Mitsubishi Programmable

Logic Controller
Training Manual

QD75 Positioninge(Q-series)
cours
 SAFETY PRECAUTIONS
(Always read these instructions before the exercise.)

When designing the system, always read the relevant manuals and give sufficient consideration to safety.
During the exercise, pay full attention to the following points and handle the product correctly.

[EXERCISE PRECAUTIONS]

WARNING
Do not touch the terminals while the power is on to prevent electric shock.

When opening the safety cover, turn off the power or conduct a sufficient check of safety before operation.

Caution
Follow the instructor's direction during the exercise.

Do not remove the module of the demonstration machine or change wirings without permission.
Doing so may cause failures, malfunctions, personal injuries and/or a fire.

Turn off the power before installing or removing the module.

Failure to do so may result in malfunctions of the module or electric shock.

When the demonstration machine (X/Y table, etc.) emits abnormal odor/sound, press "Power switch" or
"Emergency switch" to turn off.

When a problem occurs, notify the instructor as soon as possible.

REVISIONS
* The textbook number is given on the bottom left of the back cover.

A-1
Print Date * Textbook Number Revision
Jan., 2006 SH-080621ENG-A First edition

This textbook 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 textbook.
© 2006 MITSUBISHI ELECTRIC CORPORATION

A-2
 CONTENTS

CHAPTER1 PRODUCT OUTLINE 1- 1 to 1-18

1.1 Positioning Control.................................................................................................................................. 1- 1
1.1.1 Features of QD75 .......................................................................................................................... 1- 1
1.1.2 Purpose and applications of positioning control............................................................................ 1- 3
1.1.3 Mechanism of positioning control .................................................................................................. 1- 6
1.1.4 Outline design of positioning system ............................................................................................. 1- 8
1.1.5 Communicating signals between QD75 and each module......................................................1-11
1.2 Flow of System Operation............................................................................................................... 1-12
1.2.1 Flow of the entire processes................................................................................................... 1-12
1.2.2 Outline for start...................................................................................................................... 1-14
1.2.3 Outline for stop....................................................................................................................... 1-16
1.2.4 Outline for restart................................................................................................................... 1-17
1.3 Cautions for Using a Stepping Motor.............................................................................................. 1-18

CHAPTER 2 SYSTEM CONFIGURATION 2- 1 to 2-

3 2.1 System Overview.................................................................................................................................... 2- 1
2.3 Device List………................................................................................................................................... 2- 2
2.3 Applicable System .................................................................................................................................. 2- 3

CHAPTER 3 SPECIFICATIONS AND FUNCTIONS 3- 1 to 3-21

3.1 Performance Specifications.................................................................................................................... 3- 1
3.2 List of Functions...................................................................................................................................... 3- 3
3.2.1 QD75 control functions .................................................................................................................. 3- 3
3.2.2 QD75 main functions ..................................................................................................................... 3- 5
3.2.3 QD75 sub functions and common functions............................................................................3- 7
3.3 Specifications of Input/Output Signals with PLC CPU......................................................................3-10
3.3.1 List of input/output signals with PLC CPU...............................................................................3-10
3.3.2 Input/output signal timing........................................................................................................ 3-11
3.4 Input/Output Interfaces with External Devices.................................................................................3-14
3.4.1 Input/output interface signals.................................................................................................. 3-15
3.5 Buffer Memory............................................................................................................................... 3-17
3.5.1 Buffer memory configuration.................................................................................................. 3-17
3.5.2 Explanations of frequently-used buffer memory address........................................................3-18

A-3
CHAPTER 4 TYPES AND FUNCTIONS OF SETTING DATA 4- 1 to 4-44

4.1 Parameters ............................................................................................................................................. 4- 2

4.1.1 Basic parameters........................................................................................................................... 4- 2
4.1.2 Detailed parameters............................................................................................................... 4-10
4.2 OPR Parameters............................................................................................................................ 4-20
4.2.1 OPR basic parameters.......................................................................................................... 4-20
4.2.2 OPR detailed parameters...................................................................................................... 4-26
4.3 Positioning Data.............................................................................................................................. 4-28
4.3.1 Linear control......................................................................................................................... 4-34
4.3.2 Fixed-feed.............................................................................................................................. 4-35
4.3.3 Circular interpolation control with sub point designation..........................................................4-36
4.3.4 Circular interpolation control with center point designated.......................................................4-37
4.3.5 Speed control......................................................................................................................... 4-38
4.3.6 Speed-position switching control............................................................................................. 4-39
4.3.7 Position-speed switching control............................................................................................. 4-40
4.3.8 NOP instruction...................................................................................................................... 4-41
4.3.9 Current value changing.......................................................................................................... 4-42
4.3.10 JUMP instruction.................................................................................................................... 4-43
4.3.11 LOOP to LEND control........................................................................................................... 4-44

CHAPTER 5 EXERCISE (1) TEST OPERATION USING SW D5C-QD75P 5- 1 to 5-18

5.1 System Configuration of Demonstration Machine ................................................................................. 5- 1
5.2 Starting Up and Exiting SW D5C-QD75P ............................................................................................ 5- 3
5.2.1 Start up operation .......................................................................................................................... 5- 3
5.2.2 Exit operation ................................................................................................................................. 5- 4
5.3 Specifying Connection Target QD75...................................................................................................... 5- 5
5.4 Initialization and Connection Check Using SW D5C-QD75P .............................................................. 5- 6
5.5 Positioning Exercise Using Test Operation Function............................................................................. 5- 8
5.5.1 Basic parameter and OPR basic parameter setting ..................................................................... 5-
9 5.5.2 Positioning data setting.......................................................................................................... 5-10
5.5.3 Simulation.............................................................................................................................. 5-11
5.5.4 Data write to QD75................................................................................................................. 5-12
5.5.5 Test operation and monitoring................................................................................................ 5-13
5.6 Search Method of Error Code and Warning Code Using Help........................................................5-17
 CHAPTER 6EXERCISE (2) 1-AXIS POSITIONING OPERATION
USING SEQUENCE PROGRAM 6- 1 to 6-56

6.1 Positioning System Used in Exercise..................................................................................................... 6- 1

6.2 Practice Question (1) .............................................................................................................................. 6- 2
6.3 Opening Text FD Project........................................................................................................................ 6- 3
6.4 Saving Project to User FD ...................................................................................................................... 6- 9
6.5 Writing Data to QD75..................................................................................................................... 6-11
6.6 Starting Up and Exiting GPPW....................................................................................................... 6-12
6.6.1 Startup operation.................................................................................................................... 6-12
6.6.2 Exit operation......................................................................................................................... 6-13
6.7 Creating Positioning Sequence Program......................................................................................... 6-14
6.8 Device Assignment Used in Exercise.............................................................................................. 6-15
6.9 Simple Sequence Program............................................................................................................. 6-18
6.10 Practice Question (2) JOG Operation.............................................................................................. 6-20
6.11 Sample Sequence Program............................................................................................................ 6-22
6.11.1 PLC READY........................................................................................................................... 6-23
6.11.2 Error code display and error reset......................................................................................... 6-23
6.11.3 Current value read of axis 1................................................................................................... 6-24
6.11.4 JOG operation of axis 1......................................................................................................... 6-25
6.11.5 OPR of axis 1........................................................................................................................ 6-26
6.11.6 Start of positioning data.......................................................................................................... 6-27
6.11.7 Multiple points continuous positioning.....................................................................................6-29
6.11.8 Multiple points continuous positioning by speed switching.......................................................6-30
6.11.9 Stop in operation.................................................................................................................... 6-31
6.11.10 Restart after stopping............................................................................................................. 6-32
6.11.11 Speed change during positioning............................................................................................ 6-33
6.11.12 Address designation by digital switch......................................................................................6-34
6.11.13 Teaching playback.................................................................................................................. 6-35
6.11.14 Speed/movement amount designation by digital switch..........................................................6-37
6.11.15 Fixed-feed............................................................................................................................. 6-39
6.11.16 Speed control......................................................................................................................... 6-40
6.11.17 When external command signal is used.................................................................................6-42
6.11.18 Speed position switching control by external command signal................................................6-43
6.11.19 Positioning using M code........................................................................................................ 6-45
6.11.20 Summary of sequence program............................................................................................. 6-49
6.12 Monitoring Buffer Memory Using GPPW......................................................................................... 6-54
6.13 Practice Question (3) Parameter Change During RUN...................................................................6-55

CHAPTER 7EXERCISE (3) 3-AXIS POSITIONING OPERATION

USING SEQUENCE PROGRAM 7- 1 to 7-16
7.1 XYZ Axis Control Positioning Operation System ................................................................................... 7- 3
7.2 Parameter of Axis 1, Axis 2, Axis 3 and OPR Parameter...................................................................... 7- 4
7.3 Sequence Program for 3-Axis Control ................................................................................................... 7- 6
7.4 Independent Positioning to Standby Point by Each Axis.................................................................7-12
7.5 Interpolation Operations (Axis 1/Axis 2) and Simultaneous Operation (Axis 3).................................7-14
7.6 3-Axis Interpolation Operation......................................................................................................... 7-16
APPENDICIES App- 1 to App-42

Appendix 1 X-Y-Z Control Demonstration Machine .................................................................................App- 1

Appendix 2 Installing SW D5C-QD75P ..................................................................................................App- 8
Appendix 3 QD75 Maintenance Instructions ...........................................................................................App-12
Appendix 4 Intelligent Function Module Direct Device ............................................................................App-13
Appendix 5 QD75 Dedicated Instructions................................................................................................App-14
Appendix 5.1 PSTRT1, PSTRT2, PSTRT3, PSTRT4.........................................................................App-16
Appendix 5.2 TEACH1, TEACH2, TEACH3, TEACH4 .......................................................................App-20
Appendix 5.3 PFWRT ..........................................................................................................................App-23
Appendix 6 Connection Examples with Servomotors..............................................................................App-26
Appendix 6.1 Connection Example of QD75D and MR-H A (Differential Driver)*6 ......................App-26
Appendix 6.2 Connection Example of QD75D and MR-J2/J2S A (Differential Driver) *5.............App-27
Appendix 6.3 Connection Example of QD75D and MR-C A (Differential Driver) *5 .....................App-28
Appendix 7 Comparisons with Conventional Positioning Modules .........................................................App-29
Appendix 7.1 Comparisons with A1SD71S2 Model ............................................................................App-29
Appendix 7.2 Comparisons with A1SD75............................................................................................App-30
Appendix 8 Glossary of MELSEC Positioning Related Terms ................................................................App-36
 INTRODUCTION

This textbook is a school textbook that allows you to easily understand the 1-axis and
multiple axes control by the positioning module of MELSEC-Q series.
For a good understanding of the QD75 positioning module features, this textbook
describes the data settings for positioning, the sequence program creating method, the
monitoring operation and the test operation by using the QD75D4 positioning module
and the Windows version (QD75P, GPPW) software packages for a demonstration
machine. As this textbook avoids any mention of the advanced positioning control (block
start, etc.), refer to the user's manual for them.

The related manuals are shown

(1) QD75 Positioning Module User's Manual

Type QD75P/QD75D Positioning Module
User's Manual ........................................................................................ SH(NA)-080058

(2) Operating Manual

GX Configurator-QP Operating Manual ............................................... SH(NA)-080172
GX Developer Version8 Operating Manual........................................SH(NA)-080373E

(3) QCPU (Q mode) User's

Manual QCPU User's Manual
(Function Explanation,Program Fundamentals) .......................... SH(NA)-080484ENG

(4) Servo
MR-H□AN Instruction Manual ................................................................... SH(NA)-3190
MR-J2-03A5 Instruction Manual ............................................................... SH(NA)-3200
MR-J2S-□A Instruction Manual............................................................. SH(NA)-030006
MR-C□A Instruction Manual...................................................................... SH(NA)-3167
Servo Motor Instruction Manual ................................................................ SH(NA)-3181
MEMO
CHAPTER1 PRODUCT OUTLINE

1.1 Positioning Control

1.1.1 Features of QD75

The features of the QD75 are shown below.

(1) Availability of modules for one-, two- and four- axis controls
(a) There are three models available for both the open collector system pulse
output (QD75P1, QD75P2, and QD75P4) and differential driver system pulse
output (QD75D1, QD75D2, and QD75D4).
An optimum model can be selected by the drive unit type and the number of
axes.

(b) For connecting any of the QD75 modules to the base unit, a single slot and
32 I/O points are required.
Within the limit imposed by the maximum I/O points of the PLC CPU, up to
64 modules can be used.

(2) Positioning control function

(a) A wide variety of positioning control functions for positioning systems is
supported.
1) Up to 600 positioning data to each of which information such as
positioning address, control system, and operation pattern can be
specified can be set for each axis.
As all positioning data are stored in a buffer memory, they can be
read/written freely.
2) For independent control of each axis, linear control is executable
simultaneously over four axes.
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) For coordinated control over multiple axes, the QD75 allows the linear
interpolation through the speed or position control of two to four axes or
the circular interpolation on two axes.
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) For each positioning data, the user can specify any of the following control
methods: position control, fixed-feed control, speed control, speed-position
switching control, position-speed switching control, and so on.

(c) Enhanced zero return (OPR) control

1) Six different machine OPR methods are provided: the zeroing dog
method (one method), stopper methods (three methods) and count
methods (two methods).
2) The OPR retry function facilitates the machine OPR control from an
arbitrary position.
(The machine OP is a premier reference position in positioning control,
and is set by the machine OPR mentioned in 1) above.)

1-1
 (d) Two acceleration/deceleration methods (selectable by users) are
provided: automatic trapezoidal acceleration/deceleration and S-curve
acceleration/deceleration. (The S-curve acceleration/deceleration control is
disabled if stepping motors are used.)

(3) Quick startup

A positioning operation starts up quickly taking as little as 6 ms to 7 ms.
When operation using simultaneous start function (independent operation,
interpolation operation) is executed, the axes start without delay. (Quick startup of
the AD75 takes 20ms.)

(4) Faster pulse output and longer maximum distance to drive unit
The differential driver type modules (QD75D1, QD75D2 and QD75D4)
incorporate the following improvements in the pulse output speed and the
maximum distance to the drive unit.
• For the differential driver type module, QD75D1/QD75D2/QD75D4:
1 Mpulse/s, 10m max.
• For the open collector type, QD75P1/QD75P2/QD75P4:
200 kpulse/s, 2m max. (For the differential driver type module AD75: 400
kpulse/s, 10m max.)

(5) Easy maintenance

Each QD75 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 QD75, eliminating the need of a battery for retaining data.

(b) Error contents are classified in more detail to facilitate the initial
fault diagnosis.

(c) The module retains 16 error data and 16 warning data, offering
easier confirmation of error and warning histories.

(6) Support of intelligent function module dedicated instructions

Dedicated instructions such as the positioning start instruction and teaching
instruction are provided.
The use of such dedicated instruction simplifies sequence programs.

(7) Support of setting, monitoring and testing with a software package for
positioning Using a software package for positioning (SW D5C-QD75P), the
user can set the QD75 parameters and positioning data without considering the
buffer memory addresses.
Moreover, the software package has a test function which allows the user to
check the wiring before creating a sequence program for positioning control, or to
test the QD75 using set parameters and positioning data for checking their
integrity.
The control monitor function allows the user to debug programs efficiently.
1.1.2 Purpose and applications of positioning control

"Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter

called "workpiece"), at a designated speed, and accurately stopping it at the target
position. The main application examples are shown below.

Punch press (X, Y feed positioning)

Y axis
screw
Gear and ball • To punch an insulation
15m/min
servomotor Y axis
X axis
(2000rev/min) material, leather, etc., in the
Yaxis same shape at a high yield,
15m/min
Press punching (1875rev/min) positioning is carried out
12s
with the X axis and Y axis
Servo
amplifier Press head X axis servos.
gear and rack & pinion
• After positioning the table
X axis
servomotor
with the X axis servo, the
QD75 press head is positioned with
Servo amplifier the Y axis servo to punch
Xaxis
the workpiece with the press
Yaxis
• When the material type or
shape changes, the press.
head die and the
positioning
pattern must be changed.

Palletizer
• Using the 1-axis servo,
Conveyor control
Conveyor
the palletizer is positioned
Servomotor
at a high accuracy.
(with a brake) • The amount to lower the
Position detector
Reduction
palletizer according to the
Palletizer
Servo amplifier gears material thickness is
Ball screw Unloader control
saved.
(From QD75)

QD75

Compact machining center (ATC magazine positioning)

 • The ATC tool magazine for
Servomotor
a compact machining
Coupling center is positioned.
Reduction gear
ATC tool magazine
• The relation between the
magazine's current value
Servo
amplifier and target value is
Positioning pin
Tool
(12 pcs., 20 pcs.) calculated so the
positioning is performed in
Rotation direction Rotation direction
for calling
11, 12, 1, 2 or 3
for calling
17 to 20, 1 to 5
the forward or reverse
Current Current direction, whichever is
value value
QD75 retrieval
position
retrieval
position
shorter access.
Rotation Rotation
direction direction
<No. of tools: 12> <No. of tools: 12>
for calling for calling
5, 6, 7, 8, 9 or 10 7 to 16

Lifter (Storage of Braun tubes onto aging rack)

Unloader
• For the aging process,
Loader/unloader CRTs are stored onto the
rack by positioning with the
Conveyor B
Aging rack AC servo.
Lifter • The lifter is vertically
Conveyor C
Servo amplifier positioned with the 1-axis
Conveyor A
Counterweight
servo, and the aging rack is
Reduction horizontally positioned with
gears QD75
Loader
Servomotor
the 2-axis servo.
Servomotor
(with brakes)
Servo amplifier

Index table (High-accuracy indexing of angles)

• The index table is
QD75
positioned at a high
accuracy using the 1-axis
Digital switch servo.
Servo amplifier

Index table

Detector
Worm gear
servomotor

Inner surface grinder

 Servomotor • The grinding of the
Motor
Workpiece workpiece's inner surface is
Grinding stone
Inverter Motor
controlled with the servo
and the inverter.
Servo
amplifier • Rotation of the workpiece is
220VAC
With the fixed grinding
stone, the workpiece is
controlled with the 1-axis
fed and ground.
inverter, and that of the
Operation panel
a. Total feed amount (µm) grinding stone is controlled
b. Finishing feed amount (µm)
c. Compensation amount (µm)
d. Rough grinding speed (µm/s)
with the 2-axis inverter. The
e. Fine grinding speed (µm/s)
workpiece is fed and
QD75 ground
with the 3-axis servo.
 1.1.3 Mechanism of positioning control

Positioning control using the QD75 is carried out with "pulse signals". (The QD75 is a
pulse-generating module.)
In the positioning system using the QD75, software packages for the QD75 and the
GPP functions and external devices are used as shown in the diagram below.
Controlled by a PLC CPU, the QD75 realizes complicated positioning control, by
reading in various signals, parameters and positioning data.

Outputs the start and stop signals according to the stored program.
Detects errors occurred in the QD75.
Creates control sequences and conditions as
a sequence program.

GPP function S/W package PLC CPU

Inputs signals such as the start signal,stop signal, limit signal and control switch signal to the QD75.

External signal
S/W package for QD75 QD75 Transmits pulses.
positioning module
Manual pulse generator

Sets parameters and positioning data for control.

Outputs the start command for JOG operation, etc., during test operation in the test mode. Stores parameters and positioning data.
Monitors positioning operations. Outputs pulses to the servo amplifier.

Servo amplifier

Receives pulse commands from QD75, and drives the motor.

Outputs the drive unit READY signal and zero signal to the QD75.

Motor

Performs the actual operations according to commands from the servo.

Workpiece
 (1) Principe of position commands

The total No. of pulses required to move the designated distance is obtained in
the following manner.
No. of pulses required
Designated x for motor to rotate once
Total No. of pulses required to distance
=
move designated distanceMachine (load) side moving distance for each motor rotation

*The No. of pulses required for the motor to rotate once is the
"encoder resolution" shown in the motor catalog specifications.

When this total No. of pulses is issued from the QD75 to the servo amplifier, control to
move the designated distance can be executed.
The machine side moving amount produced by outputting one pulse to the servo
amplifier is called the "moving amount per pulse". This value is the minimum value for
the workpiece motion, and represents the electrical positioning accuracy.

(2) Principe of speed commands

A speed command is controlled by the frequency of pulses output from the QD75
to a drive unit.

This area is the total No. of command pulses.

Pulse frequency [pps]

Positioning module Servo amplifier Servo motor A

Detector

ta tb tc (s)
Speed = Pulses frequency
Moving distance = No.of pulsesPulses generated by detector 0.4 1.2 0.4

Feedback pulses = Pulses generated by detector Travel time t = 2

Fig. 1.1 Relationship between position control and speed control

POINT
The QD75 controls positions with "total No. of pulses” and speeds with "pulse frequency".
1.1.4 Outline design of positioning system

The outline of the positioning system operation and design, using the QD75, is
shown below.

(1) Positioning system using QD75

PLC CPU Positioning module QD75

Forward run pulse train Drive unit Servomotor

Speed
command Servo
D/A converter
ProgramRead, write, etc. Deviation counter amplifier M
Reverse run pulse train
Setting data

Peripheral Interface
devicesRead, write, etc. interface

PG
Feedback pulse
Read, write, etc.

SWD5C-QD75P

Personal computer
Fig. 1.2 Outline of the operation of positioning system using QD75

(a) Positioning operation by the QD75

1) The QD75 output is a pulse train.
The pulse train output by the QD75 is counted by and stored in the
deviation counter in the drive unit.
The D/A converter outputs an analog DC current proportionate to the
count maintained by the deviation counter (called "pulse droop"). The
analog DC current serves as the servomotor speed control signal.

2) The motor rotation is controlled by the speed control signal from the
drive unit.
As the motor rotates, the pulse generator (PG) attached to the motor
generates feedback pulses, the frequency of which is proportionate to
the rotation speed.
The feedback pulses are fed back to the drive unit and decrements the
pulse droop, the pulse count maintained by the deviation counter.
The motor keeps on rotating as the pulse droop is maintained at a
certain level.

