 23(0.91) 90(3.54) 27.4(1.08) 4(0.16) QD74MH8 (2) QD74MH16 QD74MH16 RUN CN1 98(3.86) ERR. EMI 23(0.91) 27.4(1.08) 90(3.54) APP - 1 4(0.16) QD74MH16 APPENDICES MELSEC-Q Appendix 2 Sample Program Appendix 2.1 Sequence program Creation procedure for the standard sequence program of QD74MH is shown below. CAUTION The sequence program of this appendix is used to make operate the servo motor for 1 axis. When diverting the programs examples introduced in this manual to the actual system, fully verify that there are no problems in the controllability of the target system. And, add the interlock condition if required in the target system. (1) JOG operation, OPR operation positioning control and continuous path control can be executed by setting the data to the buffer memory in QD74MH. The monitor data of the current value and error codes, etc. can be referred by reading the data of buffer memory. Data is transferred via the buffer memory between the PLC CPU and QD74MH in the figure below. Use the GX Developer to create the sequence program and debugging. GX Developer Sequence program Device Monitor ON/OFF/ Current value U0\G1700 10000000 U0\G1702 100000 PLC CPU QD74MH Sequence program Buffer memory Parameter Monitor data Control data Positioning data Transfer the parameters, positioning data and control data to the buffer memory. APP - 2 Servo parameter Positioning control APPENDICES MELSEC-Q (2) System configuration The configuration figure for 1 axis absolute position system of 1 axis assumed by the sequence program is shown below. Equipment configuration Base unit Power supply module PLC CPU module QD74MH8 Servo amplifiers MR-J3-10B Servomoter HF-KP13 Ball screw lead 10[mm] CN1 External I/O Battery (a) Setting for the electronics gear Command unit : 0.1[μm] Ball screw lead : Pb = 10[mm] = 100000[×0.1μm] Encoder resolution : Pt = 262144[PLS/rev] Gear ratio : n = 1/1 Pt 262144 8192 AP Pt = 3125 AL = S = n × Pb = 1 1 × 10000 " Pr.0 Electronic gear numerator" = 8192, " Pr.2 Electronic gear denominator" = 3125 (b) Unit of the positioning address and command speed The command unit of the QD74MH is PLS only. When an electronic gear is set, programming in units of [mm] is possible. When the command unit is 0.1[µm], " Da.6 Positioning address/movement amount" and " Da.4 Command speed" can also be set using units of 0.1[µm]. POINT When the command unit is 0.1[µm] = 1[PLS], the ball screw lead of 10[mm] is 100000 [PLS]. When the electronic gear numerator (AP) and denominator (AL) are calculated by this value, the command unit can be either PLS or 0.1[µm]. APP - 3 APPENDICES MELSEC-Q (c) Setting for the speed limit value Speed limit value[PLS/s] = (Motor's maximum velocity[r/min] × Gear ratio(n)) × Ball screw lead 60[s] Example) When the speed limit is set to match the motor's maximum velocity (6000[r/min]) Speed limit value = ⎛6000 × 1⎞ × 10 1⎠ ⎝ 60 = 1000[mm/s] When the command unit is 0.1[µm], 6 1000[mm/s] = 10000000[PLS/s] = 10 × 10 [PLS/s] 6 Therefore, set 10 so that the " Pr.10 Speed limit value" is [×10 PLS/s] unit. APP - 4 APPENDICES MELSEC-Q Appendix 2.2 Creating the program This section describes the operation program actually used for positioning control. Add the monitor program according to the system to monitor the control. (1) Program configuration Creating the program No.1 Parameter setting program No.1-1 Basic parameter Pr.0 to Pr.31 No.1-2 OPR parameter Pr.50 to Pr.66 No.1-3 Manual control parameter Pr.80 to Pr.84 No.1-4 Servo parameter Pr.300 to Pr.599 Program to set the parameters No.2 Parameter setting complete program No.3 Positioning data setting program No.3-1 Positioning data point 1 No.3-2 Positioning data point 2 Program to set the positioning data No.4 PLC READY signal[Y0] ON program No.5 All axis servo ON signal[Y1] ON program No.6 Monitor program No.6-1 System monitor Md.100 to Md.103 No.6-2 Axis monitor Md.0 to Md.41 Monitor program The monitor information of QD74MH is led before the manual ccontrol, positioning control and each change program. No.7 JOG operation setting program No.8 Incremental feed operation setting program No.9 JOG operation/Incremental feed operation execute program 1) APP - 5 Program requierd for manual control APPENDICES MELSEC-Q 1) No.10 OPR selection program No.11 New current value selection program No.12 Positioning selection program Program requierd for OPR control, positioning control Add or delete "No.11 New current value selection program" according to the control content of system. No.13 Positioning start program No.14 Stop program No.14-1 Axis stop of each axis No.14-2 Axis sudden stop of each axis No.14-3 Pausing of each axis Stop proguram No.15 Error reset program Error reset program No.16 Flash ROM write program Flash ROM write program No.17 Speed change program No.18 Acceleration time change program No.19 Deceleration time change program Add or delete according to the control content of system. No.20 Target position change program No.21 Torque limit program No.22 Parameter change request program END APP - 6 APPENDICES MELSEC-Q (2) Device list The devices used by the sequence program that has been described to this appendix are allocated as follows. The I/O number is a number when the QD74MH is installed in the first slot of the main base unit. Change them to I/O number at installed position if the QD74MH is installed in except the first slot of the main base unit. Change the external input/output, internal relay and data register according to the system used. (a) Input/output, external input, external output, internal relay Type Input Output Device No. Signal name Type Device No. Signal name X0 Unit READY M0 Parameter setting flag X1 Error detection M1 Parameter setting complete flag X2 Warning detection M2 Position data setting flag X3 Synchronization flag M4 Flash ROM write memo X10 Axis 1 BUSY M5 Deceleration time change request memo Y0 PLC READY M7 In JOG/incremental feed operation memo Y1 All axis servo ON M8 Speed change request memo Y2 Forced stop input M9 Acceleration time change request memo Y10 Axis 1 Positioning start M10 Axis 1 Error detection signal X20 Positioning start M29 Target position change request memo X21 Axis stop M30 Axis 1 Warning detection signal X22 Pausing M47 Axis 1 Speed change request memo X23 Axis sudden stop X24 All axis servo ON request M63 Internal M64 relay M80 Positioning start pulse Axis 1 Positioning start Axis 1 Acceleration time change request memo X25 PLC READY ON request X26 Error reset M96 Axis 1 Deceleration time change request memo X27 Parameter change request M112 Axis 1 Target position change request memo External X28 X29 input Flash ROM write M128 Axis 1 In JOG/incremental feed operation Acceleration time change request M160 Axis 1 Positioning complete X2A Deceleration time change request M161 Axis 1 Command in-position X2B Speed change request M162 Axis 1 Pausing X2C Incremental feed M163 Axis 1 Operation complete X2E Forward rotation JOG/Incremental feed M168 Axis 1 Speed change READY X2F Reverse rotation JOG/Incremental feed M169 Axis 1 Acceleration time change READY X30 Torque limit value change request M170 Axis 1 Deceleration time change READY X31 Target position change request M171 Axis 1 Target position change READY X33 Positioning selection X34 Current value change selection X35 OPR selection APP - 7 APPENDICES MELSEC-Q (b) Data register Type Device No. D24 Incremental feedrate D31 Axis 1 Start data No./type D100 D101 D102 D103 Data register Signal name Md.0 Axis 1 Current feed value Md.2 Axis 1 Feedrate Low-order 16 bits High-order 16 bits Low-order 16 bits High-order 16 bits D104 Md.4 Axis 1 External input signal D105 Md.5 Axis 1 Positioning data No. being executed D106 Md.6 Axis 1 Error code D107 Md.7 Axis 1 Error detail D108 Md.8 Axis 1 Warning code D109 Md.9 Axis 1 Status 1 D110 Md.10 Axis 1 Status 2 D126 D127 D128 D129 Md.26 Axis 1 Real current value Md.28 Axis 1 Deviation counter value D131 Md.31 Axis 1 Motor current value D132 Md.32 Axis 1 Motor rotation speed D134 Md.34 Axis 1 Regenerative load ratio D135 Md.35 Axis 1 Effective load torque ratio D136 Md.36 Axis 1 Servo status 2 D140 Md.40 Axis 1 Servo status 1 D141 Md.41 Axis 1 Servo status 2 Low-order 16 bits High-order 16 bits Low-order 16 bits High-order 16 bits (Note): Transmit the current feed value, feedrate and real current value, etc. using the 32 bit transmission instruction. APP - 8 APPENDICES MELSEC-Q (3) Parameters and positioning data Types of parameters include: Basic parameters, OPR parameters, Manual control parameters and Servo parameters. The parameters to be changed are shown below. Add and change the parameters and positioning data according to the system. Table 2.1 Parameters for 1 axis Type Basic OP Manual Servo Word Value for 1-axis Pr.0 Symbol Electronic gear numerator (AP) Item 2 8192 U0\G0+100n Address Remark Pr.2 Electronic gear denominator (AL) 2 3125 U0\G2+100n Pr.4 Software stroke limit upper limit value 2 819100000 U0\G4+100n Pr.6 Software stroke limit lower limit value 2 -819100000 U0\G6+100n Pr.10 Speed limit value 2 10 U0\G10+100n Pr.25 Interpolation group 1 1 U0\G25+100n Pr.26 Linear interpolation speed limit value 2 10 U0\G26+100n Pr.31 External input signal logic selection 1 H0 U0\G31+100n H0 : Negative logic H111: Positive logic Pr.50 OPR method 1 2 U0\G50+100n Data set type Pr.52 OP address 2 0 U0\G52+100n Pr.80 JOG speed 2 2500000 U0\G80+100n Pr.84 Incremental feedrate 2 0 U0\G84+100n Set "0" at JOP operation. Pr.300 Servo series 1 1 U0\G10300+100n MR-J3-B Pr.303 PA03 Absolute position detection system 1 1 U0\G10303+100n Absolute position system Pr.304 PA04 Function selection A-1 1 0 U0\G10304+100n H0 : Forced stop: Valid H100: Forced stop: Invalid Pr.308 PA08 Auto tuning mode 1 1 U0\G10308+100n Pr.309 PA09 Auto tuning response 1 12 U0\G10309+100n Pr.314 PA14 Rotation direction selection 1 0 U0\G10314+100n Set these parameters according to the system. Set these parameters according to movement range for the system. 