Mitsubishi Electric MELSEC Q Series Manual de usuario

Type QD70 Positioning Module

User's Manual

-QD70P4

-QD70P8

-GX Configurator-PT (SW1D5C-QPTU-E)

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SAFETY INSTRUCTIONS

(Always 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.

The instructions given in this manual are concerned with this product. For the safety instructions of the

programmable controller system, please read the CPU module User's Manual.

In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

!DANGER

CAUTION

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight personal injury or physical damage.

Note that the !CAUTION level may lead to a serious consequence according to the circumstances.

Always follow the instructions of both levels because they are important to personal safety.

Please save this manual to make it accessible when required and always forward it to the end user.

[DESIGN INSTRUCTION]

!DANGER

Provide a safety circuit outside the programmable controller so that the entire system will

operate safely even when an external power supply error or programmable controller fault

occurs.

Failure to observe this could lead to accidents for incorrect outputs or malfunctioning.

(1) Configure an emergency stop circuit and interlock circuit such as a positioning control

upper limit/lower limit to prevent mechanical damage outside the programmable controller.

(2) The machine OPR operation is controlled by the OPR direction and OPR speed data.

Deceleration starts when the near-point dog turns ON. Thus, if the OPR direction is

incorrectly set, deceleration will not start and the machine will continue to travel. Configure

an interlock circuit to prevent mechanical damage outside the programmable controller.

(3) When the module detects an error, deceleration stop will take place.

Make sure that the OPR data and positioning data are within the parameter setting values.

!CAUTION

Do not bundle or adjacently lay the control wire or communication cable with the main circuit or

power wire.

Separate these by 100mm (3.94in.) or more.

Failure to observe this could lead to malfunctioning caused by noise.

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[MOUNTING INSTRUCTIONS]

!CAUTION

Use the programmable controller in an environment that meets the general specifications

contained in the CPU User's Manual.

Using the programmable controller outside the general specification range environment could

lead to electric shocks, fires, malfunctioning, product damage or deterioration.

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 mount the module with the fixing

hole as a supporting point. Improper loading of the module can cause a malfunction, failure or

drop.

For use in vibratory environment, tighten the module with screws.

Tighten the screws within the specified torque range.

Undertightening can cause a drop, short circuit or malfunction.

Overtightening can cause a drop, short circuit or malfunction due to damage to the screws or

module.

Completely turn off the externally supplied power used in the system before mounting or

removing the module. Not doing so may damage the product.

[WIRING INSTRUCTIONS]

!DANGER

Always confirm the terminal layout before connecting the wires to the module.

[STARTUP/MAINTENANCE INSTRUCTIONS]

!DANGER

Completely turn off the externally supplied power used in the system before cleaning or

tightening the screws.

Failure to turn all phases OFF could lead to electric shocks.

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[STARTUP/MAINTENANCE INSTRUCTIONS]

!CAUTION

Never disassemble or modify the module.

Failure to observe this could lead to trouble, malfunctioning, injuries or fires.

Completely turn off the externally supplied power used in the system before installing or

removing the module.

Failure to turn all phases OFF could lead to module trouble or malfunctioning.

Do not install/remove the module to/from the base unit more than 50 times after the first use of

the product. (IEC 61131-2 compliant)

Failure to do so may cause malfunction.

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.

•Always make sure to touch the grounded metal to discharge the electricity charged in the body,

etc., before touching the module.

Failure to do so may cause a failure or malfunctions of the module.

[DISPOSAL INSTRUCTIONS]

!CAUTION

When disposing of the product, handle it as industrial waste.

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REVISIONS

The manual number is given on the bottom left of the back cover.