3) After the QD75 terminates the output of a pulse train, the motor
decelerates as the pulse droop decreases, and stops when the count
drops to zero.
Thus, the motor rotation speed is proportionate to the command pulse
frequency, while the overall motor rotation angle is proportionate to the
total number of command pulses output by the QD75.
Therefore, when a movement amount per pulse is given, the overall
movement amount can be determined by the number of pulses in the
pulse train.
The pulse frequency, on the other hand, determines the motor rotation
speed (feed speed).
 (b) Pulse train output from the QD75
1) As shown in Fig. 1.3, the pulse frequency increases as the motor
accelerates. The pulses are sparse when the motor starts and more
frequent when the motor speed comes close to the target speed.
2) The pulse frequency stabilizes when the motor speed equals the target
speed.
3) The QD75 decreases the pulse frequency (sparser pulses) to decelerate
the motor before it finally stops the output.
There will be a little time delay between the decrease in the pulse
frequency and the actual deceleration and stopping of the motor.
This difference, called "the stop settling time", is required for gaining a
stopping accuracy.

Sp
Servomotor speed
ee
d Pulse droop amountPulse
V distribution

Acceleration Deceleration Time t

Stop settling time

Pulse trainRough Dense Rough

Fig. 1.3 QD75 output pulses

(2) Movement amount and speed in a system using worm gears

A : Position detection unit (mm/pulse)

V Vs : Command pulse frequency (pulse/s)
Workpiece n : Number of pulse generator's slits
Worm (number of pulses)
gear
Pulse encoder (PG) (pulse/rev) L : Worm gear lead
R Table
L
(mm/rev)
R : Deceleration ratio
Servomotor V : Movable section speed
(mm/s) N : Motor speed (r/min)
K : Position loop gain (1/s)
 : Deviation counter droop pulse amount
Fig. 1.4 System using worm gears
(a) In the system shown in Fig. 1.4, the position detection unit, command pulse
frequency, and the deviation counter droop pulse amount are determined as
follows:
1) Position detection unit
The position detection unit is determined by the worm gear lead,
deceleration ratio, and the number of pulse generator's slits.
The movement amount per pulse in the QD75 is a position detection unit.
The movement amount, therefore, is given as follows: (Number of output
pulses) x (Position detection unit).

L [mm/pulse]
A=
R n

2) Command pulse frequency

The command pulse frequency is determined by the speed of the moving
part and position detection unit:

V [Pulse/s]
Vs =
A

3) Deviation counter droop pulse amount.

The deviation counter droop pulse amount is determined by the
command pulse frequency and position loop gain.

Vs [Pulse]
= K

(b) The QD75 allows the user to select from the following four units as the unit
used by positioning commands to any of axes (1 to 4, if the module supports
four axes): mm, inch, degree, and pulse.
The unit selected for one axis can be different from the unit selected for
another axis.
When data such as the movement amount per pulse,
acceleration/deceleration time, positioning speed, and positioning address
are correctly set in consideration of the chosen unit, the QD75 can calculate
the number of pulses required for a movement amount to the target
positioning address and execute the positioning by outputting the pulse train
of the calculated number of pulses.
1.1.5 Communicating signals between QD75 and each module

The outline of the signal communication between the QD75 and PLC CPU, peripheral
device and drive unit, etc., is shown below.
(A peripheral device communicates with the QD75 via the PLC CPU to which it is
connected)
PLC QD75
CPU
PLC READY signal Drive unit READY signal
Y0
QD75 READY signal Upper/lower limit signal
X0 External
Synchronization flag Near-point dog signal signal
X1
Forward run JOG start signal Zero signal Drive unit
Y8,YA,YC,YE
Reverse run JOG start signal
Y9,YB,YD,YF
Ex
ter Deviation counter clear
na
l Pulse train
int
erf
Positioning start signal ac
Y10,Y11,Y12,Y13 Manual pulse generator A-phase
Manual pulse
Positioning complete signal Manual pulse generator B-phase generator
X14,X15,X16,X17
Stop signal
BUSY signal External
XC,XD,XE,XF External command signal
X10,X11,X12,X13 Start complete signal signal

Y4,Y5,Y6,Y7 Stop signal Int

erf
ac
X4,X5,X6,X7 M code ON signal
e
wit
h
PL
C
Error detection signal C
X8,X9,XA,XB P

Data write/read

Parameter write/read
Positioning data write/read
Pe Block start data write/read
rip
he
OPR operation (test)
ral
JOG operation (test), Inching operation
de
vic Positioning operation (test)
e
int Operation monitor
erf
ac
e

Peripheral device
1.2 Flow of System Operation

1.2.1 Flow of the entire processes

The positioning control processes, using the QD75, are shown below.

SW D5C-QD75P QD75 Servo, etc. PLC GPPW

CPU

System design
(1)
Design

Installation, wiring
(2)

(3) (4)
Setting of: Creating sequence
· Parameters program for operation
Preparation

· Positioning data

Writing program
Writing setting (6)
data

(5)

(7) Connection check · PC test

· Circuit
·Test operation monitoring
Test operation

(8)
Operation

Actual Monitoring
Monitoring operation
(9)
Maintenance

(10) Maintenance
The following operations are performed for the processes shown on the previous
page.

Description Reference
1) Understand the product functions and usage,
and related devices and specifications required
for positioning control, to determine the
operation
method and design the system.
2) Install the QD75 onto the base unit, wire the • QD75 User's Manual
(Details)
QD75 and external devices (drive unit, etc.), and
connect the PLC CPU to peripheral devices.
3) Using the S/W package for the QD75, set • S/W Package for QD75
parameters and positioning data required for the Operating Manual
positioning control to be executed.
4) Using the GPP function S/W package, create a • GPP Function S/W
sequence program required for positioning Package Operating Manual
operation.
5) Write the parameters and positioning data, etc., • S/W Package for QD75
created with the S/W package into the QD75. Operating Manual
6) Using the GPP function S/W package, write the • GPP Function S/W
created sequence program into the PLC CPU. Package Operating Manual
7) Check the connection between the QD75 and • S/W Package for QD75
external devices, and test the system to check Operating Manual
whether the designated positioning operation
is
executed correctly.
8) Carry out test operation to confirm that the • GPP Function S/W
designated positioning operation is executed Package Operating Manual
correctly.
9) Actually operate the positioning operation. At • QD75 User's Manual (Details)
this time, monitor the operation state as • S/W Package for QD75
required. If an error or warning occurs, take Operating Manual
corrective actions. • GPP Function S/W
Package Operating Manual

10) Inspect and service the QD75 as required. • QD75 User's Manual
1.2.2 Outline for start

The outline for starting each control is shown in the following flowchart.
* The following chart is made on the premise that each module installation and
required system configuration has been completed.

Flow for starting controls

Installation and connection of module

Preparation
Setting of hardware

Positioning control OPR control Manual control

Control functions

Position control Speed control Speed-position switching control Position-speed switching control Other
OPRcontrol
control JOG operation

Inching operation

Manual pulse generator operation

Positioning parameters
Set the positioning parameters.

OPR
parameters
Set the OPR parameters.

Positioning
Set the positioning data.
data

Control data Set the positioning start No. Set the manual pulse generator enable flag to "1".
Set the JOG speed.

Set the inching movement amount to other than 0.

Set theamount
Set the inching movement pulse input
to 0.magnification for the manual pulse generator.

Input the start signal. Turn the QD75Operate the JOG start signal ON frommanual pulse the PLC CPU.generator.
Method (1) Turn ON the QD75 start signal from the PLC CPU. Method (2) Execute the PSTRT instruction from the PLC CPU. Method (3) Turn the QD75 external start signal ON.
Start signal

Control start

Operation

Control end
Stop
 Setting method
: Indicates the sequence program that must be created.

<SW D5C-QD75P>

Write
Set parameters and positioning data for executing main functions.
Write QD75
PLC CPU

<GPPW>

Create sequence program for executing main functions.

* Create sequence program by which control signals, such as start signal, are output to QD75.

Write
PLC CPU

<GPPW>

Speed change
Current value changingCreate a sequence program
Torque limitfor the sub functions.
Restart, etc.
1.2.3 Outline for stop

Each control may be stopped in the following cases.

(1) When each control is completed normally.

(2) When the drive unit READY signal is turned OFF.
(3) When the PLC READY signal is turned OFF.
(A stop error such as "parameter error" or "watchdog timer error" occurred.)
(4) When an error occurred in the QD75.
(5) When control is intentionally stopped by turning on the stop signal from PLC
CPU or the stop signal from an external device.

The outline for the stop processing in these cases is shown below.
(Excluding (1), the case of normal stop.)

Stop processing

Positioning control
Manual
OPR control
control
Axis
Stop operation

Manual pulse generator

Stop factor

Machine OPR control

Fast OPR control

axis status
after

Inching operation
stop

JOG operation

Deceleration operation
Drive unit READY signal
OFF Each
Forced stop
axis
Error Immediate stop stop

Fatal stop Hardware stroke limit signal Deceleration stop/sudden

Deceleration

ON stop
stop

Each
(Stop group 1) Error (Select from "sudden stop
axis
group1 sudden stop
selection" )
Emergency stop I/O reset Deceleration stop/sudden
Deceleration

PLC READY signal OFF stop

stop

All
(Stop group 2) Error in test mode Error (Select from "sudden stop
axes
group2 sudden stop
selection" )
Relatively safe Axis error detection (Error
Deceleration stop

stop other than stop group 1 or 2) Each

Error Deceleration stop/sudden
"Stop signal" from axis
stop
(Stop group 3) peripheral device
(Select from "sudden stop
Intentional stop "Stop signal" ON from
Stop group3 sudden stop
external source Each
(While selection" )
(Stop group 3) "Axis stop signal" from PLC axis
waiting)
CPU turns ON.
1.2.4 Outline for restart

When a stop is caused by a stop factor during position control, the positioning can be
restarted from the stop position to the end point specified in the positioning data by
using the "restart command".
For the case of continuous positioning or continuous path control operation, the
positioning is restarted from the stop position shown in the positioning data No.
associated with the moment when the movement was stopped.

(1) If the "axis operation status" is "stop", positioning to the end point of the
positioning data will be restarted from the stop position regardless of using the
absolute system or the incremental system.

(2) When "axis operation status" is not "stop", the warning "restart not possible"
(warning code: 104) will be output, and the restart command will be ignored.

(3) The following shows the restart operation when the axis 1 movement amount is
300 and the axis 2 movement amount is 600.
Axis 1 Axis 1

Stop position (due to stop factor) 400 Stop position (due to stop factor)
400 Designated Stop position
end

point position after restart

Start point Restart
address 200
200 100 Operation
during restart
100
100 300 700
Axis Axis 2
100 300 700 2
1.3 Cautions for Using a Stepping Motor

Pay attention to the following when using a stepping motor:

(1) The S-curve acceleration/deceleration is not available in systems where

stepping motors are used.
To employ the S-curve acceleration/deceleration, a servomotor is needed.

(2) The circular interpolation control is not available in systems where stepping
motors are used.
(To employ the circular interpolation control, servomotors are needed for both of
two controlled axes.)
CHAPTER 2 SYSTEM CONFIGURATION

2.1 System Overview

The entire system including the QD75, a PLC CPU and peripheral devices is shown
below.

Power supply module

PLC CPU Positioning module
*2 *1

Servomotor

Axis 1
Drive unitM
Pulse train

Axis 2
Drive unit M
Pulse train

RS-232C cable or Connection cable

USB cable

Axis 3

Peripheral devices ....... Software package for QD75 Drive unitM

Pulse train
(personal computer)GPP function software package

Axis 4
Drive unitM
Pulse train

*1: This is an example of a four-axis module (QD75P4, QD75D4).

*2: The capacity of the power supply module should exceed the inclusive sum of
internal current consumption of all modules on the base unit and extension
base units (without power supply).

2-1
2.2 Device List

The positioning system using the QD75 is composed of the following devices.

Product name Type Remarks

QD75P1 QD75
QD75P2
QD75P4 No. of control axes
Positioning module
QD75D1
P Open collector output system
QD75D2
D Differential driver output system
QD75D4
Software package for
SW D5C-QD75P Software package for Windows 95, Windows 98, Windows NT 4.0J
QD75
PC9800 series, IBM
Peripheral device (Prepared by users)
PC/AT personal
(Personal computer) Refer to the relevant GPPW Operating Manual for details.
computer
(Prepared by users)
Used for connecting a CPU module to a PC9800 series or IBM
RS-232C cable QC30R2
PC/AT personal computer.
Refer to D5C-QD75P Operating Manual for details.
(Prepared by users)
Used for connecting a CPU module to a PC9800 series or IBM
USB cable
PC/AT personal computer.
Refer to D5C-QD75P Operating Manual for details.
Drive unit (Prepared by users)
(Prepared by users)
Connection cable*1
Needed to connect the QD75 to the drive unit, manual pulse
(For connection
generator, and input devices in the machine system.
between QD75 and
(Produce cables referring to the manuals for the connected devices
drive unit)
and information given in 3.4 of this manual.)
*1: The following cables for connection between the QD75 and the drive unit are
manufactured by Mitsubishi Electric Engineering Co., Ltd.

Connectable
Model Remarks
QD75
FA-CBLQ75M2H(-P) MR-HA series (Mitsubishi Electric)
FA-CBLQ75M2J2(-P) MR-J2/J2SA series (Mitsubishi Electric)
FA-CBLQ75M2C(-P) QD75D1 MR-C series (Mitsubishi Electric)
QD75D2
FA-CBLQ75Y2  (-P) - series (YASKAWA Electric)
QD75D4
FA-CBLQ75P2A(-P) MINAS A series (MATSUSHITA Electric)
FA-CBLQ75S2PY(-P) PYO series (SANYO DENKI)
QD75P1
QD75P2 Untied wire type for the other end
QD75P4 (For connection between the QD75 and a
FA-CBLQ75G2(-P)
QD75D1 stepping motor manufactured by Oriental Motor
QD75D2
Co., Ltd.)
QD75D4

Cable length is 2m and one cable supports up to 2 axes.

Please contact Mitsubishi Electric Engineering Co., Ltd for the inquiry about
cables.

2-2
2.3 Applicable System

The QD75 can be used in the following system.

(1) Applicable CPU modules

The QD 75 is applicable to CPU modules that can be operated in the Q mode.
Q02CPU, Q02HCPU, Q06HCPU,
Q12HCPU, Q25HCPU

(2) Number of installable modules

Within the I/O point range of the PLC CPU, up to 64 modules can be used.

(3) Mounting slot

The QD 75 can be installed in any slot position in a base unit or extension unit.
When installing the QD75, always consider the power supply capacity since it may
be insufficient depending on the combination with other installed modules and the
number of these modules.
CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

3.1 Performance Specifications

Table 3.1 Performance specifications

Model QD75P1 *1 QD75P2 *1 QD75P4 *1
Item QD75D1 QD75D2 QD75D4
No. of control axes 1 axis 2 axes 4 axes
2-, 3-, or 4-axis linear
Interpolation function 2-axis linear interpolation
None interpolation
(Explained in Chapter 7) 2-axis circular interpolation
2-axis circular interpolation
PTP (Point to Point) control, path control (both linear and arc can be set), speed control,
Control system
speed-position switching control, position-speed switching control
Control unit mm, inch, degree, pulse
600 data (positioning data Nos. 1 to 600)/axis
Positioning data
(Can be set with peripheral device or sequence program.)
Parameters, positioning data, and block start data can be saved on flash ROM
Backup
(battery-less backup)
PTP control : Incremental system/absolute system
Positioning Speed-position switching control : Incremental system
system Position-speed switching control : Incremental system
Path control : Incremental system/absolute system
In absolute system
• - 214748364.8 to 214748364.7 (m)
• - 21474.83648 to 21474.83647 (inch)
• 0 to 359.99999 (degree)
• - 2147483648 to 2147483647 (pulse)
In incremental system
• - 214748364.8 to 214748364.7 (m)
Positioning range • - 21474.83648 to 21474.83647 (inch)
• - 21474.83648 to 21474.83647 (degree)
• - 2147483648 to 2147483647 (pulse)
Positioning In speed-positioning switching control/positioning-speed switching control
• 0 to 214748364.7 (m)
• 0 to 21474.83647 (inch)
• 0 to21474.83647 (degree)
• 0 to 2147483647 (pulse)
0.01 to 20000000.00 (mm/min)
0.001 to 2000000.000 (inch/min)
Speed command
0.001 to 2000000.000 (degree/min)
1 to 1000000 (pulse/s)
Acceleration/dec Automatic trapezoidal acceleration/deceleration, S-curve acceleration/
eleration process deceleration
Acceleration/dec 1 to 8388608 (ms)
eleration time Four patterns can be set for each of acceleration time and deceleration time
Sudden stop 1 to 8388608 (ms)
deceleration time
*1: QD75P represents the open collector output system, and QD75D represents the differential driver output
system.

3-1
 Table 3.1 Performance specifications (Continued)
Model QD75P1 *1 QD75P2 *1 QD75P4 *1
Item QD75D1 QD75D2 QD75D4
1-axis linear control 6
1-axis speed control 6
2-axis linear interpolation control
7
(Composite speeds)
2-axis linear interpolation control Factors in starting time extension
7 The following times will be added to the
(Reference axis speed)
2-axis circular interpolation control 7 starting time in the described conditions:
• S-curve acceleration/
Starting time (ms) 2-axis speed control 6 deceleration is selected : 0.5
3-axis linear interpolation control • Other axis is in operation : 1.5
7 • During continuous
(Composite speed)
positioning control : 0.2
3-axis linear interpolation control • During continuous path
7
(Reference axis speed) control : 1.0
3-axis speed control 6
4-axis linear interpolation control 7
4-axis speed control 7
External wiring connection 40-pin connector
system
Applicable wire size 0.3mm2 (for A6CON1), AWG#24 (for A6GON2)
Applicable connector for A6CON1, A6CON2(sold separately)
external device
QD75P1,QD75P2,QD75P4: 200kbps
Max. output pulse
QD75D1,QD75D2,QD75D4: 1Mbps
Max. connection distance QD75P1,QD75P2,QD75P4: 2m
between servos QD75D1,QD75D2,QD75D4: 10m
Internal current consumption QD75P1: 0.40A QD75P2: 0.46A QD75P4: 0.58A
(5VDC) QD75D1: 0.52A QD75D2: 0.56A QD75D4: 0.82A
No. of occupied I/O points 32 points (I/O assignment: 32 points for intelligent function module)
External dimensions 98(H) 27.4(W) 90(D)
Weight (kg) 0.15 0.15 0.16
*1: QD75P represents the open collector output system, and QD75D represents the differential
driver output system.

3-2
3.2 List of Functions

3.2.1 QD75 control functions

The QD75 has several functions. In this manual, the QD75 functions are categorized
and explained as follows.

(1) Main functions

1) OPR control
"OPR control" is a function that establishes 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.

2) Positioning control
This control is carried out using the "positioning data" stored in the QD75.
Positioning control, such as position control and speed control, is executed
by setting the required items in this "positioning data" and starting that
positioning data.

3) Manual control
By inputting a signal into the QD75 from an external source, the QD75 will
output a random pulse train and carry out control. Use this manual control to
move the workpiece to a random position (JOG operation), and to finely
adjust the positioning (inching operation, manual pulse generator
operation), etc.

(2) Sub functions

Control compensation, control limits and various functions can be added.

(3) Common functions

Common control using the QD75 such as "parameter initialization" or "backup of
execution data" can be carried out.
 Main functions Sub functions

Control registered in QD75

OPR control
<Functions characteristic to
machine OPR>
[Positioning start No.] OPR retry function
[9001]
Machine OPR OP shift function

[9002] <Functions that

Fast OPR
compensate control>
Backlash compensation
function
Electronic gear function
Near pass function
Positioning Control using "Positioning data"
control

[Positioning start No.]

[1 to 600] Positioning start

<Functions that limit control>

<Control system> <Operation
pattern> Speed limit function
· 1-axis linear control Torque limit function
· 2-, 3-, or 4-axis Software stroke limit function
linear interpolation
control Hardware stroke limit function
· 1-axis fixed-feed control Independent
Positioning · 2-, 3-, or 4-axis
control fixed-feed positioning control
control (Positioning complete)
· 2-axis circular
interpolation Continuous
control
positioning control
· 1-axis linear control <Functions that change
· 2-axis linear
Speed control interpolation control details>
control
· 3-axis linear Speed change function
interpolation
control Override function
Speed-position · 4-axis linear Acceleration/deceleration
switching control interpolation
control time change function
Position-speed Continuous path Torque change function
switching control control

Other control <Absolute position

restoration function>
· Current value
changing, NOP
instruction
· JUMP
instruction,
LOOP to LEND
<Other functions>
Step function

Manual control Skip function

Control with signals input from external source
Continuous operation
interrupt function
[Positioning start signal] M code output function
JOG start signal ON JOG operation, Inching operation
Pulse input from manual pulse generator Teaching function
Manual pulse generator operation Target position change
function
Command in-position function
Acceleration/deceleration
processing function

Common functions

Parameter initialization function Execution data backup function I/O logic switching function
3.2.2 QD75 main functions

The outline of the main functions for positioning control with the QD75 is described
below.
(Refer to QD75 User's Manual for details on each function.)

Main functions Details

Mechanically establishes the positioning start point
OPR control

Machine OPR control using a zeroing dog or stopper.