0: CCW direction 1: CW direction Table 2.2 Positioning data for 1-axis Type Point 1 Point 2 Word Value for 1-axis Da.0 Symbol Operation pattern Item 1 1 Address Da.1 Control system 1 0 U0\G5101+10n ABS linear 1 Da.2 Acceleration time 1 1000 U0\G5102+10n 1000[ms] Da.3 Deceleration time 1 1000 U0\G5103+10n 1000[ms] Da.4 Command speed 2 1000000 U0\G5104+10n 100[mm/s] Da.6 Positioning address/movement amount 2 5000000 U0\G5106+10n Move to address 50[mm] U0\G5100+10n Remark Continuous positioning Da.8 Dwell time 1 0 U0\G5108+10n 0[s] Da.0 Operation pattern 1 0 U0\G5110+10n Independent positioning Da.1 Control system 1 0 U0\G5111+10n ABS linear 1 Da.2 Acceleration time 1 100 U0\G5112+10n 1000[ms] Da.3 Deceleration time 1 100 U0\G5113+10n 1000[ms] Da.4 Command speed 2 2500000 U0\G5114+10n 250[mm/s] Da.6 Positioning address/movement amount 2 0 U0\G5116+10n Move to address 0[mm] Da.8 Dwell time 1 0 U0\G5118+10n 0[s] APP - 9 APPENDICES MELSEC-Q Appendix 2.3 Debugging (1) Debugging GX Developer is used to create the sequence program and debug in QD74MH. First, create the device comment to create the sequence program. The device comment is displayed by registering the devices to the entry data monitor. It becomes easy to debug by the device and comment being displayed simultaneously. (2) Flash ROM write Execute the flash ROM write after completion of the adjustment for servo amplifier. The following buffer memories of servo parameter are changed when the auto tuning mode is valid. • Pr.338 Ratio of load inertia moment to servo motor inertia moment • Pr.339 Model loop gain • Pr.340 Position loop gain • Pr.341 Speed loop gain • Pr.342 Speed integral compensation The buffer memory data returns to former data by the system power supply OFF. Set "1" in Cd.100 Flash ROM write request before the system power supply OFF. APP - 10 APPENDICES MELSEC-Q Appendix 2.4 Positioning program example * * No.1 Parameter setting program * * Basic parameter, OPR parameter, Manual control parameter * Servo parameter, System parameter * Write the parameters to the buffer memory* * *SM403 is added so that M0 may turn ON/OFF by the PLC RUN/STOP. X3 SM403 0 M0 * No.1-1 Basic parameter Pr.0 to Pr.31 * Axis 1 setting example M0 12 DMOVP K8192 U0\ G0 <Electronic gear numerator> DMOVP K3125 U0\ G2 <Electronic gear denominator> DMOVP K819100000 U0\ G4 <Upper limit value 81910mm> DMOVP K-819100000 U0\ G6 <Lower limit value -81910mm> DMOVP K10 U0\ G10 <Speed limit value 6000r/min> MOVP U0\ G25 <Interpolation group No.1> DMOVP K10 U0\ G26 <Interpolation speed limit value 6000r/min> MOVP H0 U0\ G31 <DOG, FLS, RLS: Negative logic> MOVP K2 U0\ G50 <Data set method OPR> DMOVP K0 U0\ G52 <OP address = 0> K1 * No.1-2 OPR parameter Pr.50 to Pr.66 * Axis 1 setting example M0 60 * No.1-3 Manual control parameter Pr.80 to Pr.84 * Axis 1 setting example M0 74 U0\ DMOVP K2500000 G80 DMOVP K0 APP - 11 U0\ G84 <JOG speed 250mm/s> <Incremental feedrate = 0> APPENDICES MELSEC-Q * No.1-4 Servo parameter Pr.300 to Pr.599 * Axis 1 PA02 to PA15 setting example M0 89 MOVP K1 U0\ G10300 <MR-J3-B selection> MOVP K1 U0\ G10303 <Absolute position system> MOVP H0 U0\ G10304 <Servo amplifier forced stop input: Valid> MOVP K1 U0\ G10308 <Auto tuning mode 1> MOVP K12 U0\ G10309 <Response = 12> MOVP K0 U0\ G10314 <Motor rotation direction = CCW> M1 <Parameter setting complete> * * No.2 Parameter setting complete program * * Set the basic parameter, OPR parameter, manual control parameter and system parameter * ahead of this step. M0 SM403 122 M1 * * No.3 Positioning data setting program * Positioning data setting flag ON M0 M2 132 * * No.3-1 Positioning data point 1 M2 137 MOVP K1 U0\ G5100 MOVP K0 U0\ G5101 <ABS linear> MOVP K1000 U0\ G5102 <Acceleration time = 1000ms> MOVP K1000 U0\ G5103 <Deceleration time = 1000ms> U0\ DMOVP K1000000 G5104 U0\ DMOVP K5000000 G5106 MOVP APP - 12 K0 U0\ G5108 <Operation pattern = Continuous positioning> <Command speed = 100mm/s> <Positioning address/movement amount = 500mm> <Dwell time = 0ms> APPENDICES MELSEC-Q * * No.3-2 Positioning data point 2 M2 177 MOVP K0 U0\ G5110 <Positioning end> MOVP K0 U0\ G5111 <ABS linear> MOVP K100 U0\ G5112 <Acceleration time = 100ms> MOVP K100 U0\ G5113 <Deceleration time = 100ms> U0\ DMOVP K2500000 G5114 <Command speed = 250mm/s> DMOVP K0 U0\ G5116 MOVP U0\ G5118 <Dwell time = 0ms> Y0 <PLC READY ON program> Y1 <All axis servo ON command> K0 <Positioning address/movement amount = 0mm> * No.4 PLC READY signal[Y0] ON program M1 SM403 M4 X25 216 * No.5 All axis servo ON signal[Y1] ON program X0 X3 X24 Y0 223 Y1 * * No.6 Monitor program * * No.6-1 System monitor Md.100 to Md.103 SM403 FROM 231 H0 K3300 D3000 K4 <System monitor Md.100 to Md.103> MOV D3000 K4M10 <Axis error M10 to M25> MOV D3001 K4M30 <Axis warning M30 to M45> K1700 D100 K21 <Axis monitor Md.0 to Md.41> MOV D110 K4M160 <Status 2 M160 to M175> DMOVP K0 D24 <0PLS at JOG operation> DMOVP K1000 D24 <Incremental feedrate = 1000PLS> * No.6-2 Axis monitor Md.0 to Md.41 SM403 DFRO 250 H0 SM403 258 * No.7 JOG operation setting program X2C 262 * No.8 Incremental feed operation setting program X2C 268 APP - 13 APPENDICES MELSEC-Q * * No.9 Execution operation for JOG operation/Incremental feed operation * X2E X0 X10 DMOVP D24 274 U0\ G84 <Set the incremental feedrate> X2F SET X2E U0\G3408.0 <Forward rotation JOG/Forward rotation incremental feed ON> U0\G3409.0 <Reverse rotation JOG/Reverse rotation incremental feed ON> RST M128 <JOG/Incremental feed operating flag OFF> M128 294 X2E <JOG/Incremental feed operating flag ON> M128 288 X2F M128 X2F M128 300 * * No.10 OPR selection program * X35 305 MOVP K9000 D31 <OPR command No. = 9000> MOVP K9003 D31 <Axis 1 Current value change No. = 9003> * * No.11 Current value change selection program * X34 312 DMOVP K0 U0\ G3428 <Axis 1 Current position = 0> MOVP D31 <Point 1 specification> PLS M63 <Positioning start pulse> SET M64 <Positioning start ON> RST Y10 * * No.12 Positioning selection program * X33 325 K1 * * No.13 Positioning start program * * The input signal is made to the pulse * This pulse signal is used for each axis start operation X20 332 M63 Y10 X10 M7 341 Y10 X10 347 X20 M64 356 U0\G1710.3 X10 MOVP APP - 14 U0\ G3402 <Set the start number> SET Y10 <Positioning start signal ON> RST M64 <Positioning start OFF> D31 APPENDICES MELSEC-Q * * No.14 Stop program * * No.14-1 Axis stop for each axis X21 367 U0\G3403.0 <Axis stop signal ON/OFF> U0\G3404.0 <Axis sudden stop signal ON/OFF> U0\G3405.0 <Pausing signal ON/OFF> U0\G3400.0 <Error reset ON/OFF> SET M4 <Flash ROM write memo ON> U0\ G5000 <Flash ROM write request = ON> RST M4 <Flash ROM write memo OFF> PLS M8 <Speed change request memo pulse> * No.14-2 Axis sudden stop for each axis X23 376 * No.14-3 Pausing for each axis X22 382 * No.15 Error reset program X26 388 * * No.16 Flash ROM write program * X28 Y0 X10 394 MOVP M4 407 = U0\ G5000 K0 K1 * * No.17 Speed change program * X2B 414 M8 M47 X10 421 DMOVP K10000 U0\ G3416 MOVP U0\ G3415 K1 SET M47 M168 437 MOVP X2B K0 M47 U0\ G3415 <Axis 1 New speed value = 10000PLS/s> <Axis 1 Speed change request ON> <Axis 1 Speed change request memo ON> <Axis 1 Speed change request OFF> M163 RST APP - 15 M47 <Axis 1 Speed change request memo OFF> APPENDICES MELSEC-Q * * No.18 Acceleration time change program * X29 450 PLS M9 M80 X10 457 MOVP K10000 U0\ G3419 MOVP K1 U0\ G3418 SET M80 M169 MOVP 472 X29 M9 K0 M80 U0\ G3418 <Acceleration time change request memo pulse> <Axis 1 Acceleration time = 10000s> <Axis 1 Acceleration time change request ON> <Axis 1 Acceleration time change request memo ON> <Axis 1 Acceleration time change request OFF> M163 RST M80 <Axis 1 Acceleration time change request memo OFF> PLS M5 <Deceleration time change request pulse> * * No.19 Deceleration time change program * X2A 485 M5 M96 X10 492 MOVP K10000 U0\ G3421 MOVP K1 U0\ G3420 SET M96 M170 507 MOVP X2A K0 M96 U0\ G3420 <Axis 1 Deceleration time = 10000s> <Axis 1 Deceleration time change request ON> <Axis 1 Deceleration time change request memo ON> <Axis 1 Deceleration time change request OFF> M163 RST M96 <Axis 1 Deceleration time change request memo OFF> PLS M29 <Target position change request pulse> DMOVP K-10000 U0\ G3424 <Axis 1 Target position = -10000PLS> MOVP U0\ G3423 * * No.20 Target position change program * X31 520 M29 M112 X10 527 K1 SET M112 M171 543 MOVP X31 K0 M112 U0\ G3423 <Axis 1 Target position change request ON> <Axis 1 Target position change request memo ON> <Axis 1 Target position change request OFF> M163 RST APP - 16 M112 <Axis 1 Target position change request memo OFF> APPENDICES MELSEC-Q * * No.21 Torque limit program * X30 556 MOVP K1000 U0\ G3412 MOVP K1000 U0\ G3413 MOVP K1 U0\ G3411 MOVP K0 U0\ G3411 MOVP K1 U0\ G3401 X30 576 <Axis 1 Forward rotation torque limit value = 100.0%> <Axis 1 Reverse rotation torque limit value = 100.0%> <Axis 1 Torque limit value change request ON> <Axis1 Torque limit value change request OFF> * * No.22 Parameter change request program * X27 582 END 590 APP - 17 <Parameter change request ON> APPENDICES MELSEC-Q Appendix 3 List of Buffer Memory Address Appendix 3.1 Parameter area Symbol Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Pr.0 Electronic gear numerator (AP) 0 1 100 101 200 201 300 301 400 401 500 501 Pr.2 Electronic gear denominator (AL) 2 3 102 103 202 203 302 303 402 403 502 503 Pr.4 Software stroke limit upper limit value 4 5 104 105 204 205 304 305 404 405 504 505 Pr.6 Software stroke limit lower limit value 6 7 106 107 206 207 306 307 406 407 506 507 Pr.8 Backlash compensation amount 8 108 208 308 408 508 Pr.10 Speed limit value 10 11 110 111 210 211 310 311 410 411 510 511 Pr.15 Acceleration/deceleration method 15 115 215 315 415 515 Pr.16 S-curve acceleration/deceleration time constant 16 116 216 316 416 516 Pr.17 Sudden stop deceleration time 17 117 217 317 417 517 Pr.20 Command in-position range 20 21 120 121 220 221 320 321 420 421 520 521 Pr.23 Target position change overrun processing selection 23 123 223 323 423 523 Pr.25 Interpolation group 25 125 225 325 425 525 Linear interpolation speed limit value 26 27 126 127 226 227 326 327 426 427 526 527 Pr.31 External input signal logic selection 31 131 231 331 431 531 Pr.50 OPR method 50 150 250 350 450 550 Pr.51 OPR direction 51 151 251 351 451 551 Pr.52 OP address 52 53 152 153 252 253 352 353 452 453 552 553 Pr.54 OPR speed 54 55 154 155 254 255 354 355 454 455 554 555 556 Pr.26 Pr.56 Creep speed 56 156 256 356 456 Pr.58 OPR acceleration time 58 158 258 358 458 558 Pr.59 OPR deceleration time 59 159 259 359 459 559 Pr.60 OP shift amount 60 61 160 161 260 261 360 361 460 461 560 561 Pr.62 OP search limit 62 63 162 163 262 263 362 363 462 463 562 563 Pr.66 Operation setting for incompletion of OPR 66 166 266 366 466 566 JOG speed 80 81 180 181 280 281 380 381 480 481 580 581 Pr.80 Pr.82 JOG operation acceleration time 82 182 282 382 482 582 Pr.83 JOG operation deceleration time 83 183 283 383 483 583 Pr.84 Incremental feedrate 84 85 184 185 284 285 384 385 484 485 584 585 Pr.101 External forced stop selection 1601 APP - 18 APPENDICES MELSEC-Q Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 600 601 700 701 800 801 900 901 1000 1001 1100 1101 1200 1201 1300 1301 1400 1401 1500 1501 602 603 702 703 802 803 902 903 1002 1003 1102 1103 1202 1203 1302 1303 1402 1403 1502 1503 604 605 704 705 804 805 904 905 1004 1005 1104 1105 1204 1205 1304 1305 1404 1405 1504 1505 606 607 706 707 806 807 906 907 1006 1007 1106 1107 1206 1207 1306 1307 1406 1407 1506 1507 608 708 808 908 1008 1108 1208 1308 1408 1508 610 611 710 711 810 811 910 911 1010 1011 1110 1111 1210 1211 1310 1311 1410 1411 1510 1511 615 715 815 915 1015 1115 1215 1315 1415 1515 616 716 816 916 1016 1116 1216 1316 1416 1516 617 717 817 917 1017 1117 1217 1317 1417 1517 620 621 720 721 820 821 920 921 1020 1021 1120 1121 1220 1221 1320 1321 1420 1421 1520 1521 623 723 823 923 1023 1123 1223 1323 1423 1523 625 725 825 925 1025 1125 1225 1325 1425 1525 626 627 726 727 826 827 926 927 1026 1027 1126 1127 1226 1227 1326 1327 1426 1427 1526 1527 631 731 831 931 1031 1131 1231 1331 1431 1531 650 750 850 950 1050 1150 1250 1350 1450 1550 651 751 851 951 1051 1151 1251 1351 1451 1551 652 653 752 753 852 853 952 953 1052 1053 1152 1153 1252 1253 1352 1353 1452 1453 1552 1553 654 655 754 755 854 855 954 955 1054 1055 1154 1155 1254 1255 1354 1355 1454 1455 1554 1555 656 756 856 956 1056 1156 1256 1356 1456 1556 658 758 858 958 1058 1158 1258 1358 1458 1558 659 759 859 959 1059 1159 1259 1359 1459 1559 660 661 760 761 860 861 960 961 1060 1061 1160 1161 1260 1261 1360 1361 1460 1461 1560 1561 662 663 762 763 862 863 962 963 1062 1063 1162 1163 1262 1263 1362 1363 1462 1463 1562 1563 666 766 866 966 1066 1166 1266 1366 1466 1566 680 681 780 781 880 881 980 981 1080 1081 1180 1181 1280 1281 1380 1381 1480 1481 1580 1581 682 782 882 982 1082 1182 1282 1382 1482 1582 683 783 883 983 1083 1183 1283 1383 1483 1583 684 685 784 785 884 885 984 985 1084 1085 1184 1185 1284 1285 1384 1385 1484 1485 1584 1585 1601 APP - 19 Memory area Parameter area Axis 11 Basic parameters Axis 10 OPR parameters Axis 9 Manual control parameter Axis 8 System parameters Buffer memory address Axis 7 APPENDICES MELSEC-Q Appendix 3.2 Monitor data area Symbol Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Md.0 Current feed value 1700 1701 1800 1801 1900 1901 2000 2001 2100 2101 2200 2201 Md.2 Feedrate 1702 1703 1802 1803 1902 1903 2002 2003 2102 2103 2202 2203 Md.4 