Print Date Manual Number Revision

Jun., 2001 SH (NA)-080171-A First edition

Feb., 2002 SH (NA)-080171-B Modifications

About Manuals, Section 2.3, Section 2.4, Section 4.6.1, Section 5.3,

Section 5.7, Section 6.2.2, Section 8.2.3, Section 8.2.4, Section

8.2.5, Section 8.2.6, Section 10.3, Appendix 8

Jul., 2002 SH (NA)-080171-C Modifications

CONTENS, Section .1.1.1, Section 4.2, Section 11.3, Section 11.4,

Section 11.5, Section 13.2, Appendix 2, Appendix 8, INDEX

Feb., 2003 SH (NA)-080171-D Modifications

SAFETY INSTRUCTIONS, CONTENTS, Section 2.1, Section 3.1,

Section 5.3, Section 6.2.2, Section 6.4, Section 6.5, Appendix 3.3,

Appendix 8, INDEX

May, 2003 SH (NA)-080171-E Modifications

CONTENTS, Appendix 6, Appendix 7

Oct., 2003 SH (NA)-080171-F Modifications

CONTENTS, Section 1.2.2, Section 3.3.2, Section 3.4.3, Section

3.4.4, Section 7.5.3, Section 9.1.2, INDEX

Jun., 2004 SH (NA)-080171-G Modifications

SAFETY PRECAUTIONS, Section 2.4, Section 2.5, Section 3.4.3,

Section 5.1, Section 5.7, Section 6.4, Section 6.6.1

Feb., 2006 SH (NA)-080171-H Modifications

SAFETY INSTRUCTIONS, Section 2.3, Section 4.3, Section 5.1,

Section 6.3.2, Section 6.3.3, Section 11.4, Section 13.2, Appendix

3.3

May, 2006 SH (NA)-080171-I Modifications

Section 7.5.4, Section 11.6, Appendix 3.3

Jan., 2007 SH (NA)-080171-J Modifications

Section 7.4

Jun., 2007 SH (NA)-080171-K Modifications

Section 2.3, Section 3.4.4, Section 4.6.1, Section 10.1, Section 11.2

Jan., 2008 SH (NA)-080171-L Modifications

GENERIC TERMS AND ABBREVIATIONS, Section 2.3 to 2.6,

Section 6.2.2

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The manual number is given on the bottom left of the back cover.

Print Date Manual Number Revision

May, 2008 SH (NA)-080171-M Modifications

SAFETY INSTRUCTIONS, Compliance with the EMC and Low

Voltage Directives, Section 2.3, 2.6, 3.1, 5.4.1, 6.2.1, 6.3.1, 6.3.3

Aug., 2008 SH (NA)-080171-N Modifications

Section 2.6, 3.4.2, 5.3, Appendix 1

Japanese Manual Version SH-080138-O

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.

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INTRODUCTION

Thank you for purchasing the Mitsubishi programmable controller MELSEC-Q series.

Always read through this manual, and fully comprehend the functions and performance of the Q series

programmable controller before starting use to ensure correct usage of this product.

CONTENTS

SAFETY INSTRUCTIONS.............................................................................................................................A- 1

REVISIONS....................................................................................................................................................A- 4

INTRODUCTION............................................................................................................................................A- 6

CONTENTS....................................................................................................................................................A- 6

Using This Manual.........................................................................................................................................A- 10

Compliance with the EMC and Low Voltage Directives...............................................................................A- 10

Generic Terms and Abbreviations ................................................................................................................A- 11

Component List .............................................................................................................................................A- 12

SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING

1 PRODUCT OUTLINE 1- 1 to 1- 14

1.1 Positioning control.................................................................................................................................... 1- 1

1.1.1 Features of QD70.............................................................................................................................. 1- 1

1.1.2 Mechanism of positioning control ..................................................................................................... 1- 2

1.1.3 Outline design of positioning control system.................................................................................... 1- 4

1.1.4 Communicating signals between QD70 and each module.............................................................. 1- 8

1.2 Positioning control................................................................................................................................... 1- 10

1.2.1 Outline of starting ............................................................................................................................. 1- 10

1.2.2 Outline of stopping ........................................................................................................................... 1- 12

2 SYSTEM CONFIGURATION 2- 1 to 2- 11

2.1 General image of system......................................................................................................................... 2- 1

2.2 Component list ......................................................................................................................................... 2- 2

2.3 Applicable systems .................................................................................................................................. 2- 3

2.4 About Use of the QD70 with the Q12PRH/Q25PRHCPU ...................................................................... 2- 6

2.5 About Use of the QD70 on the MELSECNET/H Remote I/O Station .................................................... 2- 7

2.6 How to Check the Function Version/Serial No./Software Version ......................................................... 2- 8

3 SPECIFICATIONS AND FUNCTIONS 3- 1 to 3- 13

3.1 Performance specifications...................................................................................................................... 3- 1

3.2 List of functions ........................................................................................................................................ 3- 2

3.3 Specifications of input/output signal with Programmable Controller CPU ............................................. 3- 4

3.3.1 List of input/output signals with programmable controller CPU....................................................... 3- 4

3.3.2 Details of input signal (QD70 Programmable controller CPU).................................................... 3- 5

3.3.3 Details of output signals (Programmable controller CPU QD70)................................................ 3- 6

3.4 Specifications of input/output interfaces with external device ................................................................ 3- 7

3.4.1 Electrical specifications of input/output signals ................................................................................ 3- 7

3.4.2 Signal layout for external device connection connector................................................................... 3- 9

3.4.3 List of input/output signal details...................................................................................................... 3- 10

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3.4.4 Input/output interface internal circuit................................................................................................ 3- 11

4 DATA USED FOR POSITIONING CONTROL 4- 1 to 4- 31

4.1 Type of data ............................................................................................................................................. 4- 1

4.1.1 Parameters and data required for control......................................................................................... 4- 1

4.1.2 Setting items for parameters............................................................................................................. 4- 3

4.1.3 Setting items for OPR data ............................................................................................................... 4- 4

4.1.4 Setting items for JOG data................................................................................................................ 4- 5

4.1.5 Setting items for positioning data...................................................................................................... 4- 6

4.1.6 Type and roles of monitor data......................................................................................................... 4- 7

4.1.7 Type and roles of control data .......................................................................................................... 4- 8

4.2 List of parameters .................................................................................................................................... 4- 9

4.3 List of OPR data...................................................................................................................................... 4- 14

4.4 List of JOG data ...................................................................................................................................... 4- 20

4.5 List of positioning data ............................................................................................................................ 4- 21