(Positioning start No. 9001)
Positions a target to the OP address (Machine feed
Fast OPR control value) stored in the QD75 using machine OPR.
(Positioning start No. 9002)
Linear control
(1-axis linear control) Positions a target using a linear path to the
(2-axis linear interpolation address set in the positioning data or to the
control) (3-axis linear position designated with the movement amount.
interpolation control) (4-axis
linear interpolation control)
Positions a target by the movement amount
Position
Fixed-feed control designated with the amount set in the positioning
control
(1-axis fixed-feed data.
control) (2-axis fixed- (With fixed-feed control, the current feed value is set
feed control) (3-axis to "0" when the control is started. With 2-, 3-, or 4-
fixed-feed control) (4- axis fixed-feed control, the fixed-feed is fed along a
axis fixed-feed control) linear
path obtained by interpolation.)
Positions a target using an arc path to the address
2-axis circular interpolation control set in the positioning data, or to the position
designated with the movement amount, sub point or
center point.
Linear control
(1-axis linear control)
Speed Continuously outputs the pulses corresponding to the
(2-axis linear interpolation
control command speed set in the positioning data.
control) (3-axis linear
interpolation control) (4-axis
linear interpolation control)
First, carries out speed control, and then carries out
position control (positioning with designated
Speed-position switching control:
movement amount) by turning the "speed-position
switching signal" ON.
First, carries out position control, and then carries out
speed control (continuous output of the pulses
Position-speed switching control:
corresponding to the designated command speed) by
turning the "position-speed switching signal" ON.
Changes the current feed value to the address set
in the positioning data.
The following two methods can be used.
Current value changing (The machine feed value cannot be changed.)
• Current value changing using the control system
• Current value changing using the current
value changing start No. (No.9003)
Other Non execution control system. When NOP instruction
control NOP instruction is set, this instruction is not executed and the
operation of the next data is started.
Unconditionally or conditionally jumps to designated
JUMP instruction
positioning data No.
Carries out loop control with repeated LOOP to
LOOP
LEND.
 Returns to the beginning of the loop control with
LEND
repeated LOOP to LEND.
Main functions Details
JOG operation Outputs a pulse while the JOG start signal is ON.
Manual control Outputs pulses corresponding to minute movement amount by manual
Inching operation operation.
(Performs fine adjustment with the JOG start signal.)
Manual pulse Outputs pulses sent from the manual pulse generator to servo amplifier.
generator (Carries out fine adjustment, etc., at the pulse level.)
operation

Operation pattern Details

Independent positioning When "independent positioning control" is set for the operation pattern of the
control started positioning data, only the designated positioning data will be executed,
(Positioning complete) and then the positioning will end.
When "continuous positioning control" is set for the operation pattern of the
Continuous positioning started positioning data, after the designated positioning data is executed, the
control program will stop once, and then the next following positioning data will be
executed.
When "continuous path control" is set for the operation pattern of the
Continuous path control started positioning data, the designated positioning data will be executed,
and then
without decelerating, the next following positioning data will be executed.
3.2.3 QD75 sub functions and common functions

(1) Sub functions

The functions that assist positioning control using the QD75 are described below.
(Refer to QD75 User's Manual for details on each function.)
Sub function Details
This function retries the machine OPR with the upper/lower
limit switches during machine OPR. This allows machine OPR
Functions OPR retry function
to be carried out even if the axis is not returned to before the
characteristic
zeroing
to machine
dog with JOG operation, etc.
OPR
After returning to the machine OP, this function compensates the
OP shift function position by the designated distance from the machine OP
position
and sets that position as the OP address.
This function compensates the mechanical backlash. Feed pulses
Backlash compensation
equivalent to the set backlash amount are output each time the
function
movement direction changes.
By setting the movement amount per pulse, this function can
Functions that
freely change the machine movement amount per commanded
compensate
Electronic gear function pulse.
control
When the movement amount per pulse is set, a flexible positioning
system that matches the machine system can be structured.
This function suppresses the machine vibration when the speed
Near pass function*1
changes during continuous path control in the interpolation control.
If the command speed exceeds "speed limit value" during control,
Speed limit function this function limits the commanded speed to within the "speed limit
value" setting range.
If the torque generated by the servomotor exceeds "torque limit
Torque limit function*2 setting value" during control, this function limits the generated
Functions that
torque to within the "torque limit setting value" setting range.
limit control
If a command outside of the upper/lower limit stroke limit setting
Software stroke limit
range, set in the parameters, is issued, this function will not
function
execute positioning for that command.
Hardware stroke limit This function carries out deceleration stop with the limit switch
function connected to the QD75 external device connector.
This function changes the speed during positioning.
Set the new speed in the speed change buffer memory
Speed change function
(New speed value), and change the speed with the speed
change request.
Functions that
This function changes the speed within a percentage of 1 to 300
change
Override function during positioning. This is executed using "positioning operation
control details
speed override".
Acceleration/decelerati This function changes the acceleration/deceleration time during
on time change function speed change.
Torque change function This function changes the "torque limit value" during control.
*1: The near pass function is featured as standard and is valid only for position control. It cannot
be set invalid with parameters.
*2: Using "torque limit function" requires a "D/A conversion module" and a "drive unit capable of
issuing torque limit commands with analog voltages".
Sub function Details
 This function temporarily stops the operation to confirm
the positioning operation during debugging, etc.
Step function
The operation can be stopped at each "automatic deceleration" or
"positioning data".
This function stops (decelerates to a stop) the positioning being
Skip function executed when the skip signal is input, and carries out the next
positioning.
This function issues a command for a sub work (clamp or drill
M code output function stop, tool change, etc.) corresponding to the M code No. (0 to
65535) that can be set for each positioning data.
This function stores the address positioned with manual control
Teaching function into the positioning address having the designated positioning
data No.
Other Target position change This function changes the target position during positioning.
functions function Position and speed can be changed simultaneously.
At each automatic deceleration, this function calculates the
remaining distance for the QD75 to reach the positioning stop
Command in-position position. When the value is less than the set value, the "command
function in-position flag" is set to "1".
When using another auxiliary work before ending the control, use
this function as a trigger for the sub work.
Acceleration/
deceleration process This function adjusts the control acceleration/deceleration.
function
This function interrupts continuous operation. When this request
Continuous operation
is accepted, the operation stops when the execution of the
interrupt function
current
positioning data is completed.
 (2) Common functions
The outline of the functions executed as necessary is described
below. (Refer to QD75 User's Manual for details on each function.)
Common functions Details
This function returns the "parameters" stored in the QD75 buffer
memory and flash ROM to the default values.
Parameter initialization function The following two methods can be used.
1) Method using a sequence program
2) Method using SW D5C-QD75P
This function stores the "setting data", currently being executed,
into the flash ROM.
Execution data backup function The following two methods can be used.
1) Method using a sequence program
2) Method using SW D5C-QD75P
This function switches I/O signal logic according to externally
connected devices.
I/O signal logic switching function This function enables the use of the system that does not use
normally close signals, such as the drive unit READY or
upper/lower limit signal, by setting parameters to positive logic.
3.3 Specifications of Input/Output Signals with PLC CPU

3.3.1 List of input/output signals with PLC CPU

The QD75 uses 32 input points and 32 output points for exchanging data with the PLC
CPU.
The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit
are shown below.

Device X refers to the input signals from the QD75 to the PLC CPU, and device Y
refers to the output signals from the PLC CPU to the QD75.

Table 3.2 List of Input/output signals

Signal direction: QD75 PLC CPU Signal direction: PLC CPU QD75
Device No. Signal name Device No. Signal name
OFF : PLC READY
ON : READY
QD75 OFF
X0 OFF : Not READY/Watch Y0 PLC READY
READY ON : PLC READY
dog timer error
ON
OFF : Module access
Synchronizati disabled
X1 Y1
on flag ON : Module access
Use prohibited
enabled
X2 Y2
X3 Use prohibited Y3
X4 Axis 1 Y4 Axis 1 OFF : Axis stop not
X5 Axis 2 OFF : M code is not set Y5 Axis 2 requested
X6 Axis 3 Y6 Axis 3 Axis stop
ON : M code is set ON : Axis stop
X7 Axis 4 Y7 Axis 4 requested
Forward run
X8 Axis 1 Y8 Axis 1
JOG start
Reverse run
X9 Axis 2 Y9 Axis 1 JOG start
OFF : No error
ON : Error occurrence Forward run
XA Axis 3 YA Axis 2
JOG start
Reverse run
XB Axis 4 YB Axis 2 JOG start OFF : JOG not
Forward run started
XC Axis 1 YC Axis 3 ON : JOG started
JOG start
Reverse run
XD Axis 2 YD Axis 3 JOG start
OFF : Not BUSY
ON : BUSY Forward run
XE Axis 3 YE Axis 4
JOG start
Reverse run
XF Axis 4 YF Axis 4 JOG start
X10 Axis 1 Y10 Axis 1 OFF : Positioning start
X11 Axis 2 OFF : Start incomplete Y11 Axis 2 Positioning not requested
X12 Axis 3 ON : Start complete Y12 Axis 3 start ON : Positioning start
X13 Axis 4 Y13 Axis 4 requested
X14 Axis 1 Y14
X15 Axis 2 OFF : Positioning incomplete Y15
X16 Axis 3 ON : Positioning complete Y16
X17 Axis 4 Y17
X18 Y18
X19 Y19
X1A Y1A Use prohibited
X1B Y1B
X1C Use prohibited Y1C
X1D Y1D
X1E Y1E
X1F Y1F

IMPORTANT
[Y1 to Y3], [Y18 to Y1F], [X2, X3], and [X18 to X1F] are used by the system, and cannot be
used by users.
If these devices are used, the operation of the QD75 will not be guaranteed.

3 – 10
3.3.2 Input/output signal timing

The following shows the Input/output signal timing at OPR, positioning operation, JOG
operation and manual pulse generator operation.

(1) Input/output signal timing at OPR

PLC READY(Y0) Q75 READY(X0)

Start(Y10,Y11,Y12,Y13)

BUSY(X0C,X0D,X0E,X0F)

t1

Start complete (X10,X11,X12,X13)

t4

Axis operation status (Axis monitor) Waiting In OPR Waiting

t2

External output pulse (PULSE)

OPR operation

OPR request flag * (Axis monitor)

t3
OPR complete flag * (Axis monitor)

Note: If all signals marked with an asterisk (*) are already ON or OFF, the signals
marked with an asterisk (*) will turn ON or OFF when the positioning start signal
turns ON.

Normal timing time Unit: ms

t1 t2 t3 t4

1.0 to 1.4 2.7 to 4.4 0 to 1.8 0 to 1.8

• The t1 timing time could be delayed depending on the operating conditions of

the other axis.
 (2) Input/output signal timing of the position control operation

Start(Y10,Y11,Y12,Y13)

BUSY(X0C,X0D,X0E,X0F)
t1
M code ON(X4,X5,X6,X7)
(WITH mode)
t2
M code OFF request
(Axis control data)

Start complete (X10,X11,X12,X13)

t3

Axis operation status (Axis monitor)

Waiting Controlling position Waiting

t4

External output pulse (PULSE)

Positioning operation

t5
*
Positioning complete (X14,X15,X16,X17)
t6

M code ON(X4,X5,X6,X7)
(AFTER mode)
t2
M code OFF request
(Axis control data)

*
OPR complete flag (Axis monitor)

Note: If all signals marked with an asterisk (*) are already ON, the signals marked with
an asterisk (*) will turn OFF when the positioning start signal turns ON.

Normal timing time Unit: ms

t1 t2 t3 t4 t5 t6
Follows
1.2 to 2.3 0 to 1.8 0 to 1.8 2.7 to 4.4 0 to 1.8
parameters
• The t1 timing time could be delayed depending on the operating conditions of
the other axis.
 (3) Output signal timing at JOG operation

Forward run JOG (Y8,Y0A,Y0C,Y0E)

t2
Reverse run JOG
(Y9,Y0B,Y0D,Y0F)

BUSY(X0C,X0D,X0E,X0F)
t1 t4

Axis operation status (Axis monitor) Waiting In JOG operation Waiting

t3

External output pulse (PULSE)

JOG operation

*
Positioning complete (X14,X15,X16,X17)

Note: If all signals marked with an asterisk (*) are already ON, the signals marked with
an asterisk (*) will turn OFF when the positioning start signal turns ON.

Normal timing time Unit: ms

t1 t2 t3 t4

1.0 to 3.0 0 to 1.8 2.7 to 4.4 0 to 1.8

• The t1 timing time could be delayed depending on the operating conditions of

the other axis.
3.4 Input/Output Interfaces with External Devices

QD75 connector’s signal layout for external devices is shown below.

QD75P1 QD75P2
RUNAX1 RUNAX1 AX2 QD75P4
RUN AX1
AX2
AX3
ERR ERR AX4

ERR
AX3 AX1
AX4 AX2

AX1 AX2

AX1

Table 3.3 Signal layout of connector

Axis 4 (AX4) Axis 3 (AX3) Axis 2 (AX2) Axis 1 (AX1)
PIN layout
Pin No. Signal name Pin No. Signal name Pin No. Signal name Pin No. Signal name
2B20 Vacant 2A20 Vacant 1B20 PULSER B- 1A20 PULSER B+
2B19 Vacant 2A19 Vacant 1B19 PULSER A- 1A19 PULSER A+
PULSE COM PULSE COM PULSE COM PULSE COM
2B18*3 2A18*3 1B18*3 1A18*3
PULSE R- PULSE R- PULSE R- PULSE R-
PULSE R PULSE R PULSE R PULSE R
2B17*3 2A17*3 1B17*3 1A17*3
PULSE R+ PULSE R+ PULSE R+ PULSE R+
B20 A20 PULSE COM PULSE COM PULSE COM PULSE COM
B19 A19 2B16*3 2A16*3 1B16*3 1A16*3
B18 A18 PULSE F- PULSE F- PULSE F- PULSE F-
B17 A17
B16 A16 PULSE F PULSE F PULSE F PULSE F
B15 A15 2B15*3 2A15*3 1B15*3 1A15*3
B14 A14
PULSE F+ PULSE F+ PULSE F+ PULSE F+
B13 A13 2B14 CLRCOM 2A14 CLRCOM 1B14 CLRCOM 1A14 CLRCOM
B12 A12
B11 A11 2B13 CLEAR 2A13 CLEAR 1B13 CLEAR 1A13 CLEAR
B10 A10
B9 A9 2B12 RDYCOM 2A12 RDYCOM 1B12 RDYCOM 1A12 RDYCOM
B8 A8
B7 A7 2B11 READY 2A11 READY 1B11 READY 1A11 READY
B6 A6 2B10 PGOCOM 2A10 PGOCOM 1B10 PGOCOM 1A10 PGOCOM
B5 A5
B4 A4 2B9 PGO5 2A9 PGO5 1B9 PGO5 1A9 PGO5
B3 A3
B2 A2 2B8 PGO24 2A8 PGO24 1B8 PGO24 1A8 PGO24
B1 A1
2B7 COM 2A7 COM 1B7 COM 1A7 COM
Front view of 2B6 COM 2A6 COM 1B6 COM 1A6 COM
the module 2B5 CHG 2A5 CHG 1B5 CHG 1A5 CHG
2B4 STOP 2A4 STOP 1B4 STOP 1A4 STOP
2B3 DOG 2A3 DOG 1B3 DOG 1A3 DOG
2B2 RLS 2A2 RLS 1B2 RLS 1A2 RLS
2B1 FLS 2A1 FLS 1B1 FLS 1A1 FLS
*1: Pin No. "1 " indicates the pin No. for the right connector. Pin No. "2 " indicates the pin No. for the
left connector.
*2: When a 1-axis module is used, pin Nos. 1B1 to 1B18 are "vacant".
*3: The upper line indicates the signal names for the QD75P1/QD75P2/QD75P4, and the lower line indicates
the signal names for the QD75D1/QD75D2/QD75D4.
3.4.1 Input/output interface signals

The input and output signals of input/output interfaces for the QD75P1/QD75D1 are
shown below.

(1) Input (Common for QD75P1 and QD75D1)

External wiring Pin No. Internal circuit Signal name Need for wiring *1

1A3 Zeroing dog signal DOG

When upper limit
switch is not used

1A1 Upper limit signal FLS

When lower limit
switch is not used
1A2 Lower limit signal RLS

1A4 Stop signal STOP

External command
1A5 CHG
signal
24VDC
1A6
Common COM
1A7
(+)
PULSER A+
5V
1A19 Manual pulse
(-) generator A phase
A PULSER A-
1B19
5VDC
B (+)
PULSER B+
1A20 Manual pulse
0V (-) generator B phase
PULSER B-
Manual pulse generator
(MR-HDP01)
1B20

A11 Drive unit READY READY

Drive unit READY

1A12 RDY COM
common
1A8 PGO24
To servo Zero signal
amplifier 1A9 PGO5
Zero signal
1A10 PGO COM
common

*1: The symbols in the Need for wiring column indicate the following meanings:
• : Wiring is necessary for positioning.
• : Wiring is necessary depending on the situation.
 (2) Output (For QD75P1 open collector output)

Need for
External wiring Pin No. Internal circuit Signal name
wiring *1
Deviation
1A13 CLEAR
counter clear
1A14 Common CLEAR COM

To servo 1A15 CW PULSE F

amplifier A phase
1A16 PULSE COM
PULSE
1A17 CCW PULSE R
B phase
1A18 PULSE COM
SIGN

(3) Output (For QD75D1 differential driver output)

Need for
External wiring Pin No. Internal circuit Signa name
l wiring *1
Deviation
1A13 CLEAR
counter clear
1A14 Common CLEAR COM

To servo 1A15 CW PULSE F+

amplifier A phase
1A16 PULSE PULSE F-
1A17 CCW PULSE R+
B phase
1A18 SIGN PULSE R-

*1: The symbols in the Need for wiring column indicate the following meanings:
• : Wiring is necessary for positioning.
• : Wiring is necessary depending on the situation.
3.5 Buffer Memory

The QD75’s buffer memory provides addresses ranging from 0 to 30099. By reading
or writing data from or to them using a sequence program, highly precise control is
realized.

3.5.1 Buffer memory configuration

The following shows the entire configuration of the buffer memory.

2000 to 7999
8000 to 13999
Address
14000 to 19999
0 to
20000 to 25999
15 26000 to 26999
17 to 62
27000 to 27999
70 to 89
150 to 28000 to 28999
165
167 to 29000 to 29999
212
30000 to 30099
220 to
239
300 to
315
317 to
362
370 to
389
450 to
465
467 to
512

520 to
539

800 to
847
900 to
947
1000 to
1047
1100 to 1147
1200 to
1425
1500 to
1599
1600 to
1699
1700 to
1799
1800 to
1899
1900 to
1901
3 - 17
 Tabl from the positioning
e data
3.4 No. which were executed
Buff when they were written.
erAxis monitor for axis 1
me
Axis monitor for axis 2
mor
y Axis monitor for axis 3 Monitor data area Initialization Read-only
conf
Axis monitor for axis 4
igur
System monitor
atio
Axis Control data for axis 1
n
Axis control data for axis 2
Axis control data for axis 3 Control data area Initialization
Basic parameter 1·2
Axis control data for axis 4
Detailed parameter 1·2
System control data
OPR parameter
Positioning data for axis 1
Basic parameter 1·2 Positioning data The data in Can be written at any time
Positioning data for axis 2
Detailed parameter 1·2 area flash ROM is
Positioning data for axis 3 (No.1 to No.600) transferred.
OPR parameter Except positioning
Positioning data for axis 4 data during starting up
Basic parameter 1·2Block start data for axis 1
Detailed parameter (including
1·2 condition data)
OPR parameter Block start data for axis 2 Block start data
The data in
(including condition data) area
Basic parameter 1·2 flash ROM is
Block start data for axis 3 (Block No. 7000
Detailed parameter (including
1·2 transferred.
condition data) to No.7004)
Block start data for axis 4
(including condition data)
OPR parameter
PLC CPU memo area CPU memo area Initialization Reading/writing
* Use of the address Nos. skipped from the above is
prohibited. If used, the system may not operate correctly.

3 - 18
3.5.2 Explanations of frequently-used buffer memory address

The following describes the buffer memory addresses which are used in the program
of school text.
For buffer memories which are not shown below, refer to the Help of SW D5C-

DP75P. Table 3.5 Frequently-used buffer memory

Buffer Memory Address Initial
Item Remarks/Setting range
Axis 1 Axis 2 Axis 3 Axis 4 value
27 177 327 477 M code ON signal 0: WITH mode
1: AFTER mode 0
output timing
62 212 362 512 0: External positioning start
External command 1: External speed change request
0
function selection 2: Speed-position, position-speed switching request
3: Skip request
800 900 1000 1100 The currently commanded address is stored.
801 901 1001 1101 The current position address is stored.
If "degree" is selected as the unit, the address will have a ring structure for
values between 0 and 359.99999 degrees.
Current feed value 0
• Update timing: 1.8ms
• The OP address is stored when the OPR is completed.
• When the current value is changed with the current value changing
function, the changed value is stored.
802 902 1002 1102 The address of the current position according to the machine coordinates
803 903 1003 1103 will be stored. Note that the current value changing function will not change
the machine feed value.
Under the speed control mode, the machine feed value is constantly
updated regardless of the parameter setting.
Machine feed value 0
The value will not be cleared to "0" at the beginning of fixed-feed control.
Even if "degree" is selected as the unit, the address will not have a ring
structure for values between 0 and 359.99999 degrees.
• Machine coordinates: Characteristic coordinates determined with machine
• Update timing: 56.8ms
804 904 1004 1104 The command output speed of the operating workpiece is stored.
805 905 1005 1105 • During interpolation operation, the speed is stored in the following manner.
Feedrate Reference axis: Composite speed or reference axis speed (Set with 0
"interpolation speed designation method" of detailed parameter 1.)
• Update timing: 56.8ms
806 906 1006 1106 When an axis error is detected, the error code corresponding to the error
details is stored.
• The latest error code is always stored. (When a new axis error occurs, the
Axis error No. 0
error code is overwritten.)
• When "axis error reset" (axis control data) turns ON, the axis error No. is
cleared (set to 0).
807 907 1007 1107 Whenever an axis warning is reported, a related warning code is stored.
• This area always stores the latest warning code. (Whenever an axis
warning is reported, a new warning code replaces the stored warning
Axis warning No. 0
code.)
• When "axis error reset" (axis control data) turns ON, the axis error No. is
cleared (set to 0).
808 908 1008 1108 This area stores an M code that is currently active (the M code set to the
positioning data relating to the current operation).
Valid M code 0
• Update timing: turning ON of the M code ON signal
When the PLC READY signal (Y0) goes OFF, the value is set to "0".
817 917 1017 1817 • The following shows ON/OFF status of various flags.