External input signal 1704 1804 1904 2004 2104 2204 Md.5 Positioning data No. being executed 1705 1805 1905 2005 2105 2205 Md.6 Error code 1706 1806 1906 2006 2106 2206 Md.7 Error detail 1707 1807 1907 2007 2107 2207 Md.8 Warning code 1708 1808 1908 2008 2108 2208 Md.9 Status 1 1709 1809 1909 2009 2109 2209 Md.10 Status 2 1710 1810 1910 2010 2110 2210 Md.26 Real current value 1726 1727 1826 1827 1926 1927 2026 2027 2126 2127 2226 2227 Md.28 Deviation counter value 1728 1729 1828 1829 1928 1929 2028 2029 2128 2129 2228 2229 Md.31 Motor current value 1731 1831 1931 2031 2131 2231 Motor rotation speed 1732 1733 1832 1833 1932 1933 2032 2033 2132 2133 2232 2233 Md.34 Regenerative load ratio 1734 1834 1934 2034 2134 2234 Md.35 Effective load torque ratio 1735 1835 1935 2035 2135 2235 Md.36 Peak torque ratio 1736 1836 1936 2036 2136 2236 Md.32 Md.40 Servo status 1 1740 1840 1940 2040 2140 2240 Md.41 Servo status 2 1741 1841 1941 2041 2141 2241 Md.100 Axis error status 3300 Md.101 Axis warning status 3301 Md.102 Number of write accesses to flash ROM 3302 Md.103 Forced stop input status 3303 APP - 20 APPENDICES MELSEC-Q Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 2300 2301 2400 2401 2500 2501 2600 2601 2700 2701 2800 2801 2900 2901 3000 3001 3100 3101 3200 3201 2302 2303 2402 2403 2502 2503 2602 2603 2702 2703 2802 2803 2902 2903 3002 3003 3102 3103 3202 3203 3204 2304 2404 2504 2604 2704 2804 2904 3004 3104 2305 2405 2505 2605 2705 2805 2905 3005 3105 3205 2306 2406 2506 2606 2706 2806 2906 3006 3106 3206 2307 2407 2507 2607 2707 2807 2907 3007 3107 3207 3208 2308 2408 2508 2608 2708 2808 2908 3008 3108 2309 2409 2509 2609 2709 2809 2909 3009 3109 3209 2310 2410 2510 2610 2710 2810 2910 3010 3110 3210 2326 2327 2426 2427 2526 2527 2626 2627 2726 2727 2826 2827 2926 2927 3026 3027 3126 3127 3226 3227 2328 2329 2428 2429 2528 2529 2628 2629 2728 2729 2828 2829 2928 2929 3028 3029 3128 3129 3228 3229 2331 2431 2531 2631 2731 2831 2931 3031 3131 3231 2332 2333 2432 2433 2532 2533 2632 2633 2732 2733 2832 2833 2932 2933 3032 3033 3132 3133 3232 3233 2334 2434 2534 2634 2734 2834 2934 3034 3134 3234 2335 2435 2535 2635 2735 2835 2935 3035 3135 3235 2336 2436 2536 2636 2736 2836 2936 3036 3136 3236 2340 2440 2540 2640 2740 2840 2940 3040 3140 3240 2341 2441 2541 2641 2741 2841 2941 3041 3141 3241 3300 3301 3302 3303 APP - 21 Memory area Monitor data area Axis 9 Axis monitor data Axis 8 System monitor data Buffer memory address Axis 7 APPENDICES MELSEC-Q Appendix 3.3 Control data area Symbol Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 3900 Cd.0 Axis error reset 3400 3500 3600 3700 3800 Cd.1 Parameter change request 3401 3501 3601 3701 3801 3901 Cd.2 Start method 3402 3502 3602 3702 3802 3902 Cd.3 Axis stop 3403 3503 3603 3703 3803 3903 Cd.4 Axis sudden stop 3404 3504 3604 3704 3804 3904 Cd.5 Pausing 3405 3505 3605 3705 3805 3905 Cd.8 Forward rotation JOG start 3408 3508 3608 3708 3808 3908 Cd.9 Reverse rotation JOG start 3409 3509 3609 3709 3809 3909 Cd.11 Torque limit request 3411 3511 3611 3711 3811 3911 Cd.12 Forward rotation torque limit value 3412 3512 3612 3712 3812 3912 Cd.13 Reverse rotation torque limit value 3413 3513 3613 3713 3813 3913 Cd.15 Speed change request 3415 3515 3615 3715 3815 3915 Cd.16 New speed value 3416 3417 3516 3517 3616 3617 3716 3717 3816 3817 3916 3917 Cd.18 Acceleration time change request 3418 3518 3618 3718 3818 3918 Cd.19 New acceleration time value 3419 3519 3619 3719 3819 3919 Cd.20 Deceleration time change request 3420 3520 3620 3720 3820 3920 Cd.21 New deceleration time value 3421 3521 3621 3721 3821 3921 Cd.23 Target position change request 3423 3523 3623 3723 3823 3923 Cd.24 New target position change value 3424 3425 3524 3525 3624 3625 3724 3725 3824 3825 3924 3925 Cd.28 New current value 3428 3429 3528 3529 3628 3629 3728 3729 3828 3829 3928 3929 Cd.30 Each axis servo OFF 3430 3530 3630 3730 3830 3930 Cd.46 Gain changing request 3446 3546 3646 3746 3846 3946 Cd.100 Flash ROM write request 5000 Cd.101 Parameter initialization request 5001 APP - 22 APPENDICES MELSEC-Q Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 4900 4000 4100 4200 4300 4400 4500 4600 4700 4800 4001 4101 4201 4301 4401 4501 4601 4701 4801 4901 4002 4102 4202 4302 4402 4502 4602 4702 4802 4902 4003 4103 4203 4303 4403 4503 4603 4703 4803 4903 4004 4104 4204 4304 4404 4504 4604 4704 4804 4904 4005 4105 4205 4305 4405 4505 4605 4705 4805 4905 4908 4008 4108 4208 4308 4408 4508 4608 4708 4808 4009 4109 4209 4309 4409 4509 4609 4709 4809 4909 4011 4111 4211 4311 4411 4511 4611 4711 4811 4911 4012 4112 4212 4312 4412 4512 4612 4712 4812 4912 4013 4113 4213 4313 4413 4513 4613 4713 4813 4913 4015 4115 4215 4315 4415 4515 4615 4715 4815 4915 4016 4017 4116 4117 4216 4217 4316 4317 4416 4417 4516 4517 4616 4617 4716 4717 4816 4817 4916 4917 4018 4118 4218 4318 4418 4518 4618 4718 4818 4918 4019 4119 4219 4319 4419 4519 4619 4719 4819 4919 4020 4120 4220 4320 4420 4520 4620 4720 4820 4920 4021 4121 4221 4321 4421 4521 4621 4721 4821 4921 4023 4123 4223 4323 4423 4523 4623 4723 4823 4923 4024 4025 4124 4125 4224 4225 4324 4325 4424 4425 4524 4525 4624 4625 4724 4725 4824 4825 4924 4925 4028 4029 4128 4129 4228 4229 4328 4329 4428 4429 4528 4529 4628 4629 4728 4729 4828 4829 4928 4929 4030 4130 4230 4330 4430 4530 4630 4730 4830 4930 4046 4146 4246 4346 4446 4546 4646 4746 4846 4946 5000 5001 APP - 23 Memory area Control data area Axis 9 Axis control data Axis 8 System control data Buffer memory address Axis 7 APPENDICES MELSEC-Q Appendix 3.4 Positioning data area Data No. 1 2 3 4 5 Symbol Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 6700 Da.0 Operation pattern 5100 5420 5740 6060 6380 Da.1 Control system 5101 5421 5741 6061 6381 6701 Da.2 Acceleration time 5102 5422 5742 6062 6382 6702 Da.3 Deceleration time 5103 5423 5743 6063 6383 6703 Da.4 Command speed 5104 5105 5424 5425 5744 5745 6064 6065 6384 6385 6704 6705 Da.6 Positioning address/movement amount 5106 5107 5426 5427 5746 5747 6066 6067 6386 6387 6706 6707 Da.8 Dwell time 5108 5428 5748 6068 6388 6708 Da.0 Operation pattern 5110 5430 5750 6070 6390 6710 Da.1 Control system 5111 5431 5751 6071 6391 6711 Da.2 Acceleration time 5112 5432 5752 6072 6392 6712 Da.3 Deceleration time 5113 5433 5753 6073 6393 6713 Da.4 Command speed 5114 5115 5434 5435 5754 5755 6074 6075 6394 6395 6714 6715 Da.6 Positioning address/movement amount 5116 5117 5436 5437 5756 5757 6076 6077 6396 6397 6716 6717 Da.8 Dwell time 5118 5438 5758 6078 6398 6718 Da.0 Operation pattern 5120 5440 5760 6080 6400 6720 Da.1 Control system 5121 5441 5761 6081 6401 6721 Da.2 Acceleration time 5122 5442 5762 6082 6402 6722 Da.3 Deceleration time 5123 5443 5763 6083 6403 6723 Da.4 Command speed 5124 5125 5444 5445 5764 5765 6084 6085 6404 6405 6724 6725 Da.6 Positioning address/movement amount 5126 5127 5446 5447 5766 5767 6086 6087 6406 6407 6726 6727 Da.8 Dwell time 5128 5448 5768 6088 6408 6728 Da.0 Operation pattern 5130 5450 5770 6090 6410 6730 Da.1 Control system 5131 5451 5771 6091 6411 6731 Da.2 Acceleration time 5132 5452 5772 6092 6412 6732 Da.3 Deceleration time 5133 5453 5773 6093 6413 6733 Da.4 Command speed 5134 5135 5454 5455 5774 5775 6094 6095 6414 6415 6734 6735 Da.6 Positioning address/movement amount 5136 5137 5456 5457 5776 5777 6096 6097 6416 6417 6736 6737 Da.8 Dwell time 5138 5458 5778 6098 6418 6738 Da.0 Operation pattern 5140 5460 5780 6100 6420 6740 Da.1 Control system 5141 5461 5781 6101 6421 6741 Da.2 Acceleration time 5142 5462 5782 6102 6422 6742 Da.3 Deceleration time 5143 5463 5783 6103 6423 6743 Da.4 Command speed 5144 5145 5464 5465 5784 5785 6104 6105 6424 6425 6744 6745 Da.6 Positioning address/movement amount 5146 5147 5466 5467 5786 5787 6106 6107 6426 6427 6746 6747 Da.8 Dwell time 5148 5468 5788 6108 6428 6748 APP - 24 APPENDICES MELSEC-Q Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 7020 7340 7660 7980 8300 8620 8940 9260 9580 9900 7021 7341 7661 7981 8301 8621 8941 9261 9581 9901 7022 7342 7662 7982 8302 8622 8942 9262 9582 9902 7023 7343 7663 7983 8303 8623 8943 9263 9583 9903 7024 7025 7344 7345 7664 7665 7984 7985 8304 8305 8624 8625 8944 8945 9264 9265 9584 9585 9904 9905 7026 7027 7346 7347 7666 7667 7986 7987 8306 8307 8626 8627 8946 8947 9266 9267 9586 9587 9906 9907 7028 7348 7668 7988 8308 8628 8948 9268 9588 9908 7030 7350 7670 7990 8310 8630 8950 9270 9590 9910 7031 7351 7671 7991 8311 8631 8951 9271 9591 9911 7032 7352 7672 7992 8312 8632 8952 9272 9592 9912 7033 7353 7673 7993 8313 8633 8953 9273 9593 9913 7034 7035 7354 7355 7674 7675 7994 7995 8314 8315 8634 8635 8954 8955 9274 9275 9594 9595 9914 9915 7036 7037 7356 7357 7676 7677 7996 7997 8316 8317 8636 8637 8956 8957 9276 9277 9596 9597 9916 9917 7038 7358 7678 7998 8318 8638 8958 9278 9598 9918 7040 7360 7680 8000 8320 8640 8960 9280 9600 9920 7041 7361 7681 8001 8321 8641 8961 9281 9601 9921 7042 7362 7682 8002 8322 8642 8962 9282 9602 9922 7043 7363 7683 8003 8323 8643 8963 9283 9603 9923 7044 7045 7364 7365 7684 7685 8004 8005 8324 8325 8644 8645 8964 8965 9284 9285 9604 9605 9924 9925 7046 7047 7366 7367 7686 7687 8006 8007 8326 8327 8646 8647 8966 8967 9286 9287 9606 9607 9926 9927 7048 7368 7688 8008 8328 8648 8968 9288 9608 9928 7050 7370 7690 8010 8330 8650 8970 9290 9610 9930 7051 7371 7691 8011 8331 8651 8971 9291 9611 9931 7052 7372 7692 8012 8332 8652 8972 9292 9612 9932 7053 7373 7693 8013 8333 8653 8973 9293 9613 9933 7054 7055 7374 7375 7694 7695 8014 8015 8334 8335 8654 8655 8974 8975 9294 9295 9614 9615 9934 9935 7056 7057 7376 7377 7696 7697 8016 8017 8336 8337 8656 8657 8976 8977 9296 9297 9616 9617 9936 9937 7058 7378 7698 8018 8338 8658 8978 9298 9618 9938 7060 7380 7700 8020 8340 8660 8980 9300 9620 9940 7061 7381 7701 8021 8341 8661 8981 9301 9621 9941 7062 7382 7702 8022 8342 8662 8982 9302 9622 9942 7063 7383 7703 8023 8343 8663 8983 9303 9623 9943 7064 7065 7384 7385 7704 7705 8024 8025 8344 8345 8664 8665 8984 8985 9304 9305 9624 9625 9944 9945 7066 7067 7386 7387 7706 7707 8026 8027 8346 8347 8666 8667 8986 8987 9306 9307 9626 9627 9946 9947 7068 7388 7708 8028 8348 8668 8988 9308 9628 9948 APP - 25 Memory area Positioning data area Axis 8 Positioning data Buffer memory address Axis 7 APPENDICES Data No. 6 7 8 9 10 Symbol MELSEC-Q Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 6750 Da.0 Operation pattern 5150 5470 5790 6110 6430 Da.1 Control system 5151 5471 5791 6111 6431 6751 Da.2 Acceleration time 5152 5472 5792 6112 6432 6752 Da.3 Deceleration time 5153 5473 5793 6113 6433 6753 Da.4 Command speed 5154 5155 5474 5475 5794 5795 6114 6115 6434 6435 6754 6755 Da.6 Positioning address/movement amount 5156 5157 5476 5477 5796 5797 6116 6117 6436 6437 6756 6757 Da.8 Dwell time 5158 5478 5798 6118 6438 6758 Da.0 Operation pattern 5160 5480 5800 6120 6440 6760 Da.1 Control system 5161 5481 5801 6121 6441 6761 Da.2 Acceleration time 5162 5482 5802 6122 6442 6762 Da.3 Deceleration time 5163 5483 5803 6123 6443 6763 Da.4 Command speed 5164 5165 5484 5485 5804 5805 6124 6125 6444 6445 6764 6765 Da.6 Positioning address/movement amount 5166 5167 5486 5487 5806 5807 6126 6127 6446 6447 6766 6767 Da.8 Dwell time 5168 5488 5808 6128 6448 6768 Da.0 Operation pattern 5170 5490 5810 6130 6450 6770 Da.1 Control system 5171 5491 5811 6131 6451 6771 Da.2 Acceleration time 5172 5492 5812 6132 6452 6772 Da.3 Deceleration time 5173 5493 5813 6133 6453 6773 Da.4 Command speed 5174 5175 5494 5495 5814 5815 6134 6135 6454 6455 6774 6775 Da.6 Positioning address/movement amount 5176 5177 5496 5497 5816 5817 6136 6137 6456 6457 6776 6777 Da.8 Dwell time 5178 5498 5818 6138 6458 6778 Da.0 Operation pattern 5180 5500 5820 6140 6460 6780 Da.1 Control system 5181 5501 5821 6141 6461 6781 Da.2 