4.6 List of monitor data..................................................................................................................................4- 27

4.6.1 Axis monitor data.............................................................................................................................. 4- 27

4.6.2 Module information monitor data ..................................................................................................... 4- 29

4.7 List of control data...................................................................................................................................4- 30

4.7.1 Axis control data............................................................................................................................... 4- 30

5 SETUP AND PROCEDURES BEFORE OPERATION 5- 1 to 5- 20

5.1 Handling precautions ............................................................................................................................... 5- 1

5.2 Procedures before operation ................................................................................................................... 5- 3

5.3 Part identification nomenclature .............................................................................................................. 5- 4

5.4 Wiring ....................................................................................................................................................... 5- 7

5.4.1 Wiring precautions............................................................................................................................. 5- 7

5.5 Confirming the wiring .............................................................................................................................. 5- 12

5.5.1 Confirmation items at completion of wiring ..................................................................................... 5- 12

5.6 Switch setting for intelligent function module ......................................................................................... 5- 14

5.7 Simple reciprocating operation ............................................................................................................... 5- 18

6 UTILITY PACKAGE(GX Configurator-PT) 6- 1 to 6- 19

6.1 Utility package functions .......................................................................................................................... 6- 1

6.2 Installing and Uninstalling the Utility Package ........................................................................................ 6- 2

6.2.1 Handling precautions ........................................................................................................................ 6- 2

6.2.2 Operating environment...................................................................................................................... 6- 4

6.3 Utility Package Operation ........................................................................................................................ 6- 6

6.3.1 Common utility package operations ................................................................................................. 6- 6

6.3.2 Operation overview ........................................................................................................................... 6- 8

6.3.3 Starting the Intelligent function module utility.................................................................................. 6- 10

6.4 Initial setting............................................................................................................................................. 6- 12

6.5 Auto refresh setting.................................................................................................................................6- 14

6.6 Monitoring/Test........................................................................................................................................ 6- 16

6.6.1 Monitoring/Test screen..................................................................................................................... 6- 16

7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL 7- 1 to 7- 20

7.1 Precautions for creating program ............................................................................................................ 7- 1

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7.2 List of devices used.................................................................................................................................. 7- 3

7.3 Creating a program .................................................................................................................................. 7- 5

7.3.1 General configuration of program..................................................................................................... 7- 5

7.3.2 Positioning control operation program.............................................................................................. 7- 6

7.4 Positioning control program examples .................................................................................................... 7- 8

7.5 Program details ....................................................................................................................................... 7- 12

7.5.1 Initialization program ........................................................................................................................ 7- 12

7.5.2 Start method setting program ..........................................................................................................7- 13

7.5.3 Start program.................................................................................................................................... 7- 13

7.5.4 Sub program..................................................................................................................................... 7- 19

SECTION 2 CONTROL DETAILS AND SETTING

8 OPR CONTROL 8- 1 to 8- 16

8.1 Outline of OPR control ............................................................................................................................. 8- 1

8.1.1 Two types of OPR control................................................................................................................. 8- 1

8.2 Machine OPR control............................................................................................................................... 8- 2

8.2.1 Outline of the machine OPR operation............................................................................................. 8- 2

8.2.2 Machine OPR method....................................................................................................................... 8- 3

8.2.3 OPR method (1): Near-point dog method ........................................................................................ 8- 4

8.2.4 OPR method (2): Stopper 1 .............................................................................................................. 8- 6

8.2.5 OPR method (3): Stopper 2 .............................................................................................................. 8- 8

8.2.6 OPR method (4): Stopper 3 ............................................................................................................. 8- 10

8.2.7 OPR method (5): Count 1 ................................................................................................................ 8- 12

8.2.8 OPR method (6): Count 2 ................................................................................................................ 8- 14

8.3 Fast OPR control..................................................................................................................................... 8- 16

8.3.1 Outline of the fast OPR control operation........................................................................................ 8- 16

9 POSITIONING CONTROL 9- 1 to 9- 17

9.1 Outline of positioning controls.................................................................................................................. 9- 1

9.1.1 Data required for positioning control................................................................................................. 9- 1

9.1.2 Operation patterns of positioning controls........................................................................................ 9- 2

9.1.3 Designating the positioning address................................................................................................. 9- 8

9.1.4 Confirming the current value............................................................................................................. 9- 9

9.2 Setting the positioning data .................................................................................................................... 9- 10

9.2.1 Relation between each control and positioning data ...................................................................... 9- 10

9.2.2 1-axis linear control .......................................................................................................................... 9- 11

9.2.3 Speed-position switching control ..................................................................................................... 9- 13

9.2.4 Current value changing .................................................................................................................... 9- 16

9.3 Multiple axes simultaneous start control ................................................................................................ 9- 17

10 JOG OPERATION 10- 1 to 10- 6

10.1 Outline of JOG operation ..................................................................................................................... 10- 1

10.2 JOG operation execution procedure ................................................................................................... 10- 3

10.3 JOG operation example....................................................................................................................... 10- 4

11 SUB FUNCTIONS 11- 1 to 11- 13

11.1 Outline of sub functions ....................................................................................................................... 11- 1

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