Item
In speed control flag
Speed-position switching latch flag
Status Command in-position flag 0
OPR request flag
OPR complete flag
Axis warning detection flag
Speed change 0 flag
OP absolute position overflow flag
OP absolute position underflow flag
 Table 3.5 Frequently-used buffer memory (Continued)
Buffer Memory Address Initial
Item Remarks/Setting range
Axis 1 Axis 2 Axis 3 Axis 4 value
1500 1600 1700 1800 • Set the positioning start No. for executing the positioning
1 to 600: Positioning data No. 7000 to 7004: Block start designation
Positioning start No. designation 9002: Fast-OPR 0
9001: Machine OPR 9004: Simultaneous starting of
9003: Current value changing multiple axes
1502 1602 1702 1802 • Clears the axis error detection, axis error No., axis warning detection and
axis warning No.
• When the axis operation is in an error occurrence state, the error is cleared
Axis error reset 0
and the QD75 is returned to the waiting state.
0: Axis error reset request acceptance is completed (set by QD75)
1: Axis error reset request (Set by PLC program)
1503 1603 1703 1803 • By setting "1" when axis operation state is stopped, positioning will be
carried out again from the stopped position to the end point of the stopped
Restart command positioning data. 0
0: Restart command acceptance is completed (set by QD75)
1: Restart command (set by PLC program)
1504 1604 1704 1804 • The M code ON signal turns off.
M code OFF
0: M code OFF request acceptance is completed (set by QD75) 0
request
1: M code OFF request (set by PLC program)
1505 1605 1705 1805 • Validates or invalidates external command signals.
External command
0: Invalidates an external command. 0
valid
1: Validates an external command.
1506 1606 1706 1806 • When changing the current feed value using the start No. 9003, use this
1507 1607 1707 1807 data item to specify a new feed value.
-2147483648 to -2147483648 to 0 to 35999999 -2147483648 to
New current value 0
+2147483647 +2147483647 10-5degree +2147483647
10-1 m 10-5 inch pulse
1 to 300%
1514 1614 1714 1814 • When changing the speed, use this data item to specify a new speed. The
1515 1615 1715 1815 operation halts if you specify 0.
New speed value 0
0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 1000000
10-2 mm/min 10-3 inch/min 10-3 degree/min pulse/s
1516 1616 1716 1816 • When changing the speed, use this data item to specify a new speed.
Speed change
0: Speed change request acceptance is completed. (set by QD75) 0
request
1: Speed change request (set by PLC program)
1517 1617 1717 1817 • Use this data item to set the amount of movement by inching.
Inching movement The machine performs a JOG operation if 0 is set.
0
amount 0 to 65535 0 to 65535 0 to 65535 0 to 65535
10-1 m 10-5 inch 10-5 degree pulse
1518 1618 1718 1818 • Use this data item to store the JOG speed during JOG operation.
1519 1619 1719 1819 • When changing JOG speed during JOG operation, new JOG speed is
JOG speed stored. 0
1 to 2000000000 1 to 2000000000 1 to 2000000000 1 to 1000000
10-22mm/min 10-3 inch/min 10-3 degree/min pulse/s
1528 1628 1728 1828 • When the external command function selection is set to speed-position or
Speed-position position-speed switching request, set whether to enable the switching by the
switching enable external control switching signal (external command signal "CHG"). 0
flag 0: Disable
1: Enable
 Table 3.5 Frequently-used buffer memory (Continued)
Buffer Memory Address Initial
Item Remarks/Setting range
Axis 1 Axis 2 Axis 3 Axis 4 value
1900 • Write the set details of buffer memory to the flash ROM
Writing to the flash ROM is executed when the PLC READY signal [Y0] is
Flash ROM
OFF. 0
write request
0: Flash ROM write is completed. (set by QD75)
1: Flash ROM write request (set by PLC program)
2004 8004 14004 20004 -1: The command speed setting is omitted. (current speed)
2005 8005 14005 20005 Command speed 1 to 2000000000 1 to 2000000000 1 to 2000000000 1 to 1000000 0
10-2 mm/min 10-3 inch/min 10-3 degree/min pulse/s
2006 8006 14006 20007 Positioning • Set the positioning address or movement amount.
2007 8007 14007 20006 address/movement • The setting range differs according to the control system and units. (Refer to 0
amount Section 4.3)
2008 8008 14008 20008 • When the control system is the ABS system circular interpolation, set the
2009 8009 14009 20009 sub point or center point address.
Arc address 0
• When the control system is the INC system circular interpolation, set the
distance from the start point to the sub point or center point.
 <Configuration of positioning data area>

599 600

7980 7990 Up to 600 positioning data items can be set (stored)

2 3 in the buffer memory address shown on the left for
Positioning data No. 1
each axis from axis 1 to 4.
Positioning
2000 2010 identifier
2020
7981 7991 One positioning data item is configured of the items
shown in the bold box.
2021
M code 2001 7982 7992 Calculation example of buffer memory
"Positioning address" for the positioning data No.31 of axis 1
2006+(31´10)-10=2306
2002 2012 2022 7984 7994
Buffer memory of No.31 In the case of No.31
Axis 1

Dwell time 7985 7995

Buffer memory of No.1 address
7986 7996
2003 2014 2024 7987 7997
Command speed 2005 2015 2025 7988 7998
7989 7999
2006 2016 2026
Positioning address 2007 2017 2027

2008 2018 2028

Arc address 2009 2019 2029

The set details of buffer memory can be checked using the HELP of SW D5C-QD75P
For the operation of the HELP of SW D5C-QD75P, refer to Section 5.6.

<"Buffer memory List" screen of the HELP of SW D5C-QD75P>

CHAPTER 4 TYPES AND FUNCTIONS OF SETTING DATA

Setting data refers to data required for positioning control by QD75 and there are
eight types of setting data as shown below. (Block start data is not explained.)
The "Setting data" can be created for each axis and is stored in the QD75 buffer
memory.
Some types of the setting data can be changed only while the PLC READY Y0 is
OFF. Also note that writing the setting data from a peripheral device can only be
executed when the PLC CPU is in the STOP state.

<When the PLCREADY Y0 is ON>

Parameters (Section 4.1) Basic parameter
1········Unchangeable
Basic parameter 2········Changeable
Detailed parameter 1···Unchangeable
Detailed parameter 2···Changeable
QD75 setting data OPR parameters (Section 4.2) Basic parameter 1········Unchangeable
Detailed parameter 2···Unchangeable

Positioning data (Section 4.3) ········Changeable

* : For the block start data, refer to the QD75 User's Manual.

(1) The parameter and the OPR parameter are determined by the design of the
positioning hardware.

(2) The positioning data is determined by how the positioning machine is controlled
and operated.

(3) At the time of shipment from the factory, the initial value is set. (The initial value is
same from axis 1 to 4.)

(4) When all the memory addresses are cleared, the initial value is stored.

(5) Setting data change can be performed by the peripheral device or by the TOP or
DTOP instruction of the sequence program.
(Refer to the above chart for information on whether setting data change is
available while the PLC CPU READY Y0 is ON.)

4-1
4.1 Parameters

Four parameters are available: Basic parameters 1 and 2, detailed parameters 1 and
2.
This is basic data determined by the mechanical system to allow the QD75 to perform
the positioning control.

4.1.1 Basic parameters

Basic parameters are subdivided into basic parameter 1 and 2.

Table 4.1 Basic parameter list

Setting range Initial

Used unit
value
Item mm inch degree pulse
Unit setting 0: mm 1: inch 2: degree 3: pulse 3
No. of pulses per
1 to 65535 pulse 20000
rotation (Ap)
Movement
0.00001 to 0.65535 0.00001 to 0.65535
Movement amount per 0.1 to 6553.5m 1 to 65535pulse 20000
inch degree
amount per rotation (AL)
pulse (A) 1-fold
Unit magnification 10-fold
Basic 1
(Am) 100-fold
parameters 1000-fold
1
0: PLS/SIGN mode
1: CW/CCW mode
Pulse output mode 1
2: A phase/B phase (multiple of 4)
3: A phase/B phase (multiple of 1)
0: Current value increment with forward run pulse output
Rotation direction setting 0
1: Current value increment with reverse run pulse output
0.01 to 20000000.00 0.001 to 2000000.000 0.001 to 2000000.000 1 to 1000000
Bias speed at start 0
mm/min inch/min degree/min pulse/s
0.01 to 20000000.00 0.001 to 2000000.000 0.001 to 2000000.000 1 to 1000000
Basic Speed limit value 200000
mm/min inch/min degree/min pulse/s
parameters
Acceleration time 0 1 to 8388608ms 1000
2
Deceleration time 0 1 to 8388608ms 1000

(1) The initial value is the same for axis 1 to 4.

(2) When the sequence program is used for making the settings, a decimal point
cannot be used.
(3) Acceleration time 1 to 3 and deceleration time 1 to 3 are in the detailed
parameters.

4-2
 Unit setting
Set the unit used for defining positioning operations. Choose from the following units
depending on the type of the control target: mm, inch, degree, and pulse.
(Example) mm, inch ......X-Y table, Conveyor
(Select mm or inch depending on the machine specifications.)
degree .........Rotating body (360 degrees/rotation)
pulse ............X-Y table, Conveyor
Each axis unit can be set individually.

Movement amount per pulse

These parameters define the amount of movement achieved by each single pulse
within a pulse train output by the QD75.
(The following explanations are made using mm as the unit.)

Workpiece
PLC Servo amplifier Servomotor

PLC CPU QD75 MR-H

MG
MR-J2S MR-C
Reduction gear
Pulse generator L

Pf
L: Worm gear lead (mm/rev)
R: Deceleration rate
n: No. of pulses from generator (pulse/rev)

Figure4.1 Movement amount per pulse

(1) No. of pulses per rotation (Ap)

The number of pulses (n) generated from the generator is fed back to the servo
amplifier MR-H or MR-J2S.

Ap=n

(2) Movement amount per rotation (AL)

How much the workpiece moves per one motor rotation is determined by the
mechanical structure.

AL=L R

(3) Unit magnification (Am)

The movement amount per rotation is basically within the set range, however, if
this set range can be exceeded with the magnification multiplied.
"Movement amount per rotation" and "Unit magnification" setting
<Condition>
1
• Lead of ball screw is 10mm (10000µm), gear ratio is 1 .
<Setting example>
• As the setting range of "movement amount per rotation" is from 0.1 to 6553.5µm,
set as "1000.0".
• Set the "unit magnification" to "10".
<Method of compensating the mechanical system errors>

When the positioning is carried out by the set "movement amount per pulse", an error
sometimes occurs between the command movement amount and the actual
movement amount.
The QD75 can compensate this error by adjusting the values in No. of pulses per
rotation, movement amount per rotation and unit magnification.
The method of compensating the errors using the QD75 is shown below.

(1) Set the command movement amount (mm) and carry out positioning.

(2) After positioning, measure the actual movement amount.

(3) With the obtained command and actual movement amount, how much
compensation is needed for [No. of pulses per rotation] and [Movement
amount per rotation] can be calculated as follows:

(a) Movement amount per pulse (mm/pulse) to command movement amount

(mm)

Movement amount per rotation (AL)

Movement amount per pulse= Unit magnification (Am)
No. of pulses per rotation (AP)

(b) No. of pulses required

Command movement amount

No . of pulses re quire d= (pulse)
Movement amount per rotation

(c) Apparent movement amount per pulse to actual movement amount (mm)

Movement amount per rotation (AL) Unit magnification (Am)

Actual movement amount
No. of pulses per rotation (AP)
Command movement amount

Movement amount per rotation for compensation (AL')

= No. of pulses per rotation for compensation (AP') Unit magnification (Am)

In the upper formula, reduce the fraction of AL'/AP' to its lowest terms and
replace with this obtained value.
 Calculation example
<Condition>
Movement amount per pulse.... 5000 (µm/rev) No. of pulses per rotation ........ 12000 (pulse/rev) Unit m
<Positioning results>
Command movement amount.. 100000µm Actual movement amount......... 100173µm
<Compensation amount>
Set the unit magnification which makes the calculation result 6553.5 or less.
Unit magnification

AL' = 5000 100173 = 25043.252504.3 10

AP'12000 1000006000060000 Reduce until the denominator becomes 65535 or les

Movement amount per rotation: 60000 (pulse/rev)

Movement amount per pulse: 2504.3 (µm/rev) Unit magnification: 10
Pulse output mode

Set the pulse output mode to match the servo amplifier being used.
(The QD75 outputs the pulse in negative logic at default.)
(1) PLS/SIGN mode
Forward run and reverse run are controlled with the ON/OFF of the direction sign
(SIGN).
• The motor will run in the forward direction when the direction sign is LOW.
• The motor will run in the reverse direction when the direction sign is HIGH.
PULSE SIGN
Forward runReverse run Move in + direction Move in - direction

(2) CW/CCW mode

During forward run, the forward run feed pulse (PULSE F) will be output.
During reverse run, the reverse run feed pulse (PULSE R) will be output.

PULSE F

PULSE R

Forward run Reverse run

(3) A phase/B phase mode (Common for multiple of 4 and multiple of 1)

Forward run and reverse run are controlled with the phase difference of the A
phase (A) and B phase (B).
• When the B phase is 90° behind the A phase, the motor will run in the forward
direction.
• When the B phase is 90° ahead of the A phase, the motor will run in the
reverse direction.

(1) For multiple of 4 setting

Forward runReverse run

When B phase is 90° When B phase is 90° behind A phaseahead of A phase

(2) For multiple of 1 setting

Forward runReverse run

When B phase is 90° When B phase is 90° behind A phaseahead of A phase

Rotation direction setting

Set the relation between the motor rotation direction and the current value address
increment/decrement.

QD75

Forward run pulse

M
Reverse run pulse

Address increment/decrement

Set value
Increase/decrease
Current value Current value
increase decrease
Forward
0 1
Output run pulse
pulse Reverse
1 0
run pulse

Figure 4.2 Rotation direction setting

IMPORTANT
Rotation direction is determined by whether the address increases (the setting is
0) or decreases (the setting is 1) in the JOG operation in reaction to the forward
run command. Refer to the below.
[Setting]
Forward run pulse (motor forward run CW)..........0
· Reverse run pulse (motor reverse run CCW).......1
Rotation direction
Forward run pulse (motor forward run CW)..........0
Reverse run pulse (motor reverse run CCW).......1

Address 0 ( Address decrement) (Address increment ) 1000

 Bias speed at start

The bias speed at start is a minimum speed required for ensuring the smooth start of
the motor, especially when a stepping motor is used.

Speed limit value

Positioning speed, OPR speed, JOG speed
Movement when setting the bias speed at start

Bias speed at start

t

Acceleration time Deceleration time

Figure 4.3 Bias speed at start

(1) This setting is valid for the OPR, positioning and JOG operations.
(2) If not using this setting, set it to "0".

Speed limit value

The maximum speed during positioning control has to be limited in consideration of

the drive unit and the specifications of the control target.
Take account of the following when determining the speed limit value:
1) Motor speed
2) Workpiece movement speed
Thus, set the maximum speed for
positioning.
Acceleration time/Deceleration time

Set how long the machine takes to reach the speed limit value, specified in the basic
parameter (2), from its start.

Speed limit value

Speed
Positioning speed

Time

Actual acceleration time Actual deceleration time

Set acceleration timeSet deceleration time

Figure 4.4 Acceleration/deceleration time

(1) If the positioning speed is set to lower than the parameter-defined speed limit
value, the actual acceleration/deceleration time will be proportionally short.
Thus, set the maximum positioning speed equal to or only a little lower than the
parameter-defined speed limit value.
(2) This setting is valid for the OPR, positioning and JOG operations.
(3) When the positioning involves interpolation, the acceleration/deceleration time
defined for the reference axis is valid.
4.1.2 Detailed parameters

The detailed parameters are subdivided into detailed parameter 1 and 2.

Table 4.2 Detailed parameters list

Setting range Initial

Used unit
value
Item mm inch degree pulse
Backlash
0 to 6553.5µm 0 to 0.65535inch 0 to 0.65535degree 0 to 65535pulse 0
compensation amount
Software stroke limit upper -214748364.8 to -21474.83648 to 0 to -2147483648 to 214748
limit value 214748364.7µm 21474.83647inch 359.99999degree 2147483647pulse 3647
Software stroke limit lower -214748364.8 to -21474.83648 to 0 to -2147483648 to -21474
limit value 214748364.7µm 21474.83647inch 359.99999degree 2147483647pulse 83648
0: Apply software stroke limit on current feed value
Software stroke limit selection 0
1: Apply software stroke limit on machine feed value
0: Software stroke limit valid during JOG operation and manual pulse generator operation
Software stroke limit
1: Software stroke limit invalid during JOG operation and manual pulse generator 0
valid/invalid setting
operation
0.1 to 0.00001 to 0.00001 to
Command in-position width 1 to 2147483647pulse 100
214748364.7µm 2147.83647inch 21474.83647degree
Torque limit setting value 1 to 500% 300
M code ON signal output 0: WITH mode
0
timing 1: AFTER mode
0: Standard speed switching mode
Speed switching mode 0
1: Front-loading speed switching mode
Detailed Interpolation speed 0: Composite speed
parameter designation method 0
1: Reference axis speed
1
0: Do not update current feed value during speed control.
Current feed value during
1: Update current feed value during speed control. 0
speed control
2: Clear current feed value to zero during speed control.
Lower limit
Upper limit
Drive unit READY
Stop signal
Input signal
External 0: Negative logic
logic 0
command 1: Positive logic
selection
Zero signal
Near-point signal
Manual pulse
generator input
Command pulse
Output
signal 0: Negative logic
signal logic 0
Deviation counter 1: Positive logic
selection
clear
0: A-phase/B-phase multiplied by 4
Manual pulse generator input 1: A-phase/B-phase multiplied by 2
Detailed 0
selection 2: A-phase/B-phase multiplied by 1
parameter
3: PLS/SIGN
2
Acceleration time 1 to 3 1 to 8388608ms 1000
Deceleration time 1 to 3 1 to 8388608ms 1000
 Table 4.2 Detailed parameters list (continued)

Setting range Initial

Used unit
value
Item mm inch degree pulse
0.01 to 20000000.00 0.001 to 2000000.000 0.001 to 2000000.000
JOG speed limit value 1 to 1000000pulse/s 20000
mm/min inch/min degree/min
JOG operation acceleration
0 to 3 0
time selection
JOG operation deceleration
0 to 3 0
time selection
Acceleration/deceleration 0: Automatic trapezoid acceleration/deceleration processing
0
processing selection 1: S-curve acceleration/deceleration processing
S-curve ratio 1 to 100% 100
Detailed Sudden stop deceleration
1 to 65535ms/1 to 8388608ms 1000
time
parameter
Stop group 1 to 3 sudden 0: Normal deceleration stop
2 0
stop 1: Sudden stop
selection
Positioning complete signal
0 to 65535ms 300
output time
Allowable circular interpolation
0 to 10000.0µm 0 to 1.00000inch 0 to 1.00000degree 0 to 100000pulse 100
error width
0: External positioning start
External command function 1: External speed change request
0
selection 2: Speed-position, position-speed switching request
3: Skip request

Backlash compensation amount

The error that occurs due to a backlash when moving the machine via gears can be
compensated.
When the backlash compensation amount is set, pulses equivalent to the
compensation amount will be output each time the direction changes during
positioning.

OPR direction

Workpiece (moving body)

Worm gear

Backlash (compensation amount)

Figure 4.5 Backlash compensation amount

(1) The backlash compensation is valid after the machine OPR. Thus, if the
backlash compensation amount is set or changed, always carry out the machine
OPR once.

(2) The backlash compensation amount setting ranges from 0 to 65535, however,
as shown in the expression below, it should be set to 255 or less.
Backlash compensation amount
0 Movement amount per pulse
 255
 Software stroke limit upper limit value

Set the upper limit for the machine's movement range during positioning control.

Software stroke limit lower limit value

Set the lower limit for the machine's movement range during positioning control.
(However, the stroke limit value is ignored during the JOG operation.)

Software stroke limit lower limit Software stroke limit upper limit

Emergency stop limit switch

Emergency stop limit switch
(Machine movement range)
OP

Figure 4.6 Software stroke limit upper limit value/lower limit value

(1) Generally, the OP is set at the lower limit or upper limit of the stroke limit.
(2) By setting the upper limit value or lower limit value of the software stroke limit,
overrun can be prevented in the software. However, an emergency stop limit
switch must be installed nearby outside the range.

Command in-position width

This is the value of "positioning address" from which "current feed value" was
subtracted at the position where the command in-position signal (bit 2 of the buffer
memory 817, 917, 1017, and 1117) turns ON.
(It is used as a front-loading signal of the positioning complete signal.)
Speed
Position control start Command in-position setting value

Command in-position flag

 Torque limit setting value

The torque limit function limits the torque generated by the servomotor within the set
range.
If the torque required for control exceeds the torque limit value, the control is
performed with the set torque limit value.

Usage
(1) Limitation for pulse train output type
(a) Wiring for a D/A conversion module and wiring between a D/A conversion
module and drive unit must be made.
(b) A drive unit that can issue the torque limit command with the analog
voltage is required.
(c) The torque limit setting value is set in the buffer memory area "torque limit
stored value (826, 926, 1026, and 1126)". Transmit that "torque limit stored
value" to the D/A conversion module with the sequence program.