Acceleration time 5182 5502 5822 6142 6462 6782 Da.3 Deceleration time 5183 5503 5823 6143 6463 6783 Da.4 Command speed 5184 5185 5504 5505 5824 5825 6144 6145 6464 6465 6784 6785 Da.6 Positioning address/movement amount 5186 5187 5506 5507 5826 5827 6146 6147 6466 6467 6786 6787 Da.8 Dwell time 5188 5508 5828 6148 6468 6788 Da.0 Operation pattern 5190 5510 5830 6150 6470 6790 Da.1 Control system 5191 5511 5831 6151 6471 6791 Da.2 Acceleration time 5192 5512 5832 6152 6472 6792 Da.3 Deceleration time 5193 5513 5833 6153 6473 6793 Da.4 Command speed 5194 5195 5514 5515 5834 5835 6154 6155 6474 6475 6794 6795 Da.6 Positioning address/movement amount 5196 5197 5516 5517 5836 5837 6156 6157 6476 6477 6796 6797 Da.8 Dwell time 5198 5518 5838 6158 6478 6798 APP - 26 APPENDICES MELSEC-Q Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 7070 7390 7710 8030 8350 8670 8990 9310 9630 9950 7071 7391 7711 8031 8351 8671 8991 9311 9631 9951 7072 7392 7712 8032 8352 8672 8992 9312 9632 9952 7073 7393 7713 8033 8353 8673 8993 9313 9633 9953 7074 7075 7394 7395 7714 7715 8034 8035 8354 8355 8674 8675 8994 8995 9314 9315 9634 9635 9954 9955 7076 7077 7396 7397 7716 7717 8036 8037 8356 8357 8676 8677 8996 8997 9316 9317 9636 9637 9956 9957 7078 7398 7718 8038 8358 8678 8998 9318 9638 9958 7080 7400 7720 8040 8360 8680 9000 9320 9640 9960 7081 7401 7721 8041 8361 8681 9001 9321 9641 9961 7082 7402 7722 8042 8362 8682 9002 9322 9642 9962 7083 7403 7723 8043 8363 8683 9003 9323 9643 9963 7084 7085 7404 7405 7724 7725 8044 8045 8364 8365 8684 8685 9004 9005 9324 9325 9644 9645 9964 9965 7086 7087 7406 7407 7726 7727 8046 8047 8366 8367 8686 8687 9006 9007 9326 9327 9646 9647 9966 9967 7088 7408 7728 8048 8368 8688 9008 9328 9648 9968 7090 7410 7730 8050 8370 8690 9010 9330 9650 9970 7091 7411 7731 8051 8371 8691 9011 9331 9651 9971 7092 7412 7732 8052 8372 8692 9012 9332 9652 9972 7093 7413 7733 8053 8373 8693 9013 9333 9653 9973 7094 7095 7414 7415 7734 7735 8054 8055 8374 8375 8694 8695 9014 9015 9334 9335 9654 9655 9974 9975 7096 7097 7416 7417 7736 7737 8056 8057 8376 8377 8696 8697 9016 9017 9336 9337 9656 9657 9976 9977 7098 7418 7738 8058 8378 8698 9018 9338 9658 9978 7100 7420 7740 8060 8380 8700 9020 9340 9660 9980 7101 7421 7741 8061 8381 8701 9021 9341 9661 9981 7102 7422 7742 8062 8382 8702 9022 9342 9662 9982 7103 7423 7743 8063 8383 8703 9023 9343 9663 9983 7104 7105 7424 7425 7744 7745 8064 8065 8384 8385 8704 8705 9024 9025 9344 9345 9664 9665 9984 9985 7106 7107 7426 7427 7746 7747 8066 8067 8386 8387 8706 8707 9026 9027 9346 9347 9666 9667 9986 9987 7108 7428 7748 8068 8388 8708 9028 9348 9668 9988 7110 7430 7750 8070 8390 8710 9030 9350 9670 9990 7111 7431 7751 8071 8391 8711 9031 9351 9671 9991 7112 7432 7752 8072 8392 8712 9032 9352 9672 9992 7113 7433 7753 8073 8393 8713 9033 9353 9673 9993 7114 7115 7434 7435 7754 7755 8074 8075 8394 8395 8714 8715 9034 9035 9354 9355 9674 9675 9994 9995 7116 7117 7436 7437 7756 7757 8076 8077 8396 8397 8716 8717 9036 9037 9356 9357 9676 9677 9996 9997 7118 7438 7758 8078 8398 8718 9038 9358 9678 9998 APP - 27 Memory area Positioning data area Axis 8 Positioning data Buffer memory address Axis 7 APPENDICES Data No. 11 12 13 14 15 Symbol MELSEC-Q Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 6800 Da.0 Operation pattern 5200 5520 5840 6160 6480 Da.1 Control system 5201 5521 5841 6161 6481 6801 Da.2 Acceleration time 5202 5522 5842 6162 6482 6802 Da.3 Deceleration time 5203 5523 5843 6163 6483 6803 Da.4 Command speed 5204 5205 5524 5525 5844 5845 6164 6165 6484 6485 6804 6805 Da.6 Positioning address/movement amount 5206 5207 5526 5527 5846 5847 6166 6167 6486 6487 6806 6807 Da.8 Dwell time 5208 5528 5848 6168 6488 6808 Da.0 Operation pattern 5210 5530 5850 6170 6490 6810 Da.1 Control system 5211 5531 5851 6171 6491 6811 Da.2 Acceleration time 5212 5532 5852 6172 6492 6812 Da.3 Deceleration time 5213 5533 5853 6173 6493 6813 Da.4 Command speed 5214 5215 5534 5535 5854 5855 6174 6175 6494 6495 6814 6815 Da.6 Positioning address/movement amount 5216 5217 5536 5537 5856 5857 6176 6177 6496 6497 6816 6817 Da.8 Dwell time 5218 5538 5858 6178 6498 6818 Da.0 Operation pattern 5220 5540 5860 6180 6500 6820 Da.1 Control system 5221 5541 5861 6181 6501 6821 Da.2 Acceleration time 5222 5542 5862 6182 6502 6822 Da.3 Deceleration time 5223 5543 5863 6183 6503 6823 Da.4 Command speed 5224 5225 5544 5545 5864 5865 6184 6185 6504 6505 6824 6825 Da.6 Positioning address/movement amount 5226 5227 5546 5547 5866 5867 6186 6187 6506 6507 6826 6827 Da.8 Dwell time 5228 5548 5868 6188 6508 6828 Da.0 Operation pattern 5230 5550 5870 6190 6510 6830 Da.1 Control system 5231 5551 5871 6191 6511 6831 Da.2 Acceleration time 5232 5552 5872 6192 6512 6832 Da.3 Deceleration time 5233 5553 5873 6193 6513 6833 Da.4 Command speed 5234 5235 5554 5555 5874 5875 6194 6195 6514 6515 6834 6835 Da.6 Positioning address/movement amount 5236 5237 5556 5557 5876 5877 6196 6197 6516 6517 6836 6837 Da.8 Dwell time 5238 5558 5878 6198 6518 6838 Da.0 Operation pattern 5240 5560 5880 6200 6520 6840 Da.1 Control system 5241 5561 5881 6201 6521 6841 Da.2 Acceleration time 5242 5562 5882 6202 6522 6842 Da.3 Deceleration time 5243 5563 5883 6203 6523 6843 Da.4 Command speed 5244 5245 5564 5565 5884 5885 6204 6205 6524 6525 6844 6845 Da.6 Positioning address/movement amount 5246 5247 5566 5567 5886 5887 6206 6207 6526 6527 6846 6847 Da.8 Dwell time 5248 5568 5888 6208 6528 6848 APP - 28 APPENDICES MELSEC-Q Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 7120 7440 7760 8080 8400 8720 9040 9360 9680 10000 7121 7441 7761 8081 8401 8721 9041 9361 9681 10001 7122 7442 7762 8082 8402 8722 9042 9362 9682 10002 7123 7443 7763 8083 8403 8723 9043 9363 9683 10003 7124 7125 7444 7445 7764 7765 8084 8085 8404 8405 8724 8725 9044 9045 9364 9365 9684 9685 10004 10005 7126 7127 7446 7447 7766 7767 8086 8087 8406 8407 8726 8727 9046 9047 9366 9367 9686 9687 10006 10007 7128 7448 7768 8088 8408 8728 9048 9368 9688 10008 7130 7450 7770 8090 8410 8730 9050 9370 9690 10010 7131 7451 7771 8091 8411 8731 9051 9371 9691 10011 7132 7452 7772 8092 8412 8732 9052 9372 9692 10012 7133 7453 7773 8093 8413 8733 9053 9373 9693 10013 7134 7135 7454 7455 7774 7775 8094 8095 8414 8415 8734 8735 9054 9055 9374 9375 9694 9695 10014 10015 7136 7137 7456 7457 7776 7777 8096 8097 8416 8417 8736 8737 9056 9057 9376 9377 9696 9697 10016 10017 7138 7458 7778 8098 8418 8738 9058 9378 9698 10018 7140 7460 7780 8100 8420 8740 9060 9380 9700 10020 7141 7461 7781 8101 8421 8741 9061 9381 9701 10021 7142 7462 7782 8102 8422 8742 9062 9382 9702 10022 7143 7463 7783 8103 8423 8743 9063 9383 9703 10023 7144 7145 7464 7465 7784 7785 8104 8105 8424 8425 8744 8745 9064 9065 9384 9385 9704 9705 10024 10025 7146 7147 7466 7467 7786 7787 8106 8107 8426 8427 8746 8747 9066 9067 9386 9387 9706 9707 10026 10027 7148 7468 7788 8108 8428 8748 9068 9388 9708 10028 7150 7470 7790 8110 8430 8750 9070 9390 9710 10030 7151 7471 7791 8111 8431 8751 9071 9391 9711 10031 7152 7472 7792 8112 8432 8752 9072 9392 9712 10032 7153 7473 7793 8113 8433 8753 9073 9393 9713 10033 7154 7155 7474 7475 7794 7795 8114 8115 8434 8435 8754 8755 9074 9075 9394 9395 9714 9715 10034 10035 7156 7157 7476 7477 7796 7797 8116 8117 8436 8437 8756 8757 9076 9077 9396 9397 9716 9717 10036 10037 7158 7478 7798 8118 8438 8758 9078 9398 9718 10038 7160 7480 7800 8120 8440 8760 9080 9400 9720 10040 7161 7481 7801 8121 8441 8761 9081 9401 9721 10041 7162 7482 7802 8122 8442 8762 9082 9402 9722 10042 7163 7483 7803 8123 8443 8763 9083 9403 9723 10043 7164 7165 7484 7485 7804 7805 8124 8125 8444 8445 8764 8765 9084 9085 9404 9405 9724 9725 10044 10045 7166 7167 7486 7487 7806 7807 8126 8127 8446 8447 8766 8767 9086 9087 9406 9407 9726 9727 10046 10047 7168 7488 7808 8128 8448 8768 9088 9408 9728 10048 APP - 29 Memory area Positioning data area Axis 8 Positioning data Buffer memory address Axis 7 APPENDICES Data No. 16 17 18 19 20 Symbol MELSEC-Q Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 6850 Da.0 Operation pattern 5250 5570 5890 6210 6530 Da.1 Control system 5251 5571 5891 6211 6531 6851 Da.2 Acceleration time 5252 5572 5892 6212 6532 6852 Da.3 Deceleration time 5253 5573 5893 6213 6533 6853 Da.4 Command speed 5254 5255 5574 5575 5894 5895 6214 6215 6534 6535 6854 6855 Da.6 Positioning address/movement amount 5256 5257 5576 5577 5896 5897 6216 6217 6536 6537 6856 6857 Da.8 Dwell time 5258 5578 5898 6218 6538 6858 Da.0 Operation pattern 5260 5580 5900 6220 6540 6860 Da.1 Control system 5261 5581 5901 6221 6541 6861 Da.2 Acceleration time 5262 5582 5902 6222 6542 6862 Da.3 Deceleration time 5263 5583 5903 6223 6543 6863 Da.4 Command speed 5264 5265 5584 5585 5904 5905 6224 6225 6544 6545 6864 6865 Da.6 Positioning address/movement amount 5266 5267 5586 5587 5906 5907 6226 6227 6546 6547 6866 6867 Da.8 Dwell time 5268 5588 5908 6228 6548 6868 Da.0 Operation pattern 5270 5590 5910 6230 6550 6870 Da.1 Control system 5271 5591 5911 6231 6551 6871 Da.2 Acceleration time 5272 5592 5912 6232 6552 6872 Da.3 Deceleration time 5273 5593 5913 6233 6553 6873 Da.4 Command speed 5274 5275 5594 5595 5914 5915 6234 6235 6554 6555 6874 6875 Da.6 Positioning address/movement amount 5276 5277 5596 5597 5916 5917 6236 6237 6556 6557 6876 6877 Da.8 Dwell time 5278 5598 5918 6238 6558 6878 Da.0 Operation pattern 5280 5600 5920 6240 6560 6880 Da.1 Control system 5281 5601 5921 6241 6561 6881 Da.2 Acceleration time 5282 5602 5922 6242 6562 6882 Da.3 Deceleration time 5283 5603 5923 6243 6563 6883 Da.4 Command speed 5284 5285 5604 5605 5924 5925 6244 6245 6564 6565 6884 6885 Da.6 Positioning address/movement amount 5286 5287 5606 5607 5926 5927 6246 6247 6566 6567 6886 6887 Da.8 Dwell time 5288 5608 5928 6248 6568 6888 Da.0 Operation pattern 5290 5610 5930 6250 6570 6890 Da.1 Control system 5291 5611 5931 6251 6571 6891 Da.2 Acceleration time 5292 5612 5932 6252 6572 6892 Da.3 Deceleration time 5293 5613 5933 6253 6573 6893 Da.4 Command speed 5294 5295 5614 5615 5934 5935 6254 6255 6574 6575 6894 6895 Da.6 Positioning address/movement amount 5296 5297 5616 5617 5936 5937 6256 6257 6576 6577 6896 6897 Da.8 Dwell time 5298 5618 5938 6258 6578 6898 APP - 30 APPENDICES MELSEC-Q Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 7170 7490 7810 8130 8450 8770 9090 9410 9730 10050 7171 7491 7811 8131 8451 8771 9091 9411 9731 10051 7172 7492 7812 8132 8452 8772 9092 9412 9732 10052 7173 7493 7813 8133 8453 8773 9093 9413 9733 10053 7174 7175 7494 7495 7814 7815 8134 8135 8454 8455 8774 8775 9094 9095 9414 9415 9734 9735 10054 10055 7176 7177 7496 7497 7816 7817 8136 8137 8456 8457 8776 8777 9096 9097 9416 9417 9736 9737 10056 10057 7178 7498 7818 8138 8458 8778 9098 9418 9738 10058 7180 7500 7820 8140 8460 8780 9100 9420 9740 10060 7181 7501 7821 8141 8461 8781 9101 9421 9741 10061 7182 7502 7822 8142 8462 8782 9102 9422 9742 10062 7183 7503 7823 8143 8463 8783 9103 9423 9743 10063 7184 7185 7504 7505 7824 7825 8144 8145 8464 8465 8784 8785 9104 9105 9424 9425 9744 9745 10064 10065 7186 7187 7506 7507 7826 7827 8146 8147 8466 8467 8786 8787 9106 9107 9426 9427 9746 9747 10066 10067 7188 7508 7828 8148 8468 8788 9108 9428 9748 10068 7190 7510 7830 8150 8470 8790 9110 9430 9750 10070 7191 7511 7831 8151 8471 8791 9111 9431 9751 10071 7192 7512 7832 8152 8472 8792 9112 9432 9752 10072 7193 7513 7833 8153 8473 8793 9113 9433 9753 10073 7194 7195 7514 7515 7834 7835 8154 8155 8474 8475 8794 8795 9114 9115 9434 9435 9754 9755 10074 10075 7196 7197 7516 7517 7836 7837 8156 8157 8476 8477 8796 8797 9116 9117 9436 9437 9756 9757 10076 10077 7198 7518 7838 8158 8478 8798 9118 9438 9758 10078 7200 7520 7840 8160 8480 8800 9120 9440 9760 10080 7201 7521 7841 8161 8481 8801 9121 9441 9761 10081 7202 7522 7842 8162 8482 8802 9122 9442 9762 10082 7203 7523 7843 8163 8483 8803 9123 9443 9763 10083 7204 7205 7524 7525 7844 7845 8164 8165 8484 8485 8804 8805 9124 9125 9444 9445 9764 9765 10084 10085 7206 7207 7526 7527 7846 7847 8166 8167 8486 8487 8806 8807 9126 9127 9446 9447 9766 9767 10086 10087 7208 7528 7848 8168 8488 8808 9128 9448 9768 10088 7210 7530 7850 8170 8490 8810 9130 9450 9770 10090 7211 7531 7851 8171 8491 8811 9131 9451 9771 10091 7212 7532 7852 8172 8492 8812 9132 9452 9772 10092 7213 7533 7853 8173 8493 8813 9133 9453 9773 10093 7214 7215 7534 7535 7854 7855 8174 8175 8494 8495 8814 8815 9134 9135 9454 9455 9774 9775 10094 10095 7216 7217 7536 7537 7856 7857 8176 8177 8496 8497 8816 8817 9136 9137 9456 9457 9776 9777 10096 10097 7218 7538 7858 8178 8498 8818 9138 9458 9778 10098 APP - 31 Memory area Positioning data area Axis 8 Positioning data Buffer memory address Axis 7 APPENDICES Data No. 21 22 23 24 25 Symbol MELSEC-Q Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 6900 Da.0 Operation pattern 5300 5620 5940 6260 6580 Da.1 Control system 5301 5621 5941 6261 6581 6901 Da.2 Acceleration time 5302 5622 5942 6262 6582 6902 Da.3 Deceleration time 5303 5623 5943 6263 6583 6903 Da.4 Command speed 5304 5305 5624 5625 5944 5945 6264 6265 6584 6585 6904 6905 Da.6 Positioning address/movement amount 5306 5307 5626 5627 5946 5947 6266 6267 6586 6587 6906 6907 Da.8 Dwell time 5308 5628 5948 6268 6588 6908 Da.0 Operation pattern 5310 5630 5950 6270 6590 6910 Da.1 Control system 5311 5631 5951 6271 6591 6911 Da.2 Acceleration time 5312 5632 5952 6272 6592 6912 Da.3 Deceleration time 5313 5633 5953 6273 6593 6913 Da.4 Command speed 5314 5315 5634 5635 5954 5955 6274 6275 6594 6595 6914 6915 Da.6 Positioning address/movement amount 5316 5317 5636 5637 5956 5957 6276 6277 6596 6597 6916 6917 Da.8 Dwell time 5318 5638 5958 6278 6598 6918 Da.0 Operation pattern 5320 5640 5960 6280 6600 6920 Da.1 Control system 5321 5641 5961 6281 6601 6921 Da.2 Acceleration time 5322 5642 5962 6282 6602 6922 Da.3 Deceleration time 5323 5643 5963 6283 6603 6923 Da.4 Command speed 5324 5325 5644 5645 5964 5965 6284 6285 6604 6605 6924 6925 Da.6 Positioning address/movement amount 5326 5327 5646 5647 5966 5967 6286 6287 6606 6607 6926 6927 Da.8 Dwell time 5328 5648 5968 6288 6608 6928 Da.0 Operation pattern 5330 5650 5970 6290 6610 6930 Da.1 Control system 5331 5651 5971 6291 6611 6931 Da.2 Acceleration time 5332 5652 5972 6292 6612 6932 Da.3 Deceleration time 5333 5653 5973 6293 6613 6933 Da.4 Command speed 5334 5335 5654 5655 5974 5975 6294 6295 6614 6615 6934 6935 Da.6 Positioning address/movement amount 5336 5337 5656 5657 5976 5977 6296 6297 6616 6617 6936 6937 Da.8 Dwell time 5338 5658 5978 6298 6618 6938 Da.0 Operation pattern 5340 5660 5980 6300 6620 6940 Da.1 Control system 5341 5661 5981 6301 6621 6941 Da.2 Acceleration time 5342 5662 5982 6302 6622 6942 Da.3 Deceleration time 5343 5663 5983 6303 6623 6943 Da.4 Command speed 5344 5345 5664 5665 5984 5985 6304 6305 6624 6625 6944 6945 Da.6 Positioning address/movement amount 5346 5347 5666 5667 5986 5987 6306 6307 6626 6627 6946 6947 Da.8 Dwell time 5348 5668 5988 6308 6628 6948 APP - 32 APPENDICES MELSEC-Q Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 7220 7540 7860 8180 8500 8820 9140 9460 9780 10100 7221 7541 7861 8181 8501 8821 9141 9461 9781 10101 7222 7542 7862 8182 8502 8822 9142 9462 9782 10102 7223 7543 7863 8183 8503 8823 9143 9463 9783 10103 7224 7225 7544 7545 7864 7865 8184 8185 8504 8505 8824 8825 9144 9145 9464 9465 9784 9785 10104 10105 7226 7227 7546 7547 7866 7867 8186 8187 8506 8507 8826 8827 9146 9147 9466 9467 9786 9787 10106 10107 7228 7548 7868 8188 8508 8828 9148 9468 9788 10108 7230 7550 7870 8190 8510 8830 9150 9470 9790 10110 7231 7551 7871 8191 8511 8831 9151 9471 9791 10111 7232 7552 7872 8192 8512 8832 9152 9472 9792 10112 7233 7553 7873 8193 8513 8833 9153 9473 9793 10113 7234 7235 7554 7555 7874 7875 8194 8195 8514 8515 8834 8835 9154 9155 9474 9475 9794 9795 10114 10115 7236 7237 7556 7557 7876 7877 8196 8197 8516 8517 8836 8837 9156 9157 9476 9477 9796 9797 10116 10117 7238 7558 7878 8198 8518 8838 9158 9478 9798 10118 7240 7560 7880 8200 8520 8840 9160 9480 9800 10120 7241 7561 7881 8201 8521 8841 9161 9481 9801 10121 7242 7562 7882 8202 8522 8842 9162 9482 9802 10122 7243 7563 7883 8203 8523 8843 9163 9483 9803 10123 7244 7245 7564 7565 7884 7885 8204 8205 8524 8525 8844 8845 9164 9165 9484 9485 9804 9805 10124 10125 7246 7247 7566 7567 7886 7887 8206 8207 8526 8527 8846 8847 9166 9167 9486 9487 9806 9807 10126 10127 7248 7568 7888 8208 8528 8848 9168 9488 9808 10128 7250 7570 7890 8210 8530 8850 9170 9490 9810 10130 7251 7571 7891 8211 8531 8851 9171 9491 9811 10131 7252 7572 7892 8212 8532 8852 9172 9492 9812 10132 7253 7573 7893 8213 8533 8853 9173 9493 9813 10133 7254 7255 7574 7575 7894 7895 8214 8215 8534 8535 8854 8855 9174 9175 9494 9495 9814 9815 10134 10135 7256 7257 7576 7577 7896 7897 8216 8217 8536 8537 8856 8857 9176 9177 9496 9497 9816 9817 10136 10137 7258 7578 7898 8218 8538 8858 9178 9498 9818 10138 7260 7580 7900 8220 8540 8860 9180 9500 9820 10140 7261 7581 7901 8221 8541 8861 9181 9501 9821 10141 7262 7582 7902 8222 8542 8862 9182 9502 9822 10142 7263 7583 7903 8223 8543 8863 9183 9503 9823 10143 7264 7265 7584 7585 7904 7905 8224 8225 8544 8545 8864 8865 9184 9185 9504 9505 9824 9825 10144 10145 7266 7267 7586 7587 7906 7907 8226 8227 8546 8547 8866 8867 9186 9187 9506 9507 9826 9827 10146 10147 7268 7588 7908 8228 8548 8868 9188 9508 9828 10148 APP - 33 Memory area Positioning data area Axis 8 Positioning data Buffer memory address Axis 7 APPENDICES Data No. 26 27 28 29 30 Symbol MELSEC-Q Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 6950 Da.0 Operation pattern 5350 5670 5990 6310 6630 Da.1 Control system 5351 5671 5991 6311 6631 6951 Da.2 Acceleration time 5352 5672 5992 6312 6632 6952 Da.3 Deceleration time 5353 5673 5993 6313 6633 6953 Da.4 Command speed 5354 5355 5674 5675 5994 5995 6314 6315 6634 6635 6954 6955 Da.6 Positioning address/movement amount 5356 5357 5676 5677 5996 5997 6316 6317 6636 6637 6956 6957 Da.8 Dwell time 5358 5678 5998 6318 6638 6958 Da.0 Operation pattern 5360 5680 6000 6320 6640 6960 Da.1 Control system 5361 5681 6001 6321 6641 6961 Da.2 Acceleration time 5362 5682 6002 6322 6642 6962 Da.3 Deceleration time 5363 5683 6003 6323 6643 6963 Da.4 Command speed 5364 5365 5684 5685 6004 6005 6324 6325 6644 6645 6964 6965 Da.6 Positioning address/movement amount 5366 5367 5686 5687 6006 6007 6326 6327 6646 6647 6966 6967 Da.8 Dwell time 5368 5688 6008 6328 6648 6968 Da.0 Operation pattern 5370 5690 6010 6330 6650 6970 Da.1 Control system 5371 5691 6011 6331 6651 6971 Da.2 Acceleration time 5372 5692 6012 6332 6652 6972 Da.3 Deceleration time 5373 5693 6013 6333 6653 6973 Da.4 Command speed 5374 5375 5694 5695 6014 6015 6334 6335 6654 6655 6974 6975 Da.6 Positioning address/movement amount 5376 5377 5696 5697 6016 6017 6336 6337 6656 6657 6976 6977 Da.8 Dwell time 5378 5698 6018 6338 6658 6978 Da.0 Operation pattern 5380 5700 6020 6340 6660 6980 Da.1 Control system 5381 5701 6021 6341 6661 6981 Da.2 Acceleration time 5382 5702 6022 6342 6662 6982 Da.3 Deceleration time 5383 5703 6023 6343 6663 6983 Da.4 Command speed 5384 5385 5704 5705 6024 6025 6344 6345 6664 6665 6984 6985 Da.6 Positioning address/movement amount 5386 5387 5706 5707 6026 6027 6346 6347 6666 6667 6986 6987 Da.8 Dwell time 5388 5708 6028 6348 6668 6988 Da.0 Operation pattern 5390 5710 6030 6350 6670 6990 Da.1 Control system 5391 5711 6031 6351 6671 6991 Da.2 Acceleration time 5392 5712 6032 6352 6672 6992 Da.3 Deceleration time 5393 5713 6033 6353 6673 6993 Da.4 Command speed 5394 5395 5714 5715 6034 6035 6354 6355 6674 6675 6994 6995 Da.6 Positioning address/movement amount 5396 5397 5716 5717 6036 6037 6356 6357 6676 6677 6996 6997 Da.8 Dwell time 5398 5718 6038 6358 6678 6998 APP - 34 APPENDICES MELSEC-Q Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 7270 7590 7910 8230 8550 8870 9190 9510 9830 10150 7271 7591 7911 8231 8551 8871 9191 9511 9831 10151 7272 7592 7912 8232 8552 8872 9192 9512 9832 10152 7273 7593 7913 8233 8553 8873 9193 9513 9833 10153 7274 7275 7594 7595 7914 7915 8234 8235 8554 8555 8874 8875 9194 9195 9514 9515 9834 9835 10154 10155 7276 7277 7596 7597 7916 7917 8236 8237 8556 8557 8876 8877 9196 9197 9516 9517 9836 9837 10156 10157 7278 7598 7918 8238 8558 8878 9198 9518 9838 10158 7280 7600 7920 8240 8560 8880 9200 9520 9840 10160 7281 7601 7921 8241 8561 8881 9201 9521 9841 10161 7282 7602 7922 8242 8562 8882 9202 9522 9842 10162 7283 7603 7923 8243 8563 8883 9203 9523 9843 10163 7284 7285 7604 7605 7924 7925 8244 8245 8564 8565 8884 8885 9204 9205 9524 9525 9844 9845 10164 10165 7286 7287 7606 7607 7926 7927 8246 8247 8566 8567 8886 8887 9206 9207 9526 9527 9846 9847 10166 10167 7288 7608 7928 8248 8568 8888 9208 9528 9848 10168 7290 7610 7930 8250 8570 8890 9210 9530 9850 10170 7291 7611 7931 8251 8571 8891 9211 9531 9851 10171 7292 7612 7932 8252 8572 8892 9212 9532 9852 10172 7293 7613 7933 8253 8573 8893 9213 9533 9853 10173 7294 7295 7614 7615 7934 7935 8254 8255 8574 8575 8894 8895 9214 9215 9534 9535 9854 9855 10174 10175 7296 7297 7616 7617 7936 7937 8256 8257 8576 8577 8896 8897 9216 9217 9536 9537 9856 9857 10176 10177 7298 7618 7938 8258 8578 8898 9218 9538 9858 10178 7300 7620 7940 8260 8580 8900 9220 9540 9860 10180 7301 7621 7941 8261 8581 8901 9221 9541 9861 10181 7302 7622 7942 8262 8582 8902 9222 9542 9862 10182 7303 7623 7943 8263 8583 8903 9223 9543 9863 10183 7304 7305 7624 7625 7944 7945 8264 8265 8584 8585 8904 8905 9224 9225 9544 9545 9864 9865 10184 10185 7306 7307 7626 7627 7946 7947 8266 8267 8586 8587 8906 8907 9226 9227 9546 9547 9866 9867 10186 10187 7308 7628 7948 8268 8588 8908 9228 9548 9868 10188 7310 7630 7950 8270 8590 8910 9230 9550 9870 10190 7311 7631 7951 8271 8591 8911 9231 9551 9871 10191 7312 7632 7952 8272 8592 8912 9232 9552 9872 10192 7313 7633 7953 8273 8593 8913 9233 9553 9873 10193 7314 7315 7634 7635 7954 7955 8274 8275 8594 8595 8914 8915 9234 9235 9554 9555 9874 9875 10194 10195 7316 7317 7636 7637 7956 7957 8276 8277 8596 8597 8916 8917 9236 9237 9556 9557 9876 9877 10196 10197 7318 7638 7958 8278 8598 8918 9238 9558 9878 10198 APP - 35 Memory area Positioning data area Axis 8 Positioning data Buffer memory address Axis 7 APPENDICES Data No. 31 32 Symbol MELSEC-Q Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 7000 Da.0 Operation pattern 5400 5720 6040 6360 6680 Da.1 Control system 5401 5721 6041 6361 6681 7001 Da.2 Acceleration time 5402 5722 6042 6362 6682 7002 Da.3 Deceleration time 5403 5723 6043 6363 6683 7003 Da.4 Command speed 5404 5405 5724 5725 6044 6045 6364 6365 6684 6685 7004 7005 Da.6 Positioning address/movement amount 5406 5407 5726 5727 6046 6047 6366 6367 6686 6687 7006 7007 Da.8 Dwell time 5408 5728 6048 6368 6688 7008 Da.0 Operation pattern 5410 5730 6050 6370 6690 7010 Da.1 Control system 5411 5731 6051 6371 6691 7011 Da.2 Acceleration time 5412 5732 6052 6372 6692 7012 Da.3 Deceleration time 5413 5733 6053 6373 6693 7013 Da.4 Command speed 5414 5415 5734 5735 6054 6055 6374 6375 6694 6695 7014 7015 Da.6 Positioning address/movement amount 5416 5417 5736 5737 6056 6057 6376 6377 6696 6697 7016 7017 Da.8 Dwell time 5418 5738 6058 6378 6698 7018 APP - 36 APPENDICES MELSEC-Q Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 7320 7640 7960 8280 8600 8920 9240 9560 9880 10200 7321 7641 7961 8281 8601 8921 9241 9561 9881 10201 7322 7642 7962 8282 8602 8922 9242 9562 9882 10202 7323 7643 7963 8283 8603 8923 9243 9563 9883 10203 7324 7325 7644 7645 7964 7965 8284 8285 8604 8605 8924 8925 9244 9245 9564 9565 9884 9885 10204 