M code ON signal output timing

An M code is a number between 0 and 65535 that can be assigned to each
positioning control.
(1) The sequence program can be coded to read an M code from the buffer memory
address specified by "Valid M code (808, 908, 1008, and 1108)" whenever the M
code ON signal [X4, X5, X6, X7] turns ON so that a command for the sub work
(e.g. clamping, drilling, tool change) associated with the M code can be issued.
(2) Choose either the WITH mode or the AFTER mode as the M code ON signal
output timing.

WITH mode ...... An M code is output and the M code ON signal is turned ON when positioning operation starts.

Positioning start

BUSY

M code ON signal (X4,X5,X6,X7)

M code OFF request (1504,1604,1704,1804)

M code m1m2
**

Positioning

Operation pattern 01 (continuous) 00 (end)

*: m1 and m2 indicate set M codes.

AFTER mode ... An M code is output and the M code ON signal is turned ON when positioning operation completes.

Positioning start

BUSY

M code ON signal (X4,X5,X6,X7)

M code OFF request (1504,1604,1704,1804)

M code
m1 m2
* *

Positioning

Operation pattern 01 (continuous) 00 (end)

*: m1 and m2 indicate set M codes.

Note: If the AFTER mode is used with speed control, an M code will not be output and
the M code ON signal will not be turned ON.

Speed switching mode

(a) Select the speed switching mode from the standard switching mode and front-
loading switching mode.
• The standard switching switches the speed when executing the next
positioning data.
• The front-loading switching switches at the end of the positioning data currently
being executed.

(b) The following shows the speed switching when positioning data No. n is executed.

Switch the speed when The next positioning data starts

executing the next positioning Speed positioning at the designated speed
Speed data

t t

n n+1 n n+1

<Standard switching> <Front-loading switching>

Interpolation speed designation method

When carrying out the linear interpolation/circular interpolation, select which speed to
designate, the composite speed or reference axis speed.
• The composite speed designates the movement speed of the control target, and the
speed of each axis is calculated by the QD75.
• The reference axis speed designates the axis speed set for the reference axis, and
the speed for the other axis carrying out interpolation is calculated by the QD75.
(The axis longer than the other must be the reference axis.)

X axis
X axis
Designate composite
speed
Designate speed
for reference axis

Y axis Y axis

Calculated by QD75
Calculated by
QD75

<When composite speed is designated> <When reference axis speed is designated>

Input/output signal logic selection

Set the I/O signal logic that matches the signal specifications of the connected
external device.
A mismatch in the signal logic will cause errors. Be careful of this when you change
from the default value.

Acceleration/deceleration process
selection
Select the acceleration/deceleration mode from the automatic trapezoid
acceleration/deceleration mode and S-curve acceleration/deceleration mode.

The acceleration and deceleration follow a Sin curve.

Speed The acceleration and deceleration are linear. Speed

Distance Distance
<Automatic trapezoid acceleration/deceleration> <S-curve acceleration/deceleration>
 S-curve ratio

(a) Set the S-curve ratio (1 to 100%) for carrying out the S-
curve acceleration/deceleration processing.

(b) The S-curve ratio indicates where to draw the acceleration/deceleration

curve using a Sin curve as shown below.

(Example) V
A
Positioning speed
B
B/2B/2

t
When S-curve ratio is 100%
V

Positioning speed

b
sin curve b/a=0.7
a

S-curve ratio = B/A 100% t

When S-curve ratio is 70%

Sudden stop selection (Stop group 1 to

3)
With "sudden stop" selected, the axis will rapidly decelerate to a stop when the stop
signal from stop group 1 to 3 corresponding to the stop cause listed below is input.
(1) Stop group 1 is a stop due to a hardware stroke limit.
(2) Stop group 2 is a stop due to I/O reset, the PLC READY signal [Y0] OFF and an
error in test mode.
(3) Stop group 3 is a stop due to the external stop
signal. A stop due to the stop signal from the PLC
A stop due to an error occurrence (excluding stop groups 1 and 2)
 Positioning complete signal output time

(a) Set the output time of "positioning complete signal (X14, X15, X16, X17)" that is
output from the QD75. Positioning completion refers to a state where the
specified dwell time has passed after the QD75 had terminated the output.

PLC

PLC CPU QD75

Start signal
Y10,Y11,Y12,Y13

M
Positioning complete signal Positioning
X14,X15,X16,X17

Positioning start

Positioning start complete

Positioning complete
BUSY signal (after dwell time has passed)

Positioning complete signal

0 to 20s Output time

Figure 4.7 Positioning complete signal output time

(b) The operation when the next positioning is started while the positioning complete
signal is ON is shown below. (For details of positioning patterns, refer to the
section of positioning data.)
(1) When the positioning pattern is "complete", the positioning complete signal
turns OFF after the next data No. starts operation.

Start Completecommand Start Complete command

Complete

well ell Dwell

D Dw

Positioning complete signal

Setting time Setting Setting time

time
(2) In the condition that the positioning pattern is set to "continuous positioning"
and the set time of the positioning complete signal is shorter than the next
positioning operation time, the positioning complete signal turns ON when
the next data No. starts operation after the previous dwell time has passed.
It turns OFF when the set time has elapsed.

Continuous Continuous Complete

Dwell Dwell Dwell

Positioning complete signal

Setting time Setting time Setting time

(3) In the condition that the positioning pattern is set to "continuous positioning"
and the set time of the positioning complete signal is longer than the next
positioning operation time, the positioning complete signal turns ON when
the next data No. starts operation after the previous dwell time has passed.
However, if the next data No. continuously starts operation before the set
time has elapsed, the elapsed time is ignored and the set time starts
elapsing from the beginning.
It turns OFF when the set time has elapsed.

Continuous Continuous Complete

Dwell Dwell The time elapsed up to here is ignored and restarts counting.

Positioning complete signal

Setting time

Setting time

(4) When the positioning pattern is set to "continuous path", the positioning
complete signal turns ON at speed alteration and moves onto the positioning
of the next data No.
Complete

Path

Complete Start commandPath

Dwell Dwell

Positioning complete signal

Setting time Setting time Setting Setting time

time

(Note) When the setting time of the positioning complete signal is longer than
the next positioning operation time, the operation of the path is as
explained in 3).
Allowable circular interpolation error
width
(a) With the circular interpolation control using the center point designation, the arc
path calculated with the start point address and center point address and the
end point address may deviate.
(b) With the allowable circular interpolation error width, the allowable error range of
the calculated arc path and end point address can be set. If the error of the
calculated arc path and end point address are within the set range, circular
interpolation will be carried out to the set end point address while compensating
the error with spiral interpolation.
(c) The allowable circular interpolation error width is set in the following axis detailed
parameter.
• If axis 1 is the reference axis, set in the axis 1 detailed parameter.
• If axis 2 is the reference axis, set in the axis 2 detailed parameter.
• If axis 3 is the reference axis, set in the axis 3 detailed parameter.
• If axis 4 is the reference axis, set in the axis 4 detailed parameter.
Error
Path with spiral End point address
interpolation with calculation

End point address

designated by the program

Start point address Center point address

External command function

selection
Select a function with which the external command signal should be associated.
(1) When the external positioning start is set
• The external command signal input is used to start positioning operation.
(2) When the external speed change request is set
• The external command signal input is used to change the speed in the current
positioning operation.
• Set a new speed value to the "new speed value" of axis control data for
external speed change.
(3) Speed-position/position-speed switching request
• The external command signal input is used to switch from the speed control to
the position control/from the position control to the speed control during the
speed-position switching control mode/position-speed switching control mode.
• To enable the speed-position switching control, set 1 to the speed-position
switching enable flag (1528, 1628, 1728, and 1828) of the buffer memory.
• To enable the speed-position switching control, set 1 to the position-speed
switching enable flag (1532, 1632, 1732, and 1832) of the buffer memory.
(4) When the skip request is set
• The external command signal input is used to skip the current positioning
operation.

POINT
To enable the external command signal, set 1 to the "external command enable"
(1505, 1605, 1705, and 1805) of the buffer memory.
4.2 OPR Parameters

The OPR parameters consist of the basic parameters and detailed parameters.

4.2.1 OPR basic parameters

(Unchangeable during PLC CPU READY)

Table 4.3 OPR basic parameters

Setting range
Unit Initial value
Item mm inch degree pulse
0: Near-point dog method
1: Stopper method 1) (By dwell time elapse)
2: Stopper method 2) (By OP signal when stopper is hit)
OPR method 0
3: Stopper method 3) (Without zeroing dog method)
4: Count method 1) (Use zero signal)
5: Count method 2) (Do not use zero signal)
0: Positive direction (address increment direction)
OPR direction 0
1: Negative direction (address decrement direction)
-214748364.8 to -21474.83648 to 0 to -2147483648 to
OP address 0
214748364.7µm 21474.83647inch 359.99999degree 2147483647pulse
0.01 to 0.001 to 2000000.000 0.001 to 2000000.000
OPR speed 1 to 1000000pulse/s 1
20000000.00mm/min inch/min degree/min
0.01 to 20000000.00 0.001 to 2000000.000 0.001 to 2000000.000
Creep speed 1 to 1000000pulse/s 1
mm/min inch/min degree/min
0: Do not retry OPR by upper/lower limit switch
OPR retry 0
1: Retry OPR by limit switch

(1) Near-point dog method

This method does not strain a mechanical system and features high precision.
However, to use this method, caution must be used on the position and length of
a near-point dog.

V OPR
Decelerate at the near-point dog
speed

Creep speed

t
ON
Near-point dog OFF

Zero signal

Time for
one servomotor rotation
(2) Stopper method (1) (By dwell time elapse)
To use this method, caution must be used on the strain to a mechanical system,
torque limit settings and OPR dwell time settings.

V OPR
Movement amount after near-point dog ON
speed

Creep speed

Range to forcibly stop the servomotor

rotation with the stopper.

Torque limit valid range

Torque limit

ON
Near-point dog OFF

Dwell time up
Dwell time counting

(3) Stopper method (2) (By zero signals when the stopper is hit)
To use this method, caution must be used on the strain to a mechanical system
and torque limit settings.

V OPR speed Creep speed

Stop with stopper

Zero signal of
external switch

Torque limit valid range

Torque limit

ON
Near-point dog OFF
(4) Stopper method (3) (Without zeroing dogs)
To use this method, caution must be used on the strain to a mechanical system
and torque limit settings. However, a zeroing dog is not required.

Creep speed Stop with stopper

Zero signal of
external switch

Torque limit valid range

Torque limit

(5) Count method (1) (With zero signals)

This method does not strain a mechanical system and features high precision.
To use this method, caution must be used on the position and length of a near-
point dog, however, it does not have to be used as much as in the near-point
dog method.

V OPR
Movement amount after near-point dog ON
speed

Creep speed

Movement amount
Set in OPR
after near-point dog
ON detailed parameters
The near-point dog must turn
OFF at a sufficient distance away
ON from the OP position.
Near-point dog OFF

First zero signal after moving

the movement amount after
near-point dog ON
Zero signal
 (6) Count method (2) (Without zero signals)
This method does not strain a mechanical system or require zero signals,
however it also does not provide high stopping accuracy.

V OPR
Movement amount after near-point dog ON
speed

Creep speed

Movement amount
Set in OPR
after near-point dog
ON detailed parameters

The near-point dog must turn OFF

ON at a sufficient distance away
Near-point dog OFF from the OP position.

OPR direction

Set the direction in which the machine OPR will go at start .

Figure 4.8 OPR direction
M

Near-point dog
0: Address increment direction at OPR 1: Address decrement direction at OPR

IMPORTANT
(1) Setting the OP address to the upper limit side (address increment) or the
lower limit side (address decrement) determines the OPR direction.
[Setting]
(Positive direction)................................................0
OPR direction
• (Negative direction)..............................................1

(2) Rotation direction is determined by whether the address increases (the

setting is 0) or decreases (the setting is 1) in the JOG operation in reaction to
the forward run command. Refer to the below.
[Setting]
Forward run pulse (motor forward run CW)......0
Reverse run pulse (motor reverse run CCW)...1
• Rotation direction
Forward run pulse (motor forward run CW)......0
Reverse run pulse (motor reverse run CCW).. .1

Address 0 ( address decrement) (address increment ) 1000

OP address

After the completion of OPR, the current position is set as the specified address. This
newly specified address can be the reference value of absolute positioning.
This OP address is stored in "current feed value" and "machine feed value" when the
OPR is completed.

OPR speed

Set the speed of OPR.

Set the OPR speed within the following range.
Speed limit value  OPR speed  Creep speed  Bias speed at start

Creep speed

Set the creep speed (the low speed just before a stop, after decelerating from the
OPR speed) that comes after near-point dog turns ON.
The creep speed is set within the following range.
OPR speed  Creep speed  Bias speed at start
 OPR retry

(a) This function retries the machine OPR with the upper/lower limit switches during
the machine OPR.
This allows the machine OPR to be carried out even if the axis is not returned to
before the zeroing dog with JOG operation, etc.

(b) When the OPR retry function is validated and the machine OPR is started, the
axis will move in the OPR direction. If the upper/lower limit signal turns OFF
before the near-point dog signal ON is detected, the axis will decelerate to a
stop, and then will move in the direction opposite to the specified OPR direction.
If the falling edge of the near-point dog signal is detected during movement in
the opposite direction, the axis will decelerate to a stop, and will carry out the
OPR again.

(5) (1)
(2)
(6)

Start position

(4)

(3)

ON Limit switch OFF state

Near-point dog

Zero signal

[Operation for OPR retry function]

Movement in the OPR direction starts with the machine OPR start.
The axis decelerates to a stop when the limit switch is detected.
After stopping, the axis moves at the OPR speed in the direction opposite to the specified OPR direction.
The axis decelerates to a stop when the near-point dog turns OFF.
After stopping, carries out OPR in the OPR direction.
The axis moves to the OP at creep speed.

Figure 4.9 Retry OPR with limit switch

4.2.2 OPR detailed parameters

(Unchangeable during PLC CPU READY)

Table 4.4 OPR detailed parameters

Setting range
Unit Initial value
Item mm inch degree pulse
OPR dwell time 0 to 65535ms 0
Setting for the movement
0 to 21474.83647 0 to
amount after near-point dog 0 to 214748364.7µm 0 to 21474.83647inch 0
degree 2147483647pulse
ON
OPR acceleration time
Select acceleration time 0 to 3 from basic parameters 2 and detailed parameters 2. 0
selection
OPR deceleration time
Select deceleration time 0 to 3 from basic parameters 2 and detailed parameters 2. 0
selection
-214748364.8 to -21474.83648 to -21474.83648 to -2147483648 to
OP shift amount 0
214748364.7µm 21474.83647inch 21474.83648degree 2147483647pulse
OPR torque limit value 1 to 300% 300
Deviation counter clear signal
1 to 65535ms 11
output time
Speed designation during OP 0: OPR speed
0
shift 1: Creep speed
Dwell time during OPR retry 0 to 65535ms 0

OPR dwell time

This is the period of time from when the near-point dog turns ON to when OPR is
completed, if the OPR is set by the stopper method (1).
The setting value must be longer than the movement time from when the near-point
dog turns ON to when stopped by the stopper.
If the OPR method is not stopper method 1, the OPR dwell time value is irrelevant,
even if the setting value is within setting range.

Setting for the movement amount after near-point dog

When using the count method (1) or (2), set the movement amount to the OP after the
near-point dog signal turns ON.
The movement amount after near-point dog ON should be equal to or greater than
distance covered by the deceleration from the OPR speed to the creep speed.
OP shift amount from zero

The OP shift function is used to compensate the OP position obtained by the

OPR. With the OP shift function, the OP position can be shifted to a point
between zero points or point far from zero point detected.

OPR direction

When OP shift amount is positive

Shift point
Start point Shift point

Shift after deviation counter clear is canceled

When OP shift amount
is negative

Near-point dog

Zero signal

Figure 4.10 OP shift

4.3 Positioning Data

(Changeable during PLC CPU READY)

(a) The positioning data is used for positioning operation (excluding the OPR, JOG
operation and manual pulse generator operation), consisting of types of data
shown below.
(b) Choose a reference axis and axis to be interpolated between axes 1 and 4 when
interpolation control, such as 2-axis linear interpolation, 2-axis linear fixed-feed,
and 2-axis circular interpolation, is performed to 2 axes.
Set all positioning data to a reference axis such as control system and operation
patterns.
Set only positioning address/movement amount required for interpolation to the
axis to be interpolated.
(c) The width check for each setting value of positioning data is carried out at each
positioning.
(An error will occur if the set width is exceeded and positioning will not be
executed.))

Table 4.5 Positioning data

Setting range
Unit Initial value
Item mm inch degree pulse
0: Completed Positioning complete 0:
Operation pattern 1: Continuous Continuous positioning control Completed
2: Path Continuous path control
1: ABS linear 1 1-axis linear control (ABS)
2: INC linear 1 1-axis linear control (INC)
3: Fixed-feed 1 1-axis fixed-feed control
4: VF1 1-axis speed control (forward run)
5: VR1 1-axis speed control (reverse run)
6: VPF Speed-position switching control (forward run)
7: VPR Speed-position switching control (reverse run)
8: PVF Position-speed switching control (forward run)
9: PVR Position-speed switching control (reverse run)
A: ABS linear 2 2-axis linear interpolation control (ABS)
B: INC linear 2 2-axis linear interpolation control (INC)
C: Fixed-feed 2 Fixed-feed control by 2-axis linear interpolation
D: ABS Circular interpolation control with sub point specified (ABS)
E: INC Circular interpolation control with sub point specified (INC)
F: ABS circular right Circular interpolation control with center point specified (ABS, CW)
G: ABS circular left Circular interpolation control with center point specified (ABS, CCW)
H: INC circular right Circular interpolation control with center point specified (INC, CW)
I: INC circular left Circular interpolation control with center point specified (INC, CCW)
Control system
J: VF2 2-axis speed control (forward run)
K: VR2 2-axis speed control (reverse run)
L: ABS linear 3 3-axis linear interpolation control (ABS)
M: INC linear 3 3-axis linear interpolation control (INC)
N: Fixed-feed 3 Fixed-feed control by 3-axis linear interpolation
O: VF3 3-axis speed control (forward run)
P: VR3 3-axis speed control (reverse run)
Q: ABS linear 4 4-axis linear interpolation control (ABS)
R: INC linear 4 4-axis linear interpolation control (INC)
S: Fixed-feed 4 Fixed-feed control by 4-axis linear interpolation
T: VF4 4-axis speed control (forward run)
U: VR4 4-axis speed control (reverse run)
V: NOP NOP instruction
W: Current value Current value changing
changing
X: JUMP instruction JUMP instruction
Y: LOOP Declares the beginning of LOOP to LEND section
Z: LEND Declares the end of LOOP to LEND section
 Table 4.5 Positioning data (Continued)

Setting range
Unit Initial value
Item mm inch degree pulse
0: Axis1
1: Axis 2
Axis to be interpolated
2: Axis 3
3: Axis 4
Acceleration time No. Select acceleration time 0 to 3 from the basic parameters 2 and detailed parameters 2. 0
Deceleration time No. Select deceleration time 0 to 3 from the basic parameters 2 and detailed parameters 2. 0
Positioning -214748364.8 to -21474.83648 to 0 to -2147483648 to
Absolute 0
address 214748364.7µm 21474.83647inch 359.99999degree 2147483647pulse
-214748364.8 to -21474.83648 to -21474.83648 to -2147483648 to
Increment 0
214748364.7µm 21474.83647inch 21474.83647degree 2147483647pulse
Movement
Speed-position,
amount 0 to 0 to 0 to
position-speed 0 to 214748364.7µm 0
21474.83647inch 21474.83647degree 2147483647pulse
switching request
Arc address -214748364.8 to -21474.83648 to -2147483648 to
-- 0
(sub point or center point) 214748364.7µm 21474.83647inch 2147483647pulse
0.01 to 20000000.00 0.001 to 2000000.000 0.001 to 2000000.000
1 to 1000000pulse/s
Command speed mm/min inch/min degree/min 0
-1 (Current speed) Same as the previous speed
When the control system is other than the JUMP instruction and LOOP instruction: 0 to
65535ms
Dwell time 0
JUMP instruction: Jump destination data No. 1 to 600
LOOP instruction: Repeat cycles 1 to 65535
Other than JUMP instruction: 0 to 65535
M code 0
JUMP instruction: Conditional JUMP condition data No.1 to 10

(e) The following shows the positioning data setting screen.

<Setting example>
Command
Operation Axis to Acceleration Deceleration Positioning Arc address Dwell time Positioning data
No. Control systems speed M code
pattern be time No. time No. address [µm] [µm] [ms] comment
[mm/min]
interpolated
1 0: Completed1: ABS linear 1 0: 100 0: 100 50000.0 0.0 2000.00 0 0
2 0: Completed1: ABS linear 1 0: 100 0: 100 75000.0 0.0 2000.00 0 0
3 0: Completed1: ABS linear 1 0: 100 0: 100 100000.0 0.0 2000.00 0 0
4 0: Completed1: ABS linear 1 0: 100 0: 100 150000.0 0.0 2000.00 0 0
5 0: Completed1: ABS linear 1 0: 100 0: 100 200000.0 0.0 2000.00 0 0
6 0: Completed1: ABS linear 1 0: 100 0: 100 25000.0 0.0 2000.00 0 0
7
8
9
10

For positioning data, the items which require settings differ depending on control
systems, etc.
Therefore, SW0D5C-QD75P displays setting columns as shown below depending
on the need of setting.
Yellow: Setting is not available as it is on the interpolation axis side of interpolation
control.
Red: Item to be set has not been set or an error occurred
Grey: Setting is not required (Setting is invalid)
Operation pattern

The operation pattern designates whether positioning of a certain data No. is to be

completed with just that data, or whether the positioning is to be carried out with the
next data No. in succession.