10205 7326 7327 7646 7647 7966 7967 8286 8287 8606 8607 8926 8927 9246 9247 9566 9567 9886 9887 10206 10207 7328 7648 7968 8288 8608 8928 9248 9568 9888 10208 7330 7650 7970 8290 8610 8930 9250 9570 9890 10210 7331 7651 7971 8291 8611 8931 9251 9571 9891 10211 7332 7652 7972 8292 8612 8932 9252 9572 9892 10212 7333 7653 7973 8293 8613 8933 9253 9573 9893 10213 7334 7335 7654 7655 7974 7975 8294 8295 8614 8615 8934 8935 9254 9255 9574 9575 9894 9895 10214 10215 7336 7337 7656 7657 7976 7977 8296 8297 8616 8617 8936 8937 9256 9257 9576 9577 9896 9897 10216 10217 7338 7658 7978 8298 8618 8938 9258 9578 9898 10218 APP - 37 Memory area Positioning data area Axis 8 Positioning data Buffer memory address Axis 7 APPENDICES MELSEC-Q Appendix 3.5 Servo parameter area Symbol No. Default value 0 Item Servo series Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 11800 Pr.300 — 10300 10600 10900 11200 11500 Pr.301 PA01 0000h For manufacturer setting 10301 10601 10901 11201 11501 11801 Pr.302 PA02 0000h Regenerative option 10302 10602 10902 11202 11502 11802 Pr.303 PA03 0000h Absolute position detection system 10303 10603 10903 11203 11503 11803 Pr.304 PA04 0000h Function selection A-1 10304 10604 10904 11204 11504 11804 Pr.305 PA05 0 10305 10605 10905 11205 11505 11805 Pr.306 PA06 1 11806 Pr.307 PA07 1 Pr.308 PA08 Pr.309 PA09 12 Auto tuning response 10309 10609 10909 11209 11509 11809 Pr.310 PA10 100 In-position range 10310 10610 10910 11210 11510 11810 Pr.311 PA11 10000 10311 10611 10911 11211 11511 11811 Pr.312 PA12 10000 For manufacturer setting 10312 10612 10912 11212 11512 11812 Pr.313 PA13 0000h 11813 Pr.314 PA14 0 Pr.315 PA15 4000 For manufacturer setting 0001h Auto tuning mode 10306 10606 10906 11206 11506 10307 10607 10907 11207 11507 11807 10308 10608 10908 11208 11508 11808 10313 10613 10913 11213 11513 Rotation direction selection 10314 10614 10914 11214 11514 11814 Encoder output pulses 10315 10615 10915 11215 11515 11815 11816 Pr.316 PA16 0 10316 10616 10916 11216 11516 Pr.317 PA17 0000h 10317 10617 10917 11217 11517 11817 Pr.318 PA18 0000h 10318 10618 10918 11218 11518 11818 Pr.319 PA19 000Bh 10319 10619 10919 11219 11519 11819 Pr.333 PB01 Adaptive tuning mode 0000h (Adaptive filter ) 10333 10633 10933 11233 11533 11833 Pr.334 PB02 Vibration suppression control 0000h tuning mode (advanced vibration suppression control) 10334 10634 10934 11234 11534 11834 11835 For manufacturer setting Pr.335 PB03 0 For manufacturer setting 10335 10635 10935 11235 11535 Pr.336 PB04 0 Feed forward gain 10336 10636 10936 11236 11536 11836 Pr.337 PB05 500 For manufacturer setting 10337 10637 10937 11237 11537 11837 Pr.338 PB06 70 Ratio of load inertia moment to servo motor inertia moment 10338 10638 10938 11238 11538 11838 Pr.339 PB07 24 Model loop gain 10339 10639 10939 11239 11539 11839 Pr.340 PB08 37 Position loop gain 10340 10640 10940 11240 11540 11840 Pr.341 PB09 823 Speed loop gain 10341 10641 10941 11241 11541 11841 Pr.342 PB10 337 Speed integral compensation 10342 10642 10942 11242 11542 11842 Pr.343 PB11 980 Speed differential compensation 10343 10643 10943 11243 11543 11843 Pr.344 PB12 0 For manufacturer setting 10344 10644 10944 11244 11544 11844 Pr.345 PB13 4500 Machine resonance suppression filter 1 10345 10645 10945 11245 11545 11845 Pr.346 PB14 0000h Notch shape selection 1 10346 10646 10946 11246 11546 11846 10347 10647 10947 11247 11547 11847 11848 Pr.347 Machine resonance suppression filter 2 PB15 4500 Pr.348 PB16 0000h Notch shape selection 2 Pr.349 PB17 Pr.350 PB18 Pr.351 Pr.352 10348 10648 10948 11248 11548 Automatic setting parameter 10349 10649 10949 11249 11549 11849 3141 Low-pass filter setting 10350 10650 10950 11250 11550 11850 PB19 1000 Vibration suppression control vibration frequency setting 10351 10651 10951 11251 11551 11851 PB20 1000 Vibration suppression control resonance frequency setting 10352 10652 10952 11252 11552 11852 APP - 38 APPENDICES MELSEC-Q Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 12100 12400 12700 13000 13300 13600 13900 14200 14500 14800 12101 12401 12701 13001 13301 13601 13901 14201 14501 14801 12102 12402 12702 13002 13302 13602 13902 14202 14502 14802 12103 12403 12703 13003 13303 13603 13903 14203 14503 14803 12104 12404 12704 13004 13304 13604 13904 14204 14504 14804 12105 12405 12705 13005 13305 13605 13905 14205 14505 14805 12106 12406 12706 13006 13306 13606 13906 14206 14506 14806 12107 12407 12707 13007 13307 13607 13907 14207 14507 14807 12108 12408 12708 13008 13308 13608 13908 14208 14508 14808 12109 12409 12709 13009 13309 13609 13909 14209 14509 14809 12110 12410 12710 13010 13310 13610 13910 14210 14510 14810 12111 12411 12711 13011 13311 13611 13911 14211 14511 14811 12112 12412 12712 13012 13312 13612 13912 14212 14512 14812 12113 12413 12713 13013 13313 13613 13913 14213 14513 14813 12114 12414 12714 13014 13314 13614 13914 14214 14514 14814 12115 12415 12715 13015 13315 13615 13915 14215 14515 14815 12116 12416 12716 13016 13316 13616 13916 14216 14516 14816 12117 12417 12717 13017 13317 13617 13917 14217 14517 14817 12118 12418 12718 13018 13318 13618 13918 14218 14518 14818 12119 12419 12719 13019 13319 13619 13919 14219 14519 14819 12133 12433 12733 13033 13333 13633 13933 14233 14533 14833 12134 12434 12734 13034 13334 13634 13934 14234 14534 14834 12135 12435 12735 13035 13335 13635 13935 14235 14535 14835 12136 12436 12736 13036 13336 13636 13936 14236 14536 14836 12137 12437 12737 13037 13337 13637 13937 14237 14537 14837 12138 12438 12738 13038 13338 13638 13938 14238 14538 14838 12139 12439 12739 13039 13339 13639 13939 14239 14539 14839 12140 12440 12740 13040 13340 13640 13940 14240 14540 14840 12141 12441 12741 13041 13341 13641 13941 14241 14541 14841 12142 12442 12742 13042 13342 13642 13942 14242 14542 14842 12143 12443 12743 13043 13343 13643 13943 14243 14543 14843 12144 12444 12744 13044 13344 13644 13944 14244 14544 14844 12145 12445 12745 13045 13345 13645 13945 14245 14545 14845 12146 12446 12746 13046 13346 13646 13946 14246 14546 14846 12147 12447 12747 13047 13347 13647 13947 14247 14547 14847 12148 12448 12748 13048 13348 13648 13948 14248 14548 14848 12149 12449 12749 13049 13349 13649 13949 14249 14549 14849 12150 12450 12750 13050 13350 13650 13950 14250 14550 14850 12151 12451 12751 13051 13351 13651 13951 14251 14551 14851 12152 12452 12752 13052 13352 13652 13952 14252 14552 14852 APP - 39 Memory area Servo parameter area Axis 9 Basic setting parameters Axis 8 Gain/filter parameters Buffer memory address Axis 7 APPENDICES MELSEC-Q No. Default value Pr.353 PB21 0 Pr.354 PB22 0 Pr.355 PB23 0000h Low-pass filter selection Pr.356 PB24 0000h Pr.357 PB25 0000h For manufacturer setting Pr.358 PB26 0000h Gain changing selection 10358 10658 10958 11258 11558 11858 Pr.359 PB27 10 Gain changing condition 10359 10659 10959 11259 11559 11859 Pr.360 PB28 1 Gain changing time constant 10360 10660 10960 11260 11560 11860 70 Gain changing ratio of load inertia moment to servomotor inertia moment 10361 10661 10961 11261 11561 11861 Symbol Pr.361 PB29 Item For manufacturer setting Slight vibration suppression control selection Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 11853 10353 10653 10953 11253 11553 10354 10654 10954 11254 11554 11854 10355 10655 10955 11255 11555 11855 10356 10656 10956 11256 11556 11856 10357 10657 10957 11257 11557 11857 Pr.362 PB30 37 Gain changing position loop gain 10362 10662 10962 11262 11562 11862 Pr.363 PB31 823 Gain changing speed loop gain 10363 10663 10963 11263 11563 11863 Pr.364 PB32 337 Gain changing speed integral compensation 10364 10664 10964 11264 11564 11864 Pr.365 PB33 1000 Gain changing vibration suppression control vibration frequency setting 10365 10665 10965 11265 11565 11865 Pr.366 PB34 1000 Gain changing vibration suppression control resonance frequency setting 10366 10666 10966 11266 11566 11866 Pr.367 PB35 0 10367 10667 10967 11267 11567 11867 Pr.368 PB36 0 10368 10668 10968 11268 11568 11868 Pr.369 PB37 100 10369 10669 10969 11269 11569 11869 Pr.370 PB38 0 10370 10670 10970 11270 11570 11870 Pr.371 PB39 0 10371 10671 10971 11271 11571 11871 Pr.372 PB40 0 Pr.373 PB41 1125 Pr.374 PB42 1125 10374 10674 10974 11274 11574 11874 Pr.375 PB43 0004h 10375 10675 10975 11275 11575 11875 For manufacturer setting 10372 10672 10972 11272 11572 11872 10373 10673 10973 11273 11573 11873 Pr.376 PB44 0 10376 10676 10976 11276 11576 11876 Pr.377 PB45 0000h 10377 10677 10977 11277 11577 11877 Pr.381 PC01 3 Error excessive alarm level 10381 10681 10981 11281 11581 11881 0 Electromagnetic brake sequence output 10382 10682 10982 11282 11582 11882 Pr.382 PC02 Pr.383 PC03 0000h Encoder output pulses selection 10383 10683 10983 11283 11583 11883 Pr.384 PC04 0000h Function selection C-1 10384 10684 10984 11284 11584 11884 Pr.385 PC05 0000h Function selection C-2 10385 10685 10985 11285 11585 11885 Pr.386 PC06 0000h Function selection C-3 10386 10686 10986 11286 11586 11886 Pr.387 PC07 Pr.388 PC08 Pr.389 PC09 Pr.390 PC10 0001h Analog monitor 2 output 50 Zero speed 10387 10687 10987 11287 11587 11887 0 For manufacturer setting 10388 10688 10988 11288 11588 11888 0000h Analog monitor 1 output 10389 10689 10989 11289 11589 11889 10390 10690 10990 11290 11590 11890 Pr.391 PC11 0 Analog monitor 1 offset 10391 10691 10991 11291 11591 11891 Pr.392 PC12 0 Analog monitor 2 offset 10392 10692 10992 11292 11592 11892 Pr.393 PC13 0 Analog monitor feedback position output standard data Low 10393 10693 10993 11293 11593 11893 Pr.394 PC14 0 Analog monitor feedback position output standard data High 10394 10694 10994 11294 11594 11894 APP - 40 APPENDICES MELSEC-Q Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 12153 12453 12753 13053 13353 13653 13953 14253 14553 14853 12154 12454 12754 13054 13354 13654 13954 14254 14554 14854 12155 12455 12755 13055 13355 13655 13955 14255 14555 14855 12156 12456 12756 13056 13356 13656 13956 14256 14556 14856 12157 12457 12757 13057 13357 13657 13957 14257 14557 14857 12158 12458 12758 13058 13358 13658 13958 14258 14558 14858 12159 12459 12759 13059 13359 13659 13959 14259 14559 14859 12160 12460 12760 13060 13360 13660 13960 14260 14560 14860 12161 12461 12761 13061 13361 13661 13961 14261 14561 14861 12162 12462 12762 13062 13362 13662 13962 14262 14562 14862 12163 12463 12763 13063 13363 13663 13963 14263 14563 14863 12164 12464 12764 13064 13364 13664 13964 14264 14564 14864 12165 12465 12765 13065 13365 13665 13965 14265 14565 14865 12166 12466 12766 13066 13366 13666 13966 14266 14566 14866 12167 12467 12767 13067 13367 13667 13967 14267 14567 14867 12168 12468 12768 13068 13368 13668 13968 14268 14568 14868 12169 12469 12769 13069 13369 13669 13969 14269 14569 14869 12170 12470 12770 13070 13370 13670 13970 14270 14570 14870 12171 12471 12771 13071 13371 13671 13971 14271 14571 14871 12172 12472 12772 13072 13372 13672 13972 14272 14572 14872 12173 12473 12773 13073 13373 13673 13973 14273 14573 14873 12174 12474 12774 13074 13374 13674 13974 14274 14574 14874 12175 12475 12775 13075 13375 13675 13975 14275 14575 14875 12176 12476 12776 13076 13376 13676 13976 14276 14576 14876 12177 12477 12777 13077 13377 13677 13977 14277 14577 14877 12181 12481 12781 13081 13381 13681 13981 14281 14581 14881 12182 12482 12782 13082 13382 13682 13982 14282 14582 14882 12183 12483 12783 13083 13383 13683 13983 14283 14583 14883 12184 12484 12784 13084 13384 13684 13984 14284 14584 14884 12185 12485 12785 13085 13385 13685 13985 14285 14585 14885 12186 12486 12786 13086 13386 13686 13986 14286 14586 14886 12187 12487 12787 13087 13387 13687 13987 14287 14587 14887 12188 12488 12788 13088 13388 13688 13988 14288 14588 14888 12189 12489 12789 13089 13389 13689 13989 14289 14589 14889 12190 12490 12790 13090 13390 13690 13990 14290 14590 14890 12191 12491 12791 13091 13391 13691 13991 14291 14591 14891 12192 12492 12792 13092 13392 13692 13992 14292 14592 14892 12193 12493 12793 13093 13393 13693 13993 14293 14593 14893 12194 12494 12794 13094 13394 13694 13994 14294 14594 14894 APP - 41 Memory area Servo parameter area Axis 9 Gain/filter parameters Axis 8 Extension setting parameters Buffer memory address Axis 7 APPENDICES Default value MELSEC-Q Item Symbol No. Pr.395 PC15 0 Pr.396 PC16 0000h Pr.397 PC17 0000h Function selection C-4 For manufacturer setting Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 11895 10395 10695 10995 11295 11595 10396 10696 10996 11296 11596 11896 10397 10697 10997 11297 11597 11897 Pr.398 PC18 0000h 10398 10698 10998 11298 11598 11898 Pr.399 PC19 0000h For manufacturer setting 10399 10699 10999 11299 11599 11899 Pr.400 PC20 0000h 10400 10700 11000 11300 11600 11900 Pr.401 PC21 0000h Alarm history clear 10401 10701 11001 11301 11601 11901 Pr.402 PC22 0000h 10402 10702 11002 11302 11602 11902 Pr.403 PC23 0000h 10403 10703 11003 11303 11603 11903 Pr.404 PC24 0000h 10404 10704 11004 11304 11604 11904 Pr.405 PC25 0000h 10405 10705 11005 11305 11605 11905 Pr.406 PC26 0000h 10406 10706 11006 11306 11606 11906 Pr.407 PC27 0000h 10407 10707 11007 11307 11607 11907 Pr.408 PC28 0000h 10408 10708 11008 11308 11608 11908 Pr.409 PC29 0000h 10409 10709 11009 11309 11609 11909 Pr.410 PC30 0000h For manufacturer setting 10410 10710 11010 11310 11610 11910 Pr.411 PC31 0000h 10411 10711 11011 11311 11611 11911 Pr.412 PC32 0000h 10412 10712 11012 11312 11612 11912 Pr.413 PD01 0000h 10413 10713 11013 11313 11613 11913 Pr.414 PD02 0000h 10414 10714 11014 11314 11614 11914 Pr.415 PD03 0000h 10415 10715 11015 11315 11615 11915 Pr.416 PD04 0000h 10416 10716 11016 11316 11616 11916 Pr.417 PD05 0000h 10417 10717 11017 11317 11617 11917 Pr.418 PD06 0000h 10418 10718 11018 11318 11618 11918 Pr.419 PD07 0005h Output signal device selection 1 10419 10719 11019 11319 11619 11919 Pr.420 PD08 0004h Output signal device selection 2 10420 10720 11020 11320 11620 11920 Pr.421 PD09 0003h Output signal device selection 3 10421 10721 11021 11321 11621 11921 Pr.422 PD10 0000h 10422 10722 11022 11322 11622 11922 Pr.423 PD11 0004h 10423 10723 11023 11323 11623 11923 Pr.424 PD12 0000h 10424 10724 11024 11324 11624 11924 Pr.425 PD13 0000h 10425 10725 11025 11325 11625 11925 Pr.426 PD14 0000h Function selection D-3 10426 10726 11026 11326 11626 11926 Pr.427 PD15 0000h 10427 10727 11027 11327 11627 11927 Pr.428 PD16 0000h 10428 10728 11028 11328 11628 11928 Pr.429 PD17 0000h 10429 10729 11029 11329 11629 11929 For manufacturer setting Pr.430 PD18 0000h 10430 10730 11030 11330 11630 11930 Pr.431 PD19 0000h 10431 10731 11031 11331 11631 11931 Pr.432 PD20 0000h 10432 10732 11032 11332 11632 11932 Pr.433 PD21 0000h 10433 10733 11033 11333 11633 11933 Pr.434 PD22 0000h 10434 10734 11034 11334 11634 11934 Pr.435 PD23 0000h 10435 10735 11035 11335 11635 11935 Pr.436 PD24 0000h Pr.437 PD25 0000h For manufacturer setting 10436 10736 11036 11336 11636 11936 10437 10737 11037 11337 11637 11937 Pr.438 PD26 0000h 10438 10738 11038 11338 11638 11938 Pr.439 PD27 0000h 10439 10739 11039 11339 11639 11939 Pr.440 PD28 0000h 10440 10740 11040 11340 11640 11940 Pr.441 PD29 0000h 10441 10741 11041 11341 11641 11941 Pr.442 PD30 0000h 10442 10742 11042 11342 11642 11942 Pr.443 PD31 0000h 10443 10743 11043 11343 11643 11943 Pr.444 PD32 0000h 10444 10744 11044 11344 11644 11944 APP - 42 APPENDICES MELSEC-Q Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 12195 12495 12795 13095 13395 13695 13995 14295 14595 14895 12196 12496 12796 13096 13396 13696 13996 14296 14596 14896 12197 12497 12797 13097 13397 13697 13997 14297 14597 14897 12198 12498 12798 13098 13398 13698 13998 14298 14598 14898 12199 12499 12799 13099 13399 13699 13999 14299 14599 14899 12200 12500 12800 13100 13400 13700 14000 14300 14600 14900 12201 12501 12801 13101 13401 13701 14001 14301 14601 14901 12202 12502 12802 13102 13402 13702 14002 14302 14602 14902 12203 12503 12803 13103 13403 13703 14003 14303 14603 14903 12204 12504 12804 13104 13404 13704 14004 14304 14604 14904 12205 12505 12805 13105 13405 13705 14005 14305 14605 14905 12206 12506 12806 13106 13406 13706 14006 14306 14606 14906 12207 12507 12807 13107 13407 13707 14007 14307 14607 14907 12208 12508 12808 13108 13408 13708 14008 14308 14608 14908 12209 12509 12809 13109 13409 13709 14009 14309 14609 14909 12210 12510 12810 13110 13410 13710 14010 14310 14610 14910 12211 12511 12811 13111 13411 13711 14011 14311 14611 14911 12212 12512 12812 13112 13412 13712 14012 14312 14612 14912 12213 12513 12813 13113 13413 13713 14013 14313 14613 14913 12214 12514 12814 13114 13414 13714 14014 14314 14614 14914 12215 12515 12815 13115 13415 13715 14015 14315 14615 14915 12216 12516 12816 13116 13416 13716 14016 14316 14616 14916 12217 12517 12817 13117 13417 13717 14017 14317 14617 14917 12218 12518 12818 13118 13418 13718 14018 14318 14618 14918 12219 12519 12819 13119 13419 13719 14019 14319 14619 14919 12220 12520 12820 13120 13420 13720 14020 14320 14620 14920 12221 12521 12821 13121 13421 13721 14021 14321 14621 14921 12222 12522 12822 13122 13422 13722 14022 14322 14622 14922 12223 12523 12823 13123 13423 13723 14023 14323 14623 14923 12224 12524 12824 13124 13424 13724 14024 14324 14624 14924 12225 12525 12825 13125 13425 13725 14025 14325 14625 14925 12226 12526 12826 13126 13426 13726 14026 14326 14626 14926 12227 12527 12827 13127 13427 13727 14027 14327 14627 14927 12228 12528 12828 13128 13428 13728 14028 14328 14628 14928 12229 12529 12829 13129 13429 13729 14029 14329 14629 14929 12230 12530 12830 13130 13430 13730 14030 14330 14630 14930 12231 12531 12831 13131 13431 13731 14031 14331 14631 14931 12232 12532 12832 13132 13432 13732 14032 14332 14632 14932 12233 12533 12833 13133 13433 13733 14033 14333 14633 14933 12234 12534 12834 13134 13434 13734 14034 14334 14634 14934 12235 12535 12835 13135 13435 13735 14035 14335 14635 14935 12236 12536 12836 13136 13436 13736 14036 14336 14636 14936 12237 12537 12837 13137 13437 13737 14037 14337 14637 14937 12238 12538 12838 13138 13438 13738 14038 14338 14638 14938 12239 12539 12839 13139 13439 13739 14039 14339 14639 14939 12240 12540 12840 13140 13440 13740 14040 14340 14640 14940 12241 12541 12841 13141 13441 13741 14041 14341 14641 14941 12242 12542 12842 13142 13442 13742 14042 14342 14642 14942 12243 12543 12843 13143 13443 13743 14043 14343 14643 14943 12244 12544 12844 13144 13444 13744 14044 14344 14644 14944 APP - 43 Memory area Servo parameter area Axis 9 Extension setting parameters Axis 8 I/O setting parameters Buffer memory address Axis 7 APPENDICES MELSEC-Q No. Default value Pr.445 PE01 Pr.446 PE02 Pr.447 PE03 Pr.448 Pr.449 Pr.450 PE06 400 10450 10750 11050 11350 11650 11950 Pr.451 PE07 100 10451 10751 11051 11351 11651 11951 Pr.452 PE08 10 10452 10752 11052 11352 11652 11952 Pr.453 PE09 0000h 10453 10753 11053 11353 11653 11953 Pr.454 PE10 0000h 10454 10754 11054 11354 11654 11954 Pr.455 PE11 0 10455 10755 11055 11355 11655 11955 Pr.456 PE12 Symbol Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 0000h 10445 10745 11045 11345 11645 11945 0102h 10446 10746 11046 11346 11646 11946 0002h 10447 10747 11047 11347 11647 11947 PE04 1 10448 10748 11048 11348 11648 11948 PE05 1 10449 10749 11049 11349 11649 11949 40 PE13 FFFEh For manufacturer setting 10456 10756 11056 11356 11656 11956 Pr.457 10457 10757 11057 11357 11657 11957 Pr.458 PE14 0111h 10458 10758 11058 11358 11658 11958 Pr.459 PE15 20 10459 10759 11059 11359 11659 11959 Pr.460 PE16 0000h 10460 10760 11060 11360 11660 11960 Pr.461 PE17 0000h 10461 10761 11061 11361 11661 11961 Pr.462 PE18 0000h 10462 10762 11062 11362 11662 11962 Pr.463 PE19 0000h 10463 10763 11063 11363 11663 11963 Pr.464 PE20 0000h 10464 10764 11064 11364 11664 11964 Pr.465 PE21 0000h 10465 10765 11065 11365 11665 11965 Pr.466 PE22 0000h 10466 10766 11066 11366 11666 11966 Pr.467 PE23 0000h 10467 10767 11067 11367 11667 11967 Pr.468 PE24 0000h 10468 10768 11068 11368 11668 11968 Pr.469 PE25 0000h 10469 10769 11069 11369 11669 11969 Pr.470 PE26 0000h Filter coefficient 2-1 10470 10770 11070 11370 11670 11970 Pr.471 PE27 0000h Filter coefficient 2-2 10471 10771 11071 11371 11671 11971 Pr.472 PE28 0000h Filter coefficient 2-3 10472 10772 11072 11372 11672 11972 Pr.473 PE29 0000h Filter coefficient 2-4 10473 10773 11073 11373 11673 11973 Pr.474 PE30 0000h Filter coefficient 2-5 10474 10774 11074 11374 11674 11974 Pr.475 PE31 0000h Filter coefficient 2-6 10475 10775 11075 11375 11675 11975 Pr.476 PE32 0000h Filter coefficient 2-7 10476 10776 11076 11376 11676 11976 Pr.477 PE33 0000h Filter coefficient 2-8 10477 10777 11077 11377 11677 11977 Pr.478 PE34 0 10478 10778 11078 11378 11678 11978 Pr.479 PE35 0 10479 10779 11079 11379 11679 11979 Pr.480 PE36 0 10480 10780 11080 11380 11680 11980 Pr.481 PE37 0 10481 10781 11081 11381 11681 11981 Pr.482 PE38 0 10482 10782 11082 11382 11682 11982 Pr.483 PE39 0 10483 10783 11083 11383 11683 11983 Pr.484 PE40 0 10484 10784 11084 11384 11684 11984 Pr.493 PS01 0 10493 10793 11093 11393 11693 11993 Pr.494 PS02 0 10494 10794 11094 11394 11694 11994 Pr.495 PS03 0 10495 10795 11095 11395 11695 11995 Pr.496 PS04 0 10496 10796 11096 11396 11696 11996 Pr.497 PS05 0 10497 10797 11097 11397 11697 11997 Pr.498 PS06 0 10498 10798 11098 11398 11698 11998 Pr.499 PS07 0 10499 10799 11099 11399 11699 11999 Pr.500 PS08 0 10500 10800 11100 11400 11700 12000 Pr.501 PS09 0 10501 10801 11101 11401 11701 12001 For manufacturer setting APP - 44 APPENDICES MELSEC-Q Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 12245 12545 12845 13145 13445 13745 14045 14345 14645 14945 12246 12546 12846 13146 13446 13746 14046 14346 14646 14946 12247 12547 12847 13147 13447 13747 14047 14347 14647 14947 12248 12548 12848 13148 13448 13748 14048 14348 14648 14948 12249 12549 12849 13149 13449 13749 14049 14349 14649 14949 12250 12550 12850 13150 13450 13750 14050 14350 14650 14950 12251 12551 12851 13151 13451 13751 14051 14351 14651 14951 12252 12552 12852 13152 13452 13752 14052 14352 14652 14952 12253 12553 12853 13153 13453 13753 14053 14353 14653 14953 12254 12554 12854 13154 13454 13754 14054 14354 14654 14954 12255 12555 12855 13155 13455 13755 14055 14355 14655 14955 12256 12556 12856 13156 13456 13756 14056 14356 14656 14956 12257 12557 12857 13157 13457 13757 14057 14357 14657 14957 12258 12558 12858 13158 13458 13758 14058 14358 14658 14958 12259 12559 12859 13159 13459 13759 14059 14359 14659 14959 12260 12560 12860 13160 13460 13760 14060 14360 14660 14960 12261 12561 12861 13161 13461 13761 14061 14361 14661 14961 12262 12562 12862 13162 13462 13762 14062 14362 14662 14962 12263 12563 12863 13163 13463 13763 14063 14363 14663 14963 12264 12564 12864 13164 13464 13764 14064 14364 14664 14964 12265 12565 12865 13165 13465 13765 14065 14365 14665 14965 12266 12566 12866 13166 13466 13766 14066 14366 14666 14966 12267 12567 12867 13167 13467 13767 14067 14367 14667 14967 12268 12568 12868 13168 13468 13768 14068 14368 14668 14968 12269 12569 12869 13169 13469 13769 14069 14369 14669 14969 12270 12570 12870 13170 13470 13770 14070 14370 14670 14970 12271 12571 12871 13171 13471 13771 14071 14371 14671 14971 12272 12572 12872 13172 13472 13772 14072 14372 14672 14972 12273 12573 12873 13173 13473 13773 14073 14373 14673 14973 12274 12574 12874 13174 13474 13774 14074 14374 14674 14974 12275 12575 12875 13175 13475 13775 14075 14375 14675 14975 12276 12576 12876 13176 13476 13776 14076 14376 14676 14976 12277 12577 12877 13177 13477 13777 14077 14377 14677 14977 12278 12578 12878 13178 13478 13778 14078 14378 14678 14978 12279 12579 12879 13179 13479 13779 14079 14379 14679 