Operation pattern
Positioning ................................................................................................Complete
complete

Positioning Continuous positioning with one start signal ............... Continued

continued
Continuous path positioning with speed change......... Path

(1) Positioning complete ...Set to execute positioning to the designated address, and
then complete positioning after the dwell time has passed.

Start (Y10) ···Turn ON/OFF automatically in the QD75

Start complete (X10)

···Turn ON/OFF by
BUSY(X0C)the sequence program

Speed Complete

Time
Dwell time

Figure 4.11 Pattern [Complete]

(2) Continuous positioning control .... Positioning is carried out successively in order of
data Nos. with one start signal. (the BUSY signal
remains ON during positioning continued.)

Start (Y10)

Start complete (X10)

BUSY(X0C) Complete
V3
V1
Speed Continuous Continuous

Time
V2
Dwell time Dwell time Dwell time

V1 and V2 indicate that the positioning direction is reversed.

Figure 4.12 Pattern [Continued]

 (3) Continuous path positioning
with speed change.................... Positioning is carried out successively in order of
data Nos. with one start signal. This positioning
control enables speed change during positioning.

Start (Y10)

Start complete (X10)

BUSY(X0C)

Path
Path
V1 Continuous
Complete
V2 V
3

V4
Dwell time Dwell time

V1 and V4 indicate that the positioning is reversed.

Figure 4.13 Pattern [Path]

Control system

Set the "control system" for carrying out positioning control.

(1) When "JUMP instruction" is set for the control system, the "dwell time" and "M
code" setting details will differ.
(2) When "LOOP" is set for the control system, the "M code" setting details will differ.
(3) Refer to Section 4.3.1 to 4.3.11 for details on the control systems.
(4) If "degree" is set for the unit setting, the circular interpolation control cannot be
carried out. (An error will occur when executed.)

Axis to be interpolated

Set the interpolation axis (target axis) only for operation under the 2-axis interpolation
control.
(This item does not need to be set in case where 3 or 4-axis interpolation is selected.)
(1) Do not specify the own axis or a value out of the setting range 1 to 4 for an
interpolation target axis. An error will occur when executed.
(2) The following shows the relationship between a reference axis and interpolation
axis according to control systems.
Axis definition
Reference axis Interpolation axis
Control systems
2-axis linear interpolation control, 2-axis Either of axis 1, axis 2, axis Axis set for "interpolation
fixed-feed control, 3 and axis 4 target axis of reference axis
2-axis circular interpolation control, 2-axis
speed control
Axis 1 Axis 2, Axis 3
3-axis linear interpolation control, 3-axis Axis 2 Axis 3, Axis 4
fixed-feed control, Axis 3 Axis 4, Axis 1
3-axis speed control Axis 4 Axis 1, Axis 2
Axis 1 Axis 2, Axis 3, Axis 4
4-axis linear interpolation control, 4-axis Axis 2 Axis 3, Axis 4, Axis 1
fixed-feed control, Axis 3 Axis 4, Axis 1, Axis 2
4-axis speed control Axis 4 Axis 1, Axis 2, Axis 3
Positioning address

(a) Absolute (ABS) system, current value changing

• The setting value (end point address) for the ABS system and current value
changing is set with an absolute address (address from OP).
Stop position (Positioning start address)

-1000
1000 3000

Movement amount:2000 Movement amount:2000

(b) Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3, fixed-feed 4

• The movement amount (with a sign) for the INC system is set.
• Movement direction is specified with a sign.
When movement amount is positive: Moves in the positive direction (address
increment direction)
When movement amount is negative: Moves in the negative direction (address
decrement direction)
Stop position (Positioning start position)

(Movement amount) (Movement amount)

-30000 30000

Move in negative Move in positive direction

direction

(c) Speed-position switching control

• Set the amount of movement after the switching from speed control to position
control.
(d) Position-speed switching control
• Set the amount of movement during position control (before the switching to
speed control).

Arc address
The arc address is data required only when carrying out the circular interpolation
control.
(1) When carrying out circular interpolation with a sub point designated, set the sub
point (passing point) address.
(2) When carrying out circular interpolation with a center point designated, set the
center point address of the arc.
Sub point
End point address
End point address

Center point address

Start point address Start point address

<Circular interpolation with sub point designated> <Circular interpolation with center point designated>
Command speed

Set the command speed for positioning.

(1) If the set command speed exceeds the speed limit value, positioning will be
carried out at the speed limit value.
(2) If "-1" is set for the command speed, the current speed (speed set for previous
positioning data No.) will be used for positioning control.
Note that when starting positioning, if the "-1" speed is set for the positioning data
that carries out positioning control first, the error "No command speed" will occur,
and the positioning will not start.

Dwell time

Dwell time is the time from when the pulse output that is required for positioning is
completed to when the completion of the positioning (the BUSY signal OFF).
(1) The positioning will not be accurate if the dwell time is too short.
(2) The dwell time should be set longer than the time from when the output of
positioning pulses is completed to when the motor stops..
Figure 4.14
Start (Y10)

Start complete (X10)

BUSY(X0C)

Speed
(Pattern [Complete])

Time
Dwell time

(3) If "JUMP instruction" is selected as the control system, set the positioning data
No. of the JUMP destination.

M code

An M code is a number used for performing positioning-related operations or

displaying positioning-related items during the positioning.
(1) If no M code needs to be output, set "0".
(2) If "JUMP instruction" is selected as the control system, to perform a jump when
the conditions are met, set the conditional data No.1 to 10.
(3) If "LOOP" instruction is selected as the control system, set repeat cycles.
4.3.1 Linear control

Control by ABS linear 1 to 4 (absolute system)

(1) Positioning control is carried out from the current stop address (address before
positioning), that is specified based on the OP, to the designated address.
(2) The movement direction is determined by the current stop address and
designated address.
Need of setting in interpolation control
Item
Reference axis Interpolation axis
Operation pattern
"ABS linear 1"
200 End point
"ABS linear 2"
Control system Moves to this position
"ABS linear 3" wherever address before
"ABS linear 4" positioning is.
Axis to be *1 100
interpolated
Acceleration time
No.
0
Deceleration time No. Start
Positioning address point 0 100 200 (mm)

Arc address
Command speed
Dwell time
M code
*1: Required only when ABS linear 2 is selected as the control system

Control by INC linear 1 to 4 (increment system)

(1) Positioning control is carried out for the designated movement amount from the
address of the current stop position.
(2) The movement direction is determined by the movement amount sign (+/-).
• When movement direction is positive ... Positioning in the positive direction
(address increment direction)
• When movement direction is negative .. Positioning in the negative direction
(address decrement direction)
Need of setting in interpolation control
Item
Reference axis Interpolation axis
Operation pattern
"INC linear 1"
"INC linear 2" End point
Control system
"INC linear 3" 200
"INC linear 4"
Axis to be *1
interpolated 100 Start point
Acceleration time
No.
Deceleration time No.
Positioning address 0
100 200 (mm)
Arc address 0 50
Command speed
Dwell time
M code

*1: Required when INC linear 2 is selected as the control system

4.3.2 Fixed-feed

Control by fixed feed 1 to 4 (increment

system)
(1) The positioning control is carried out for the designated movement amount
treating the current stop position as 0.

(2) The movement direction is determined by the movement amount sign.

• When movement direction is positive ... Positioning in the positive direction
(address increment direction)
• When movement direction is negative .. Positioning in the negative direction
(address decrement direction)

(3) Fixed-feeds 2 to 4 are controlled by the interpolation control.

Necessity of setting in interpolation control

Item
Reference axis Interpolation axis
Operation pattern
"Fixed-feed 1"
"Fixed-feed 2"
Control system
"Fixed-feed 3" 200
"Fixed-feed 4"
Axis to be *1 End point
interpolated 100
Acceleration time Start point
No.
Deceleration time No. 0
100 200 (mm)
Positioning address 0 50

Arc address
Command speed
Dwell time
M code
*1: Required when fixed-feed 2 is selected as the control system
 4.3.3 Circular interpolation control with sub point designated

2-axis control with ABS circular interpolation (absolute system)

(1) Circular interpolation is curried out from the current address (address before
positioning), which is specified based on the OP, to the end point address
through the designated sub point address.

(2) The path that the positioning operation draws results in an arc whose center point is an intersection point of
two perpendicular bisectors, one of which is a straight line between the start point address (current stop
position) and sub point address, and the other of which is a straight line between the sub point address and
end point address.

Need of setting in interpolation control

Item
Reference axis Interpolation axis
Operation pattern
Control system Selects "ABS circular sub"
200
Axis to be End point
interpolated
Acceleration time 100 Sub point
No.
Deceleration time No.
Positioning address Start point
0
Arc address 0 100 200 (mm)
(Sets sub point address) (Sets sub point address)
Command speed
Dwell time
M code

2-axis control with INC circular sub (increment

(1) Circular interpolation is carried out from the current stop position address to the
end point through the designated sub point.

(2) The path that the positioning operation draws results in an arc whose center
point is an intersection point of two perpendicular bisectors, one of which is a
straight line between the start point (current stop position) and the sub point, and
the other of which is a straight line between the sub point and an end point .

Need of setting in interpolation control

Item
Reference axis Interpolation axis
Operation pattern
Control system Selects "INC circular sub"
Axis to be
interpolated 200
Acceleration time End point
No.
Deceleration time No. 100 Sub point
Positioning address
50

(Sets the movement (Sets the movement 0 Start point

Arc address 100 (mm)
amount from the start point amount from the start point 0 50

to the sub point) to the sub point) 200

Command speed
Dwell time
M code
 4.3.4 Circular interpolation control with center point designated

2-axis control with ABS circular in right or left direction (absolute

system)
(1) Circular interpolation is carried out from the current stop position (address before
positioning), which is specified based on the OP and works as a start point in this
control, to the end point in an arc movement.

Need of setting in interpolation control

Item
Reference axis Interpolation axis
Operation pattern
"ABS circular to right"
Control system
"ABS circular to left"
200
Axis to be
interpolated
Acceleration time
100 Center point
No.
Deceleration time No. 50
End point
Positioning address
0
Start
Arc address
(Sets the center point address) (Sets the center point address)
point 0 100 200 (mm)
Command speed
Dwell time
M code

2-axis control with INC circular in right or left direction (increment system)

(1) Circular interpolation is carried out from the current stop address, which works as a start point (0, 0), to the
end point in an arc movement.

Need of setting in interpolation control

Item
Reference axis Interpolation axis
Operation pattern
"INC circular to right"
Control system
"INC circular to left"
Axis to be 200

interpolated
Acceleration time Center point
No. 100
Deceleration time No.
50
Positioning address Start point End point
0
Arc address 50 20 (mm)
(Sets the center point address) (Sets the center point address) 0 0
Command speed 125
Dwell time
M code
4.3.5 Speed control

Speed control in forward and reverse direction

(1) After startup, the servomotor continues running at a designated speed until the
stop command is input.

(2) The current feed value remains 0. (The machine feed value is incremented.)

Need of setting in interpolation control

Item
Reference axis Interpolation axis
Operation pattern "Complete"
"Forward run speed
1" "Forward run
speed 2" "Forward
run speed 3"
Control system
"Forward run speed 200
4" "Reverse run
speed 1" "Reverse
run speed 2" 100 Start
It does not stop
"Reverse run speed point
until the input of
3" the stop signal.
"Reverse run speed 4" 0
Axis to be *1
interpolated 0 50 100 200 (mm)
Acceleration time
No.
Deceleration time No.
Positioning address
Arc address
*1
Command speed
*1: Required when forward run speed 2 or reverse run speed 2 is
selected as the control system.
*2: M codes are valid in "WITH mode" only.
4.3.6 Speed-position switching control

1-axis control with forward run speed/position switching and reverse run speed/position switching (increment
system)
(1) The speed control is carried out after the start, and switched to the position
control by the external command signal (select the "speed-position/position-
speed switching request” for the "external command function selection") when
the "speed-position switching enable flag" is ON (Enable), and then the
positioning for the designated movement amount is carried out.

(2) The current feed value at the start and during speed control depends on the
setting of "current feed value during speed control". (The machine feed value is
always incremented.)

Item Need of setting

Operation pattern "Complete"
"Forward run:
200
speed/position"
Control system
"Reverse run: Speed-position switching request
speed/position" 100 End
Axis to be Start point point
100
interpolated
Acceleration time 0
No. (mm)
0 100 200
Deceleration time No.
Positioning address
Arc address
Command speed
External command signal
Dwell time
M code Speed

Time

Speed control Positioning

control
4.3.7 Position-speed switching control

1-axis control with forward run position/speed switching and reverse run position/speed switching (increment system).

(1) The position control is carried out after the start, and switched to the speed
control before reaching to the positioning end point by the external command
signal (select the "speed-position/position-speed switching request" for the
"external command function selection") when the "speed-position switching
enable flag" is ON (Enable), and then the speed control is carried out until the
input of the stop signal.

(2) The current feed value at the start and during speed control depends on the
setting of "current feed value during speed control". (The machine feed value is
always incremented.)

Item Need of setting

Operation pattern "Complete"
"Forward run: 200
position/speed"
Control system
"Reverse run: Position-speed switching request
position/speed" 100
Axis to be Start point End point Stop signal

interpolated
Movement amount of position control
Acceleration time 0
(mm)
No. 0 100 200
Deceleration time No.
Positioning address
Arc address
Command speed External command signal
Dwell time Deceleration
Speed stop
M code
Time

control
Positioning Speed control
4.3.8 NOP instruction

Instruction to execute nothing

(1) The NOP instruction is used for the control system that executes nothing.
When the NOP instruction is selected as the control system, all settings
(positioning address, command speed, etc.) other than the control system are
invalid.

(2) The positioning data No. to which the NOP instruction is set is skipped, without
any processing, to the operation for the next positioning data No.
However, when the NOP instruction is set to the positioning data No.600, an
error will occur.

REMARK
The NOP instruction is used for reserving the data if there is a possibility of
executing speed switching or temporary stop (automatic deceleration) somewhere
in the positioning control.
The data can be changed simply by replacing the identifier.
4.3.9 Current value changing

Changing current value of stop position

(1) Change the [Current feed data] to a desired value using the current value
changing instruction at a stop or during the continuous positioning control.
(The current value changing cannot be executed during the continuous path
control.)

(2) Set a new value in the [Positioning address] column.

(3) When this instruction is executed, the current feed value is changed, and the
machine feed value is kept.

Item Need of setting

Operation pattern
Control system "Current value changing"
Axis to be
200
interpolated
Acceleration time
No. The current feed value of
100 the stop position can be changed.
Deceleration time No.
Positioning address
Arc address 0 100 200 (mm)
Command speed 0 50
Dwell time
M code

REMARK
The current feed value can also be changed by storing a new value to the buffer
memory (1506, 1507/1606, 1607/1706, 1707/1806, 1807) using the positioning
data No.9003 and the DTO instruction.
4.3.10 JUMP instruction

Jumping to data No. by the JUMP instruction during continuous/path operation

(1) The JUMP instruction is used to perform "unconditional JUMP" or "conditional

JUMP" to the positioning data No. which is designated during the continuous
path control or continuous positioning control.
• Unconditional JUMP : When no execution conditions (M code column) are set for
the JUMP instruction, executing this instruction
unconditionally makes a jump.
• Conditional JUMP : When execution conditions (M code column) are set to 1 to
10 for the JUMP instruction, executing this instruction makes
a jump if the condition is met, and moves to the next
positioning data No. if the condition is not met.

(2) The jump destination positioning data No. is set to 1 to 600 in the dwell time column.

(3) The execution condition is set using the block start condition data No. 1 to 10 in
the M code column.
Item Necessity of setting
Operation pattern
Control system "JUMP instruction"
When starting positioning data
Axis to be No.11 listed in 4) below,
200
interpolated the mouvement of No.14 and 15,
indicated in the dotted line, is
Acceleration time No. skipped and the mouvement
indicated in the full line is performed.
Deceleration time No.
100
Positioning address
Arc address
Command speed 0
100 200 (mm)
Dwell time 0 50
(Jump destination data No.)
*1
M code

*1: For a conditional JUMP, set a condition data No.

4) The following shows an example where a jump is made to data No. 16 when the
JUMP instruction is input to positioning data No.13 and the condition data 1 is
set in the M code column and then the condition is met.
Axis to Positioning Command
Operation Acceleration Deceleration Arc address Dwell time Positioning data
No. Control system be address speed M code
pattern time No. time No. [µm] [ms] comment
interpolated [µm] [mm/min]
11 1: 1: ABS linear 1 0: 100 0: 100 50000.0 0.0 2000.00 0 0
Continuous
12 1: 1: ABS linear 1 0: 100 0: 100 75000.0 0.0 2000.00 0 0
Continuous
13 1: X: JUMP 0: 100 0: 100 0.0 0.0 2000.00 16 1
Continuous instruction
14 1: 1: ABS linear 1 0: 100 0: 100 150000.0 0.0 2000.00 0 0
Continuous
15 1: 1: ABS linear 1 0: 100 0: 100 200000.0 0.0 2000.00 0 0
Continuous
16 0: 1: ABS linear 1 0: 100 0: 100 25000.0 0.0 2000.00 0 0
Completed
17
Note) For the condition data No.1, a condition
must be created separately. JUMP destination data No. Condition data No.
 4.3.11 LOOP to LEND control

Repeat control by repetition (LOOP to LEND)

(1) The LOOP to LEND loop is repeated for the set number of cycles.

(2) The repeat cycles are set to 1 to 65535 in the M code column.

(3) When LOOP is selected as the control system, settings other than the repeat
cycles (M code column) are ignored.

(4) When LEND is selected as the control system, the settings of other items are
ignored.

(5) When the repeat cycle designated by the LOOP becomes 0, the loop is
terminated, and the next positioning data No. processing is started. (The
operation pattern will be ignored.)
To stop the operation after the operation has been repeated for the designated number of times, set the dummy
positioning data (for example, incremental positioning without movement amount) next to LEND.
Necessity of LEND
LOOP setting
Item
Operation pattern
Control system "LOOP" "LEND"
Axis to be interpolated
Acceleration time No.
Deceleration time No.
Positioning address
Arc address
Command speed
Dwell time
M code
(Setting of repeat cycles)

(6) The following shows an example where a jump is made to the positioning data
No.25 after LOOP is input to the positioning data No.22 and the repeat cycle 2 is
set to the M code column.
Axis to Positioning Command
Operation Acceleration Deceleration Arc address Dwell time Positioning data
No. Control system be address speed M code
pattern time No. time No. [µm] [mm/min ] [ms] comment
interpolated [µm]
21 1: 1: ABS linear 1 0: 100 0: 100 50000.0 0.0 2000.00 0 0
Continuous
22 0: Y:LOOP 0: 100 0: 100 0.0 0.0 0.00 0 2
Completed
23 1: 1: ABS linear 1 0: 100 0: 100 100000.0 0.0 2000.00 0 0
Continuous
24 1: 1: ABS linear 1 0: 100 0: 100 150000.0 0.0 2000.00 0 0
Continuous
25 0: Z:LEND 0: 100 0: 100 0.0 0.0 0.00 0 0
Completed
26 0: 1: ABS linear 1 0: 100 0: 100 25000.0 0.0 2000.00 0 0
Completed
27

Repeat cycles
Positioning data No.21 22 23 24 25 22 23 24 25 26
|--------------------------|--------------------------|
Repeat cycles First Second
CHAPTER 5 EXERCISE (1) TEST OPERATION USING SW D5C-QD75P

5.1 System Configuration of Demonstration Machine

(1) I/O number assignment

Power supply
Input module Positioning module
module
CPU
Output module
module

QX
Q02H 42 QY QD
Q61P-A1 I/O panel
42P Q64AD Q62DA 75D4
CPU (64 points) (64 points) (16 points) (16 points) (32 points)

X80

X90 X0A0
to to to
X8F X9F X0BF
Y80 Y90 Y0A0
to to to

Y8F Y9F Y0BF

X0 Y40
to to

X3F Y7F

I/O panel

BCD digital display (4 digits 3)

Y6C Y68 Y64 Y60

Y5C Y58 Y54 Y50 Y4C Y48 Y44 Y40

to to to to to to to to to to to to
Y40 to Y6F Y6F Y6B Y67 Y63 Y5F Y5B Y57 Y53 Y4F Y4B Y47 Y43

LED 12

Y70 to Y7B

Y7B Y7A Y79 Y78 Y77 Y76 Y75 Y74 Y73 Y72 Y71 Y70

BCD digital switch (4 digits 2)

X3C X38

X34 X30 X2C X28 X24 X20

to to to to to to to to
X20 to X3F X3F X3B X37 X33 X2F X2B X27 X23

Snap switch 12

5-1
X0 to XB

XB XA X9 X8 X7 X6 X5 X4 X3 X2 X1 X0

5-1
 (2) Wiring and preparation

Q61P-A1 Q02HCPU QX42 QY42P Q6 QD75D4

Q64 2
I/O panel

Power
supply
SW D5C-QD75P
SW D5C-GPPW

QD75 drive module

connection cable

RS-232C cable

SON : Servo ON signal (Servo amplifier)

AHG : External start/switch signal (QD75D4)
STOP : External stop signal (QD75D4)
AUX : Unused
EMG : Emergency stop signal (Servo amplifier)

POWER

Servo amplifier AUX STOP CHG SON

EMG

Servomotor

1-axis demonstration machine

IMPORTANT
Be sure to turn the power off before replacing the module or wiring.

(3) Powering-on and the switch

1) After mounting modules as shown above and completing the wiring, turn the
Q02HCPU to "STOP", and then turn ON the power switch of the demonstration
machine.
2) After powering on, turn the STOP and CHG switches of the 1-axis
demonstration machine to OFF and the SON switch to ON.
Press the upper side of each switch to turn ON and the lower side to turn OFF.

(ON)

5-2
5.2 Starting Up and Exiting SW D5C-QD75P

5.2.1 Start up operation

This section provides explanations from how to start up the SW D5C-QD75P software
package for QD75 positioning to how to create a new project.