14979 12280 12580 12880 13180 13480 13780 14080 14380 14680 14980 12281 12581 12881 13181 13481 13781 14081 14381 14681 14981 12282 12582 12882 13182 13482 13782 14082 14382 14682 14982 12283 12583 12883 13183 13483 13783 14083 14383 14683 14983 12284 12584 12884 13184 13484 13784 14084 14384 14684 14984 12293 12593 12893 13193 13493 13793 14093 14393 14693 14993 12294 12594 12894 13194 13494 13794 14094 14394 14694 14994 12295 12595 12895 13195 13495 13795 14095 14395 14695 14995 12296 12596 12896 13196 13496 13796 14096 14396 14696 14996 12297 12597 12897 13197 13497 13797 14097 14397 14697 14997 12298 12598 12898 13198 13498 13798 14098 14398 14698 14998 12299 12599 12899 13199 13499 13799 14099 14399 14699 14999 12300 12600 12900 13200 13500 13800 14100 14400 14700 15000 12301 12601 12901 13201 13501 13801 14101 14401 14701 15001 APP - 45 Memory area Servo parameter area Axis 9 Extension control parameters Axis 8 Special setting parameters Buffer memory address Axis 7 APPENDICES No. Default value Pr.502 PS10 Pr.503 PS11 Pr.504 PS12 Pr.505 Pr.506 Pr.507 Pr.508 Pr.509 Pr.510 Pr.511 Pr.512 Pr.513 Pr.514 Pr.515 Pr.516 Pr.517 Symbol MELSEC-Q Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 0 10502 10802 11102 11402 11702 12002 0 10503 10803 11103 11403 11703 12003 0 10504 10804 11104 11404 11704 12004 PS13 0 10505 10805 11105 11405 11705 12005 PS14 0 10506 10806 11106 11406 11706 12006 PS15 0 10507 10807 11107 11407 11707 12007 PS16 0 10508 10808 11108 11408 11708 12008 PS17 0 10509 10809 11109 11409 11709 12009 PS18 0 10510 10810 11110 11410 11710 12010 PS19 0 10511 10811 11111 11411 11711 12011 PS20 0 10512 10812 11112 11412 11712 12012 PS21 0 10513 10813 11113 11413 11713 12013 PS22 0 10514 10814 11114 11414 11714 12014 PS23 0 10515 10815 11115 11415 11715 12015 PS24 0 10516 10816 11116 11416 11716 12016 PS25 0 10517 10817 11117 11417 11717 12017 Pr.518 PS26 0 10518 10818 11118 11418 11718 12018 Pr.519 PS27 0 10519 10819 11119 11419 11719 12019 Pr.520 PS28 0 10520 10820 11120 11420 11720 12020 Pr.521 PS29 0 10521 10821 11121 11421 11721 12021 Pr.522 PS30 0 10522 10822 11122 11422 11722 12022 Pr.523 PS31 0 10523 10823 11123 11423 11723 12023 Pr.524 PS32 0 10524 10824 11124 11424 11724 12024 Pr.525 PF1 0 Pr.526 PF2 0 For manufacturer setting 10525 10825 11125 11425 11725 12025 10526 10826 11126 11426 11726 12026 Pr.527 PF3 0 10527 10827 11127 11427 11727 12027 Pr.528 PF4 0 10528 10828 11128 11428 11728 12028 Pr.529 PF5 0 10529 10829 11129 11429 11729 12029 Pr.530 PF6 0 10530 10830 11130 11430 11730 12030 Pr.531 PF7 0 10531 10831 11131 11431 11731 12031 Pr.532 PF8 0 10532 10832 11132 11432 11732 12032 Pr.533 PF9 10000 10533 10833 11133 11433 11733 12033 Pr.534 PF10 100 10534 10834 11134 11434 11734 12034 Pr.535 PF11 100 10535 10835 11135 11435 11735 12035 Pr.536 PF12 100 10536 10836 11136 11436 11736 12036 Pr.537 PF13 0 10537 10837 11137 11437 11737 12037 Pr.538 PF14 10 10538 10838 11138 11438 11738 12038 Pr.539 PF15 0 10539 10839 11139 11439 11739 12039 Pr.540 PF16 0 10540 10840 11140 11440 11740 12040 Pr.541 PO1 0 10541 10841 11141 11441 11741 12041 Pr.542 PO2 0 10542 10842 11142 11442 11742 12042 Pr.543 PO3 0 10543 10843 11143 11443 11743 12043 Pr.544 PO4 0 10544 10844 11144 11444 11744 12044 Pr.545 PO5 0 10545 10845 11145 11445 11745 12045 Pr.546 PO6 0 10546 10846 11146 11446 11746 12046 Pr.547 PO7 0 10547 10847 11147 11447 11747 12047 Pr.548 PO8 0 10548 10848 11148 11448 11748 12048 Pr.549 PO9 0 10549 10849 11149 11449 11749 12049 APP - 46 APPENDICES MELSEC-Q Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 12302 12602 12902 13202 13502 13802 14102 14402 14702 15002 12303 12603 12903 13203 13503 13803 14103 14403 14703 15003 12304 12604 12904 13204 13504 13804 14104 14404 14704 15004 12305 12605 12905 13205 13505 13805 14105 14405 14705 15005 12306 12606 12906 13206 13506 13806 14106 14406 14706 15006 12307 12607 12907 13207 13507 13807 14107 14407 14707 15007 12308 12608 12908 13208 13508 13808 14108 14408 14708 15008 12309 12609 12909 13209 13509 13809 14109 14409 14709 15009 12310 12610 12910 13210 13510 13810 14110 14410 14710 15010 12311 12611 12911 13211 13511 13811 14111 14411 14711 15011 12312 12612 12912 13212 13512 13812 14112 14412 14712 15012 12313 12613 12913 13213 13513 13813 14113 14413 14713 15013 12314 12614 12914 13214 13514 13814 14114 14414 14714 15014 12315 12615 12915 13215 13515 13815 14115 14415 14715 15015 12316 12616 12916 13216 13516 13816 14116 14416 14716 15016 12317 12617 12917 13217 13517 13817 14117 14417 14717 15017 12318 12618 12918 13218 13518 13818 14118 14418 14718 15018 12319 12619 12919 13219 13519 13819 14119 14419 14719 15019 12320 12620 12920 13220 13520 13820 14120 14420 14720 15020 12321 12621 12921 13221 13521 13821 14121 14421 14721 15021 12322 12622 12922 13222 13522 13822 14122 14422 14722 15022 12323 12623 12923 13223 13523 13823 14123 14423 14723 15023 12324 12624 12924 13224 13524 13824 14124 14424 14724 15024 12325 12625 12925 13225 13525 13825 14125 14425 14725 15025 12326 12626 12926 13226 13526 13826 14126 14426 14726 15026 12327 12627 12927 13227 13527 13827 14127 14427 14727 15027 12328 12628 12928 13228 13528 13828 14128 14428 14728 15028 12329 12629 12929 13229 13529 13829 14129 14429 14729 15029 12330 12630 12930 13230 13530 13830 14130 14430 14730 15030 12331 12631 12931 13231 13531 13831 14131 14431 14731 15031 12332 12632 12932 13232 13532 13832 14132 14432 14732 15032 12333 12633 12933 13233 13533 13833 14133 14433 14733 15033 12334 12634 12934 13234 13534 13834 14134 14434 14734 15034 12335 12635 12935 13235 13535 13835 14135 14435 14735 15035 12336 12636 12936 13236 13536 13836 14136 14436 14736 15036 12337 12637 12937 13237 13537 13837 14137 14437 14737 15037 12338 12638 12938 13238 13538 13838 14138 14438 14738 15038 12339 12639 12939 13239 13539 13839 14139 14439 14739 15039 12340 12640 12940 13240 13540 13840 14140 14440 14740 15040 12341 12641 12941 13241 13541 13841 14141 14441 14741 15041 12342 12642 12942 13242 13542 13842 14142 14442 14742 15042 12343 12643 12943 13243 13543 13843 14143 14443 14743 15043 12344 12644 12944 13244 13544 13844 14144 14444 14744 15044 12345 12645 12945 13245 13545 13845 14145 14445 14745 15045 12346 12646 12946 13246 13546 13846 14146 14446 14746 15046 12347 12647 12947 13247 13547 13847 14147 14447 14747 15047 12348 12648 12948 13248 13548 13848 14148 14448 14748 15048 12349 12649 12949 13249 13549 13849 14149 14449 14749 15049 APP - 47 Memory area Servo parameter area Axis 10 Special setting parameters Axis 9 Other setting Axis 8 Option unit Buffer memory address Axis 7 APPENDICES Symbol No. Default value Pr.550 PO10 Pr.551 PO11 Pr.552 PO12 MELSEC-Q Item Buffer memory address Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 0 10550 10850 11150 11450 11750 12050 0 10551 10851 11151 11451 11751 12051 0 10552 10852 11152 11452 11752 12052 For manufacturer setting Pr.553 PO13 0 10553 10853 11153 11453 11753 12053 Pr.554 PO14 0 10554 10854 11154 11454 11754 12054 Pr.555 PO15 0 10555 10855 11155 11455 11755 12055 Pr.556 PO16 0 10556 10856 11156 11456 11756 12056 APP - 48 APPENDICES MELSEC-Q Axis 9 Axis 10 Axis 11 Axis 12 Axis 13 Axis 14 Axis 15 Axis 16 12350 12650 12950 13250 13550 13850 14150 14450 14750 15050 12351 12651 12951 13251 13551 13851 14151 14451 14751 15051 12352 12652 12952 13252 13552 13852 14152 14452 14752 15052 12353 12653 12953 13253 13553 13853 14153 14453 14753 15053 12354 12654 12954 13254 13554 13854 14154 14454 14754 15054 12355 12655 12955 13255 13555 13855 14155 14455 14755 15055 12356 12656 12956 13256 13556 13856 14156 14456 14756 15056 APP - 49 Memory area Servo parameter area Axis 8 Option unit Buffer memory address Axis 7 APPENDICES MELSEC-Q MEMO APP - 50 WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company. However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing onsite that involves replacement of the failed module. [Gratis Warranty Term] The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place. Note that after manufacture and shipment from Mitsubishi, the maximum distribution period shall be six (6) months, and the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs. [Gratis Warranty Range] (1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc., which follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels on the product. (2) Even within the gratis warranty term, repairs shall be charged for in the following cases. 1. Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused by the user's hardware or software design. 2. Failure caused by unapproved modifications, etc., to the product by the user. 3. When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary by industry standards, had been provided. 4. Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the instruction manual have been correctly serviced or replaced. 5. Failure caused by external irresistible forces such as fires or abnormal voltages, and Failure caused by force majeure such as earthquakes, lightning, wind and water damage. 6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi. 7. Any other failure found to not 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. Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc. (2) Product supply (including repair parts) is not available after production is discontinued. 3. Overseas service Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA Center may differ. 4. Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to damages caused by any cause found not to be the responsibility of Mitsubishi, loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products, special damages and secondary damages whether foreseeable or not, compensation for damages to products other than Mitsubishi products, replacement by the user, maintenance of on-site equipment, start-up test run and other tasks. 5. Changes in product specifications The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice. 6. Product application (1) In using the Mitsubishi MELSEC programmable logic controller, the usage conditions shall be that the application will not lead to a major accident even if any problem or fault should occur in the programmable logic controller device, and that backup and fail-safe functions are systematically provided outside of the device for any problem or fault. (2) The Mitsubishi general-purpose programmable logic controller has been designed and manufactured for applications in general industries, etc. Thus, applications in which the public could be affected such as in nuclear power plants and other power plants operated by respective power companies, and applications in which a special quality assurance system is required, such as for Railways companies or Public service purposes shall be excluded from the programmable logic controller applications. In addition, applications in which human life or property that could be greatly affected, such as in aircraft, medical applications, incineration and fuel devices, manned transportation, equipment for recreation and amusement, and safety devices, shall also be excluded from the programmable logic controller range of applications. However, in certain cases, some applications may be possible, providing the user consults their local Mitsubishi representative outlining the special requirements of the projects, and providing that all parties concerned agree to the special circumstances, solely at the users discretion. Microsoft Windows and Windows NT are registered trademarks of Microsoft Corporation in the United States and other countries. Other company and product names herein may be either trademarks or registered trademarks of their respective owners. IB(NA)-0300147-B

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