1) Click "Start" of Windows "All

Programs" "MELSOFT Application"
"GX Configurator-QP".

2) SW D5C-QD75P starts up.

3) Click "Project" "New project".

4) Confirm that "QD75D4" is set for Module type.

5) Click the OK button to start the project.

*: When the demonstration machine (QD75D4)

is not set for Module type, click the
"Reference" button at the upper right to set in
the QD75 type select dialog box shown
below.
5.2.2 Exit operation

This section explains how to exit SW D5C-QD75P.

1) Click "Project" "Exit" menu.

• If no project is opened, the operation is

completed here.

• If the settings of the opened project have

not been changed, click the "Yes" button on
the dialog box asking whether to close the
project.

• If the settings of the opened project have

been changed, go to step 2).

2) The dialog box appears asking whether to

save the project.
Click the Yes button to save and
terminate the project.

3) When Project name is not set (untitled), the

"Save as project(Untitled)" dialog box
appears.

4) Enter "Project path" and "Project name". If

required, enter "Project title".

5) Click the OK button to save and terminate

the project.
5.3 Specifying Connection Target QD75

SW D5C-QD75P accesses the QD75 via PLC CPUs, serial communication modules,
etc.
Make the settings for the interfaces located midway along the communication path
and interfaces on the peripheral device side to perform the online operations (data
write/read/monitor/test and so on).

1) Click the "Online" "Connection setup".

2) Change the following items on the Connection

setup dialog box.
"Transmission speed" 115.2 kbps
"I/O adr." A0

3) Click the OK button.

IMPORTANT
In SW D5C-QD75P, connection setup must be performed each time a project is
opened in order not to access undesired QD75s.
When a project is opened, display the Connection setup dialog box before online
operation and click the OK button. (The latest saved settings are retained.)
The online operation cannot be performed without connection setup.
The connection setup is not required for offline operation (such as editing
positioning data on the peripheral device).
5.4 Initialization and Connection Check Using SW D5C-QD75P

When the positioning system is changed or a new system is installed, initialize the
QD75 and check the I/O signals from the drive module and the external devices.
Also, execute the JOG operation in the test mode to check the rotation direction of the
servo motor and the ON/OFF of zeroing and zero point.

Note) Make the PLC CPU to the "STOP" status.

1) Double-click the project name to be checked

from the project tool bar.

2) Double-click the "Diagnosis" icon.

3) Double-click the "Checking connect" icon.

4) The dialog box appears asking whether to

close all the displayed windows. Click the
Yes button.

5) Connection check window appears. Click the

Online button.

To next page
From the previous page

6) The dialog box appears asking whether to

move to the online mode (move to the test
mode) and to initialize the QD75.
Click the Initialize button to initialize the
QD75 and then move to the test mode.
Parameters and positioning data are not
initialized in this process. The internal data of
the QD75 module is initialized.

7) The dialog box appears confirming that the

QD75 has been successfully changed to
TEST MODE.
Click the OK button.

8) Check the "External input output signal" status

on the connection check window.
• Upper limit, Lower limit,
Drive unit ready (Red): ON
• Stop signal, External command (Gray)
: OFF
9) Check the ON/OFF of "External input output
signal" with the STOP and CHG switches of
the 1-axis demonstration machine.
STOP = Stop signal,
CHG = External command

10) Enter a speed in the text box of "JOG speed"

and press and hold the left button of the
mouse for a few seconds with the mouse
pointer on [FWD] or [RVS].
The JOG operation is performed for the
period of time the left button of the mouse
was pressed.

11) Check how "Current feed value" was

changed and "Feed speed" at the Operation
monitor during the JOG operation.

12) Click the Offline button. The dialog box

appears asking whether to terminate the test
mode.
Click the Yes button to terminate the
connection check.

REMARK
The operation check of the upper/lower limit switches (FLS/RLS) can be performed
in the JOG operation.
Perform one of the three following operations to initialize the parameters and the
positioning data.
1) Select and execute "QD75Initialization" with the QD75P in the online mode.
2) Execute the QD75 dedicated instruction "PINIT".
3) Write "1" to the buffer memory "1901".
5.5 Positioning Exercise Using Test Operation Function

Project name TEST

Set the parameters, OPR parameters and positioning data using SW D5C-QD75P
and write them to the QD75.
Perform the test operation and monitoring from the peripheral device in the test mode.

Procedure

Basic parameter and OPR parameter setting .......... Section 5.5.1

Positioning data setting .......... Section 5.5.2

Simulation .......... Section 5.5.3

Data write to QD75 .......... Section 5.5.4

Test operation and monitoring .......... Section 5.5.5

<Example of positioning >

Linear control (Operation pattern: Complete)

No.3No.1 No.2
Positioning data No.
300000 Address (pulse)
0 2000070000 150000
OP Standby point
5.5.1 Basic parameter and OPR basic parameter setting

Set the parameters according to the devices to be used and the control details.
In the procedure below, the initial values (default values) are used except some items.

1) Double-click the "Edit" icon.

2) Double-click the "Parameter data" icon.

3) The parameter edit window appears.

Enter "20000" in the Axis #1 column of Basic
parameter2 "Speed limit".

4) Scroll down the parameter edit window and

set the Axis #1 OPR basic parameter as
follows.
"OPR direction" ............ 1: Reverse direction
(Address decreases)
"OPR speed" ................ 5000
"Creep speed"..............1000
5.5.2 Positioning data setting

Set the positioning data.

1) Double-click the "Edit" icon.

3) The positioning data axis #1 edit window

appears.
Double-click Pattern, CTRL method, ACC
(ms) and DEC (ms) to select a desired item
from their lists.
2) Double-click the "Positioning data Axis
Enter a setting value directly for other items.
#1" icon.

<Setting example of positioning data axis #1>

Positioning Arc Command Dwell Positioning
Operation Axis to be Acceleration Deceleration
No. Control system address address speed time M code data
pattern interpolated time No. time No.
[PLS] [PLS] [PLS/sec] [ms] comment
1 0: 1: ABS linear 1 0: 1000 0: 1000 70000 0 8000 0 0
Completed
2 0: 1: ABS linear 1 0: 1000 0: 1000 150000 0 8000 0 0
Completed
3 0: 1: ABS linear 1 0: 1000 0: 1000 20000 0 10000 0 0
Completed

REMARK
The positioning data can be edited using [Edit] [Cut] / [Copy] / [Paste] for a
dragged area.
5.5.3 Simulation

Check if the set details of the operation pattern, control method, address and
command speed are correct using the simulation (virtual positioning) function.

1) Click "Edit” "Simulation" with

the Positioning data Axis #1
displayed.

2) The simulation window appears. Select "1" for

"Positioning Start No.".

3) The simulation result of the positioning data

No.1 appears.

4) To see the simulation of other positioning

data, change "Positioning start No." to "2",
"3", and so on.

Note) The simulation result is made on the

premise that positioning is started from
the address 0.
5.5.4 Data write to QD75

Write the set parameters, OPR parameters and positioning data to the QD75.
(For the writing, a data type and range can be designated per axis.)

Note) Set the PLC CPU to the "STOP" status.

1) Click "Online" "Write to module".

2) Write to module dialog box appears.

Put a checkmark in the check boxes of
"Positioning data", "Parameter data" and
"Flash ROM write".

3) Click the OK button to execute writing to

the QD75.

4) The dialog box appears asking whether to

overwrite the flash ROM. Click the Yes
button.

5) Reset the PLC CPU.

5.5.5 Test operation and monitoring

To check how the QD75 operates, perform the OPR test and the test operation using
the stored positioning data.
Also, monitor the axis status during operation and set details. .

[OPR and Positioning test operation] 1) Click "Online" "Test" "Test On/Off".

2) The dialog box appears asking whether to

close all windows currently open. Click the
Yes button.

3) Remove the checkmark of "Agreement with

Module data" on the Test mode set dialog
box, then click the OK button.

4) The dialog box appears confirming that QD75

has been successfully changed to the TEST
MODE.
Click the OK button.

To next page
From the previous page
 5) Click (Axis #1 operation test) on the
toolbar.

6) The Axis #1 TEST MODE setting dialog box

appears. Click the "OPR" tab.

7) Confirm that "Machine OPR" is selected for

"OPR type", and then click the REQ OPR
button.

8) When "Current feed value" of Monitor item

becomes "0", this means the OPR test has
completed.

To next page
9) From here, perform the test operation on the
next positioning data.
Click the "Position start" tab.
From the previous page
 10) Confirm that "Start type" is set to "Positioning
start" and "Data No." to "1", and then click
the
Start button.
When "Current feed value" of Monitor item
becomes "70000", this means the 1-axis
linear control test has completed.

11) Click the Close button on the Axis #1

TEST MODE setting dialog box to terminate
the test mode.

12) Click "Online" "Test" "Test On/Off".

13) The dialog box appears asking whether to

terminate the test mode. Click the Yes
button.
[Monitoring operation]
 1) Double-click the "Monitor" "Operation
monitor" icon on the project toolbar.

2) The operation monitor window appears.

To display the feed present value, axis feed
speed, axis status and positioning data being
executed of each axis, click the
Monitor Start button.
To monitor the details of the settings and
status of the QD75, click the [History] /
[Signal]
/ [#1 Operation status] to [#4 Operation
status] buttons on the operation monitor
window.

3) History monitor, Signal monitor or Operation

dialog box appears. Click the tab on each
dialog box to display items to monitor.
(The left screen is the X Device monitor
screen of the Signal monitor dialog box.)

4) Click the Monitor Stop button on the operation

monitor window to terminate monitoring.

<Monitor target by dialog box>

Dialog box name Monitor target (tab name) Description

Error history Occurrence time, axis and code of the latest 16 errors.
History monitor Warning history Occurrence time, axis and code of the latest 16 warnings.
Start history Time and normal/error judgment of the latest 16 axis starts.
X device ON/OFF status of QD75 input signal.
Y device ON/OFF status of QD75 output signal.
Signal monitor External I/O signal ON/OFF status of external input/output signal to QD75.
Status signal ON/OFF status of QD75 status signal.
Axis control data Details of axis while positioning control is being executed.
Speed-position control Details while speed or speed-position switching control is
being executed.
Position-speed control Details while position-speed switching control is being
Operation monitor executed.
OPR control Settings and signal status relevant to OPR control.
JOG/manual pulse Settings and status of JOG operation and manual pulse
generator generator.
5.6 Search Method of Error Code and Warning Code Using Help

The example of search operation using the SQ D5C-QD75P is shown below. In this
example, the error code 102 is searched.
Details of other error codes and warning codes can be searched using the same
method.

1) Click "Help" "Error/Warning/List of Buffer

memory".

2) The Help Topics dialog box

appears. Double-click "Error code
List".

3) Double-click "No. 100-199".

To next page
From the previous page
 4) Double-click "[Number: 102]Drive unit READY
OFF".

5) The details of "[Error code 102] Drive unit

READY OFF" and the remedy are displayed.

REMARK
The lists of [Warning code], [I/O signal] and [Buffer memory address] can be
viewed by the same operation.
CHAPTER 6 EXERCISE (2) 1-AXIS POSITIONING OPERATION USING SEQUENCE
PROGRAM

The OPR and positioning operation are carried out by the sequence program of the
PLC CPU.

6.1 Positioning System Used in Exercise

1-axis positioning operation system

Stroke MAX150 mm
0

Forward Table Reverse

Forward run pulse HC-MFS
Q 61 PQ 0 Q X 42 QQQQ (X axis) M run run
MR-J2S
2 Y6462D Reverse run pulse
HCPU 42AD75 (X axis)
PDAD 4 Servo amplifier Ball screw
A1 10 mm/rev
PLG

X0A0 Electronic gear 131072 pulses per one rotation of motor Ball screw lead 10mm
to X0BF Y0A0 CMX:16 CDV:1 Gear ratio 1:1
to Y0BF

*: Since the feedback pulse of the servomotor HC-MFS (generates 131072 pulses per rotation) exceeds the
Q75 parameter setting range of 65535 pulses, in this example 8192 pulses are set and multiplied by 16 with
the electronic gear of the servo amplifier to obtain 131072 pulses.

6-1
6.2 Practice Question (1)

Fulfill the basic parameter 1 of positioning system used in the exercise.

Feedback pulse

Movement amount
per motor rotation

6-2
6.3 Opening Text FD Project

Project name X
This section explains how to open the project of SW D5C-QD75P saved in the text
FD.
Insert the text FD into FDD.

1) Click [Project] [Open Project].

2) The dialog box to open the project

appears. Enter as follows.
• [Project save path]
"A: QD75WIN QD75P"
• [Project
name] "X"

3) Click the Open button.

4) The project name and model name appear

on the project toolbar.

5) Click [Tool] [Option] to display the Option

setting dialog box. In the dialog box,
positioning data No.101 and later Nos. can be
set.

6) Check "Range" of "Positioning data set"

and set it in the range of "1 to 200".

7) Click the OK button.

The parameter and positioning data are already selected in the project "X" of text FD.
The items changed from the default settings are shown below.
Double-clicking the icon displays the parameter edit
window.
The items that differ from the default settings in the parameters and OPR parameters
are shown below.

<Basic parameters 1>

mm unit

Feedback pulse

Movement
amount per motor
rotation

<Basic parameters 2>

3000r/min, 10mm/rev (output pulse 400kpulse/s)

Note) Set the speed limit value under the maximum

rotation speed of the motor to be used in order to
satisfy the maximum output pulse of QD75 (pulse/s).
0.1s
<Extended parameter 1>

M code ON when a positioning

operation completes
<Extended parameter 2>

3000r/min, 10mm/rev (Output pulse 400kpulse/s)

<OPR basic parameter/OPR detailed parameter>

Address decrement direction

1000mm/mi

300mm/min

OPR is available even if it stops

between lower limit and DOG
 Double-clicking the icon displays the positioning
data edit window (1 axis).

Note) The positioning data comment field is not shown because it does not require
settings.

No.1 No.4
No.2 No.3 No.5

(Standby point)

0mm 25mm 50mm 75mm 100mm 130mm 150mm

(OP)

No.6
6.4 Saving Project to User FD

This section explains how to write and save the currently opened project data to the
user FD.
Insert the formatted user FD into FDD (A drive).

1) Click [Project] [Save as Project].

2) Click the Reference button in the "Save

as project" dialog box to reference the A drive.

3) Select "A:" in the "Project tree view" dialog

box and click the New button.

4) Enter "QD75WIN" in the "New directory

create" dialog box.

5) Click the OK button.

6) Select "A:" in the "Project tree view" dialog

box and click the New button.

To next page
From the previous
page
 7) Enter "QD75P" in the "New directory create"
dialog box.

8) Click the OK button.

9) The newly created directory is displayed in the

"Project tree view" dialog box.

10) Click the OK button.

11) Enter "TEST" in the "Project name" area of

the "Save as project" dialog box and click the
OK button.
6.5 Writing Data to QD75

This section explains how to write the project data read from the text FD to the QD75.
Refer to Section 5.5.4 for the basic write operation to the QD75.
The example below is to explain the method of writing data only to the required range.

1) Click the [Online] [Write to module [QD75P/QD75D4]] menu.

2) Check the data type to be written in the "Main"
tab.
"Positioning data", "Parameter data" and
"Flash ROM write" are selected as target data
types in this case.

3) Click the "Positioning data" tab.

Designate the range of the axis and positioning
data No. to be written to.
The positioning data No. 1 to 200 of axis 1 is
designated as the writing range in this case.

4) Click the "Parameter data" tab.

Designate the axis to be written
to.
The axis 1 is selected as the writing target in
this case.

5) Click the OK button to write the

designated data and execute the Flash ROM
write.

6) Overwrite the contents of Flash ROM.

When "Is it all right?" message appears, click
the Yes button.
Then, click the OK button.
6.6 Starting Up and Exiting GPPW

6.6.1 Startup operation

This section provides explanations from how to start up the SW D5C-GPPW software
package to how to create a new project.

1) Click [Start] of Windows [All

Programs] [MELSOFT Application]
[GX Developer].

2) GPPW starts up.

3) Click the [Project] [New project] menu.

4) The "New Project" dialog box appears. Set as

follows:
• [PLC series] "QCPU (Q mode)"
• [PLC type] "Q02(H)"

5) Click the OK button to set the project PLC

type to Q02(H)CPU.
6.6.2 Exit operation

This section explains how to exit GPPW and save the project.

1) Click the [Project] [Exit GPPW Developer]

menu.
If the project contents have not been changed,
the operation is completed here.

2) The dialog box appears asking whether to

save the project. Click the Yes button to
save the project.

3) If the project is a new project, the "Save the

project with a new name" dialog box appears.

4) Enter "Drive/Path" and "Project

name". If required, enter "Title".

5) Click the Save button.

6) After the "The specified project does not exist.

Do you wish to create a new project."
message appears, click the Yes button.
When the project is saved, the operation has
completed.
6.7 Creating Positioning Sequence Program

1) Condition for sequence program

For the system using the QD75, always set the following program.

(QCPU RUN)
SM1039 Interlock
Y0A0PLC READY

X0A0 QD75 READY

Provide the start interlock.

X0A8
Axis 1 error detection

Sequence program for QD75 X0A9

Axis 2 error detection

X0AA
Axis 3 error detection

X0AB
Axis 4 error detection

Figure 6.1 Required program

2) Reset of PLC READY

To use the sequence program that detects errors, write the routine that turns OFF
the PLC READY (Y0A0) at error detection in the sequence program.

3) OPR
At power-ON or start of operation, carry out OPR to check the original position.
Also, it is recommended to carry out OPR when the OPR request is issued.

4) Limit switch for zeroing dog

For a limit switch, use the one with a highly reliable contact. If the signal of zeroing
dog is not input at OPR, the movement continues at the OPR speed.

5) Processing for overrun

Setting the upper and lower stroke limit of the QD75 prevents overrun. However,
this prevention works only when the QD75 is in normal operation. In terms of the
safety of the overall system, it is recommended to install the external circuit which
turns off the motor power with the limit switch ON.

6) Emergency stop signal

The STOP input signal is a stop signal for normal operation. The emergency stop
signal must be separately prepared in the external circuit of the PLC program.
6.8 Device Assignment Used in Exercise

X0...................
OPR command
X1...................
Stop command
X2................... Standby point start
X3................... Designated positioning data No.
Digital switch Digital switch
X4................... start Forward run JOG start

X5................... Reverse run JOG start X3F to X30 X2F to X20

X6................... Inching operation 0000 0000
X7................... Setting data registration
Setting data Positioning data No.
X8................... Data change target
X9................... switching Restart command
X0A ............... PLC READY OFF command
. Error reset
X0B ...............
.

Y70.................
OPR request D10 ................ For positioning data No.
Y71................. .
STOP (X20 to X2B)
Y73................. D11 ................ For setting data (X30 to X3F)
M code detection
Y74................. .
Forward JOG operating For calculation
Y75................. Reverse JOG D13,14............
For status signal read
Y76................. operating Error display D20 ................
.
Automatic refresh setting
M0...................
OPR command pulse D100,101 ...... Axis 1 current feed value
M2................... .
Standby point start Axis 1 machine feed value
pulse D102,103 ......
.
M3................... Designated positioning data No. start D104,105 ....... Axis 1 feed speed
M7................... pulse D106 ............. Axis 1 error code
M9................... Setting data registration . Axis 1 warning code
M10................. pulse Error reset, restart D107 ............. Axis 1 valid M code
.
pulse Interlock Axis 1 operation status
D108 .............
.
D109 .............
.
M20................. (Flash ROM *: The automatic refresh setting of
write) Master SW D5C-QD75P automatically
T1.................... control updates the buffer memory value of
T2.................... M code 1 QD75.
T3.................... detection M code
3 detection M
code 5 detection

M200
Used for QD75 dedicated
to M259...........
instruction
D200
to D259
...........
 The following shows how to add the intelligent function module parameters to a GPPW
project, using the auto refresh setting of SW D5C-QD75P.

1) Click [Tool] [Intelligent function utility].

2) The GPPW project name dialog box appears.

Enter "C: MELSEC GPPW" in [Project save
path] and "X" in [Project name] and click the
Open button.
Note) When the message "Cannot startup the
project. The project has already been in
use on GPPW." appears, close the project
"X" on the GPPW side.

3) Intelligent function module utility window

activates. Make the settings as follows.
Start I/O No.: 00A0
Module type: Positioning unit
Module model name: QD75D4
After the settings are made, click the
Auto refresh button.

To next page
From the previous page

4) The "Auto refresh setting" dialog box appears.

Make the settings as follows:
Feed present value (Axis #1):
D100 Machine feed value (Axis
#1): D102 Feed speed (Axis #1):
D104
Error No. (Axis #1): D106
Warning No. (Axis #1): D107
Enable M code (Axis #1): D108
Busy (Axis #1): D109
After the settings are made, click the
End setup button.

5) Click the Exit button.

6) The dialog box appears asking whether to

save the parameter. Click the Yes
button.
6.9 Simple Sequence Program

Project name A

SM1039(RUN, Always ON after 1 scan) Y0A0 PLC READY

X0 PLS M200
M201
(Start
command) (Start flag)
M200 SET M201
X1 Start flag set

(Stop) Machine OPR

M201 MOVP K9001 D20

Start No. setting
2
System area
ZP.PSTRT1 "U0A" D20 M202 Completion device
0
Axis 1 start
Start flag reset
M201
RST

M202 M203 PLS M204

(Start (Abnormal

completion) completion)
M204 M221 PLS M220
(Start (Start
command) flag)
M220 SET M221 Start flag reset
X1
No.5
(Stop)
M221 MOVP K5 D222
Start No. setting
System area
ZP.PSTRT1 "U0A" D22 M222 Completion device
0
Axis 1 start
Start flag reset
M221
RST

M222 M223 PLS M224

(Start (Abnormal

completion) completion)

(For the QD75 dedicated instruction "ZP.PSTRT1", refer to Appendix 5.)

 Operation of peripheral devices
Create the sequence program above and write to the PLC CPU.
1) Start GPPW on the peripheral device.

2) Create a new circuit.

3) Convert the circuit with (the [Convert] [Convert] menu).

4) Write the parameter and the sequence program to the PLC CPU with (the
[Online] [Write to PLC] menu).
PLC CPU is STOP
(Click the Param+Prog button on the PLC write dialog box, then click the

Execute button.)

5) Reset the PLC CPU once, and then put into the RUN state.

6) Carry out the circuit monitor of GPPW by the peripheral

device. Click (the [Online] [Monitor] [Monitor
mode] menu.)

7) Monitors the operation of SW D5C-QD75P, using the peripheral device.

Click the icon.

Start operation During OPR, check the current feed value and the axis status in the SW D5C-QD75P
operation monitor window.
Repeat

Carry out the OPR. Turn X0 ON.

The monitoring contents of axis 1 are displayed in the operation monitor

window.
• The current feed value has been changed. (Decreased)
• The feed speed turns into the OPR speed.
• The axis status turns into "OPR".

The speed is decelerated to the creep speed when the zeroing dog is
turned ON, and the OPR is completed when the zero phase signal turns
ON. (The address of axis 1 becomes "0".)

Carry out the positioning start. Turn (The address of axis 1 becomes
X2 ON. "150000.0 m".)
6.10 Practice Question (2) JOG Operation

<Condition> • Turning X4 ON carries out the axis 1 forward run JOG.

• Turning X5 ON carries out the axis 1 reverse run JOG.
• The JOG speed is 1000.00mm/min.

<Hint> • Directly transfer the JOG speed into the buffer memory of the QD75
by the DMOV command from the intelligent function module direct
device.
• Turn ON the output Y of the JOG start.

<Answer> • Fill in the .

X4(X axis forward run JOG)

DMOVP U0A\ G1518

X5(X axis reverse run JOG)

DMOVP U0A\ G1518

<Operation>
Add the answer into the sequence program in Section 6.9 and write it to the PLC
CPU, and confirm the operation.
MEMO
 Practice question (2) Answer

Project name B
X4(Axis 1 forward run JOG)
Axis 1 JOG
U0A\ speed
DMOVP K100000 G1518
1000 mm/min

Axis 1 forward
Y0A8 run JOG
X5(Axis 1 reverse run JOG)
Axis 1 JOG
K100000 U0A\
DMOVP G1518 speed
1000 mm/min

Y0A9 Axis 1 reverse

run JOG

Reference: When designating the JOG speed by the sequence program, designate
100 times as much as the actual value since the unit is [ 10 -2mm/min].

6.11 Sample Sequence Program

Practice with the sequence program used as a sample.

For a preparation, read out the sequence program from the text FD and then write it to
the PLC CPU.

Operation of peripheral devices

1) Start GPPW on the peripheral device.
2) Insert the QD75 text FD into the FDD and click (the [Project] [Open project]
menu).
Open the project named "X" from the A drive on the dialog box to open projects.
3) Write the parameter and the main sequence program to the PLC CPU, using
(the [Online] [Write to PLC]).
PLC CPU is STOP
(Click the Param+Prog button on the PLC write dialog box, then click the

Execute button.)

4) Save the project to user FD.

Remove the QD75 text FD from the FDD and insert the formatted user
FD. Click the [Project] [Save as Project] menu.
Set "Drive/Path" and "Project name" and save the project.
5) Reset the PLC CPU once, and then put into the RUN state.
6) Monitor GPPW by the peripheral device.
Click (the [Online] [Monitor] [Monitor mode] menu).
6.11.1 PLC READY

Project name X
Always set this program.

As the READY output condition,

SM1039 provide an interlock if needed.
(RUN, Always ON after 1 scan) M10 Y0A0 PLC READY

6.11.2 Error code display and error reset

SM1032
1s clock SM1006(PLC CPU battery error) Y77 (PLC CPU

X0 battery error)
(QD75 error detection)
A8

BCDP D106 K4Y60 Displays the error

code read by the
automatic refresh
U0A\
X0B(Error reset command) MOV K1 G1502 (PLC CPU
P
battery error)

RST Y0B0
Reset of
positioning
start flag

Demonstration machine operation

Displays the X axis error code that is read from the buffer memory "806" by the
automatic refresh, in BCD code on the digital display.
Y6F to Y60

0104 This display example (104) is out

of the hardware stroke limit range.
Error code 3 digits

Error codes are roughly divided as follows.

Error Code Classification of errors
001 to 009 Fatal error
100 to 199 Common error
200 to 299 Error at OPR or absolute position
restoration
300 to 399 Error during JOG operation or inching
operation
500 to 599 Error during positioning operation
800 to 899 I/F (Interface) error
900 to 999 Error during parameter setting range check
Refer to the manual or the error code list of QD75P Help for details.
6.11.3 Current value read of axis 1

Display the No. of pulses that is output by the QD75 as a current value.
With SM1030, the display of the current value varies every 0.1s.
X0A0 SM1030(0.1s clock)
D<= K0 D100 DBCD D100 K8Y40 Current value
display of axis 1
(READY) (0.1m unit)

Demonstration machine operation

Displays the error code of axis 1 that is read from the buffer memory "800" by the
automatic refresh, in BCD code on the digital display.
Unit is m.

Y5F to Y50 Y4F to

Y40 0000 This display
0150 example is 150mm.
1m m 0.1m 1m
10 mm 10m
100m
100 mm
1000 mm

Reference

Control unit mm inch degree pulse

Minimum current feed
0.1 m 0.00001inch 0.00001degree 1pulse
value
6.11.4 JOG operation of axis 1

Write the program that makes the machine perform forward run JOG while X4 is ON
and reverse run JOG while X5 is ON.

(Axis 1 forward run JOG command)

X4 Y0A9 Axis 1 JOG speed
U0A\
DMOVP K100000 G1518 1000 mm/min
Inter
lock
X6 U0A\ Inching movement
MOVP K0 G1517 amount 0.0 m

X6 U0A\ Inching movement

G1517 amount 100.0 m
MOVP K1000

Y0A8
Axis 1 forward
run JOG

Y74 Lamp
(Axis 1 reverse run JOG command)
X5 Y0A8 U0A\ Axis 1 JOG speed
DMOVP K100000 G1518
1000 mm/min
Inter
lock
U0A\ Inching movement
MOVP K0 G1517
amount 0.0 m

Y0A9
Axis 1 reverse
run JOG

Y75 Lamp

Demonstration machine operation

1) Turning X4 ON starts the forward run and turning OFF stops it.
2) Turning X5 ON starts the reverse run and turning OFF stops it.
3) Turning X4 ON with X6 ON once makes a 100.0 m inching movement in the
forward direction.

REFERENCE
The inching operation can be carried out by setting the inching movement amount into the
JOG operation program.
Axis 1 Axis 2 Axis 3 Axis 4
Inching movement amount buffer
1517 1617 1717 1817
memory
6.11.5 OPR of axis 1

"Retry OPR" is set in "OPR retry" of the OPR basic parameter, therefore when the
machine is at a stop inside the DOG, it automatically gets out of the DOG and
conducts OPR.

(OPR command)
X0 M201 PLS M200

(Start (Start flag)

command)
M200 X1 SET M201 Start flag set

(Stop) Machine OPR

M201 MOVP K9001 D202
Start No. setting
System area
ZP.PSTRT1 "U0A" D20 M202 Complete device
0
Axis 1 start
Start flag reset
M201
RST

M202 M203 PLS M204

(Start (Abnormal
completion) completion)

Demonstration machine operation

1) Turning X0 ON starts OPR.
(The current value becomes
0.)
6.11.6 Start of positioning data

Turning X2 ON directly designates the data No.6 and starts it.

Turning X3 ON indirectly designates the positioning data No. that was set in 3 digits of
digital switch X20 to X2B in D232, and starts it.

(Start to standby point)

X2 M221 PLS M220

(Start (Start flag)

command)
M220 X1 SET M221 Start flag set

(Stop) No.6
M221 MOVP K6 D222
Start No. setting
System area
ZP.PSTRT1 "U0A" D22 M222 Complete device
0
Axis 1 start
Start flag reset
M221
RST

M222 M223 PLS M224

(Start (Abnormal

completion) completion)
(Start of setting data No.)
X3 M231
PLS M230
(Start (Start
command) flag)
M230 Start flag set
X1 SET M231
Digital switch between
(Stop) X20 to X2B
M231 BIN
K3X2 D232 Start No. setting
0
System area
ZP.PSTRT1 "U0A"
M232 Complete device
Axis 1 start
D230
Start flag reset
M231
RST

M232 M233 PLS M234

(Start (Abnormal

completion) completion)

Indirect designation is transferred to the start No. setting word device of the PSTRT
instruction.
Positioning data No. is stored in the word device by BIN instruction.

Positioning data No. Start number setting

digital switch word device

1 K3X20 D232
2 (BIN conversion)
3
4
5
6
 <Figure for operation explanation>

2000 mm/min

No.1 No.2 No.3 No.4 No.5

0 25 50 75 100 130 150(mm)

No.6

<Positioning data>

Positioning Arc Command Dwell Positioning

Operation Axis to be Acceleration Deceleration
No. Control system address address speed time M code data
pattern interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
1 0: Completed 1: ABS linear 1 0:100 0:100 50000.0 0.0 2000.00 0 0
2 0: Completed 1: ABS linear 1 0:100 0:100 75000.0 0.0 2000.00 0 0
3 0: Completed 1: ABS linear 1 0:100 0:100 100000.0 0.0 2000.00 0 0
4 0: Completed 1: ABS linear 1 0:100 0:100 130000.0 0.0 2000.00 0 0
5 0: Completed 1: ABS linear 1 0:100 0:100 150000.0 0.0 2000.00 0 0
6 0: Completed 1: ABS linear 1 0:100 0:100 25000.0 0.0 2000.00 0 0
7
8
9
10

Demonstration machine operation

1) Turning X2 ON carries out the positioning to the standby point of the positioning
data No.6 (25mm).
Repeat

(The current value becomes m.)

2) The positioning data No. is designated by the digital switch.

X3F to X30
0000
X2F
0002
to X20
Positioning
address
1  50 mm
Positioning data No. 2  75 mm
3  100 mm
4  130 mm
5  150 mm
6  25 mm

3) Turning X3 ON carries out the designated positioning.

(The current value becomes the address of the designated data No.)
6.11.7 Multiple points continuous positioning

In this positioning system, the desired multiple points are positioned by starting just
one positioning data.
Set the positioning data pattern to "1" (continuous positioning
control). (The sequence program needs not be changed.)

<Figure for operation

5000 mm/min
explanation>

4000 mm/min
3000 mm/min
2000 mm/min
No.14
1000 mm/min
No.11
No.13
No.12
No.15

0 25 50 75 100 130 150(mm)

No.16

2000 mm/min
<Positioning
data>

Positioning Arc Command Dwell Positioning

Operation Axis to be Acceleration Deceleration
No. Control system address address speed time M code data
pattern interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
11 1: Continuous 1: ABS linear 1 0:100 0:100 50000.0 0.0 2000.00 500 0
12 1: Continuous 1: ABS linear 1 0:100 0:100 75000.0 0.0 1000.00 500 0
13 1: Continuous 1: ABS linear 1 0:100 0:100 100000.0 0.0 5000.00 500 0
14 1: Continuous 1: ABS linear 1 0:100 0:100 130000.0 0.0 3000.00 500 0
15 1: Continuous 1: ABS linear 1 0:100 0:100 150000.0 0.0 4000.00 500 0
16 0: Completed 1: ABS linear 1 0:100 0:100 25000.0 0.0 2000.00 500 0
17
18
19
20

Demonstration machine operation

1) Start the positioning data No.11.

X3F to X30 X2F to X20

0000 0011
Setting of
positioning data No.
Turn X3 ON.
(Confirm on the operation monitor screen of SW D5C-QD75P.)
6.11.8 Multiple points continuous positioning by speed switching

In this positioning system, by starting just one positioning data, the machine
automatically changes its movement speed at the desired addresses on the
movement path, and moves through the multiple points continuously.
Set the positioning data pattern to "2" (continuous path
control). (The sequence program needs not be changed.)

<Figure for operation explanation>

5000 mm/min

No.234000 mm/min
3000 mm/min
2000 mm/min
1000 mm/min No.24
No.21

No.22
No.25

0 25 50 75 100 130 150(mm)

No.26

2000 mm/min

<Positioning
data>

Positioning Arc Command Dwell Positioning

Operation Axis to be Acceleration Deceleration
No. Control system address address speed time M code data
pattern interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
21 1: Continuous 1: ABS linear 1 0:100 0:100 50000.0 0.0 2000.00 500 0
22 2: Path 1: ABS linear 1 0:100 0:100 75000.0 0.0 1000.00 0 0
23 2: Path 1: ABS linear 1 0:100 0:100 100000.0 0.0 5000.00 0 0
24 2: Path 1: ABS linear 1 0:100 0:100 130000.0 0.0 3000.00 0 0
25 1: Continuous 1: ABS linear 1 0:100 0:100 150000.0 0.0 4000.00 0 0
26 0: Completed 1: ABS linear 1 0:100 0:100 25000.0 0.0 2000.00 0 0
27
28
29
30

Demonstration machine operation

1) Start the positioning data No.21.
X3F to X30 X2F to X20
0000 0021
Setting of
positioning data No.
Turn X3 ON.
(Confirm on the operation monitor screen of SW D5C-QD75P.)
6.11.9 Stop in operation

Turn the axis 1 stop (Y0A4) ON to stop during the BUSY.

X1(Stop command) Y0A4 Axis 1

stop

Y71 Lamp

Demonstration machine operation

1) Turn X1 ON while in operation.

REMARK
To stop while in operation can also be carried out by wiring the external switch to the
external
STOP signal, which enables a quick stop regardless of the scan time of the PLC CPU.
6.11.10 Restart after stopping

If the restart needs to be continued when the stop X1 turns ON during the continuous
positioning of data No.11 to No.16 or data No.21 to No.26, write "1" to the buffer
memory 1503 (start of restart).

<Figure for operation explanation>

Same as the one in Section 6.11.7.

<Sequence program>

(Restart command)
X9 X0AC Y0B0 Axis 1 restart
U0A\
MOVP K1

G1503

(BUSY) (Start)
For restart, it is not needed to turn
ON the positioning start flag (Y0B0).

Demonstration machine operation

1) Start the positioning data No.11.

X3F to X30 X2F to X20

0000 0011
Setting of
positioning data No.

Turn X3 ON.
2) Turn the stop X1 ON during the continuous positioning.
3) Turn X9 ON.
6.11.11 Speed change during positioning

Speed can be changed during the BUSY.

Write the speed in the unit of 0.01mm/min to the axis 1 buffer memory 1514,
1515. (If the speed is set to 0, stop is enabled.)
Next, write "1" to the speed change request buffer memory 1516 and execute the
speed change.
<Figure for operation explanation>
3000

Fo 2000
rw 1500 mm/min
ar
d No.5
ru

150 mm
R
ev 25 mm No.6
er
se 1500
ru 2000 mm/min

3000 Speed is changed into 3000.

Speed is changed into 1500.

<Sequence program>
X7(Registration of setting data)
PLS M7

M7 K3X20 D10 Positioning

BIN data No.

K4X30 D11
BIN Speed set in the
unit of mm/min

M7 X0AC = K5 Set to
D10 * D11 K100
1.1 mm/min
(BUSY) D13
Write speed to the
U0A\

DMOVP D13 G151 buffer memory

4 for change
Write "1" to the
U0A\
MOVP K1 G151 speed change
Axis 1 speed change at 6 request buffer
"5" memory

Demonstration machine operation

1) Set the digital switch.
R X3F to X30 X2F to
This example is set
X20
ep 1000 0005 by 1000 mm/min.
ea
Set the speed between
Set the positioning
0000 and 9999
data No.
(mm/min).

2) The speed changes if X7 is turned ON when the data No.5 is moving to 150mm
after X3 is turned ON.
3) The speed changes if X7 is turned ON when the data No.6 is moving to 25mm in
after X2 is turned ON.
6.11.12 Address designation by digital switch

Changes the positioning address of positioning data No.31 (buffer memory is 2306,
2307) designating in the unit of 1mm.

<Figure for operation explanation>

2000 mm/min

0 50 100 150(mm)
( “_ )

<Positioning data>

Change this column.

(Refer to Section 3.5.2.)

<Sequence
program>

X7(Registration of setting data)

PLS M7

M7 K3 D10 Positioning data No.

BIN
Positioning data
K4X3 D11 address set in the
BIN 0 unit of mm/min

M7 X0AC = D10 D* D11 K10000 D13

Set mm to 0.1m
(BUSY) K31

DMOVP D13 U0A\ Address write of axis 1

G230
Write the address that is set with the digital switch at 6 data No.31
"31"

Demonstration machine operation

1) Set the digital switch.

R X3F to X30 X2F to

ep X20 This example is
ea 0123 0031 set as 123mm.

Set the address

between 25mm to Set the positioning
200mm. data No.

2) Turning X7 ON sets the value of the 10000-multiplied setting value (unit: m) as

the address of data No.31.
Positioning Arc Command Dwell Positioning
Operation Axis to be
3) Turning Acceleration
X3 ON carries Deceleration
out the positioning
No. Control system address foraddress
the designated
speed address.
time M code data
pattern interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
31 0: 1: ABS linear 1 0:100 0:100 0.0 0.0 2000.00 0 0
Completed
32
33
6.11.13 Teaching playback

Move to the position to be registered by the JOG operation (or manual pulse
generator operation) and carry out the registration operation. Once the position is
registered, the positioning to the registered position is performed by the start switch
any number of times.

<Positioning data>

Positioning Arc Command Dwell Positioning

Operation Axis to be Acceleration Deceleration
No. Control system address address speed time M code data
pattern interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
35 0: 1: ABS linear 1 0:100 0:100 0.0 0.0 2000.00 0 0
Completed
36
37 Change this column.

<Sequence
program>

X7(Registration of setting data)

PLSM7

M7
BINK3X20 D10Positioning data No.
Write of the current value address at "35"
X0AC
M7
Executed at the data No. 35
=K35D10SETM241
Write current feed value to positioning address
(BUSY)
Teaching selection
M241
MOVP H0D242

MOVP K35D243Positioning data No.35

designation

System area
ZP.TEACH1 "U0A"D240 M242
Axis 1 teaching Complete device

RSTM241Teaching flag reset

M242M243
PLSM244
(Completion) (Abnormal completion)

SETM10 Turn OFF PLC READY Y0A0

M10 X0A0(QD75 READY OFF)

SETM251Write to flash ROM
(Turn OFF READY Y0A0)
M251 System area
ZP.PFWRT "U0A"D250 M252
Axis 1 start Complete device
M252M253
RSTM251 Flash ROM write flag reset
(Write completion) (Abnormal completion)

RSTM10

Create the program inside the dotted line when the writing to flash
ROM is performed after teaching.
Demonstration machine operation
1) Turn X4 ON, operate the forward run JOG, and turn X4 OFF at the desired position.
R (Jot down the current value address )
ep 2) Set the digital switch.
ea X3F to X30 X2F to X20
0000 0035
Arbitrary Setting of
positioning data No.
3) Turning X7 ON carries out teaching the current value to the data No.35.
4) Turn X2 ON and move to the standby point.
5) Turning X3 ON executes the data No.35. (Stop at the jotted address)

6) Read the positioning data from the QD75.

7) Confirm that teaching has been performed for the address of the data No.35.
6.11.14 Speed/movement amount designation by digital switch

Combine the absolute and incremental positioning and designate the speed and move
amount of the incremental part by the digital switch.

<Figure for operation explanation>

Speed V
2000 mm/min

X2 is ON330 mm/minNo.42
Movement amount P
No.41

0 mm 25 mm50 mm (End point)

(OP)

X2 is ON
2000 mm/min
<Positioning
data>

Positioning Arc
Operation Axis to be Acceleration Deceleration
No. Control system address address
pattern interpolated time No. time No.
[ m] [ m]
42 0: Completed 2: INC linear 1 0:100 0:100 0.0 0.0 1.00 0 0
Command Dwell Positioning
speed time M code data
[mm/min] [ms] comment

41 2: Path 1: ABS linear 1 0:100 0:100 50000.0 0.0

2000.00 0 0

43
44
45

Setting of speed
Setting of address
<Sequence program>

X7(Registration of setting data)

PLS M7

M7 K3X20 D10 Positioning data No.

BIN

BIN K4X3 D11

Set the speed in the
0
unit of mm/min and
X8 the address mm.
= D10 * D11 D13
M7 X0AC
K100
Set to 0.01 mm/min
(BUSY) K41 D U0A\
Write the speed V
Write of the speed V or Write of speed V at MOVP D13 G241
OFF 4 to the data No.42
address P is available

at "41" X8 D* D11 K1000 D13 Set to 0.1m

0

Write of ON DMOVP D13

address P at
U0A\ G2416 P to the data No.42.
Write the
address
Demonstration machine operation
1) Turn X2 ON and return to the standby point of 25mm.
R 2) Set the digital switch and write the speed V to the buffer memory by X7.
ep Turn Turn
X3F to X30 X2F to X20
ea
Speed V 0444 0041
mm/min
(2414, 2417) X8 OFF. X7 ON.
Setting of
Set between
positioning data No.
0044
to 9999

3) Set the digital switch and write the address P to the buffer memory by X8 and X7.
Turn Turn
X3F to X30 X2F to X20
Movement 0 0 44 0041
amount P mm X8 X7 ON.
(2416, 2417) Setting of positioning ON.
Set between data No.
0001
to 0100.

For the movement amount, do not set the bigger

value than 100mm.
The upper limit of the stroke limit might be
exceeded.
4) Turn X3
ON.


Address 50 mm of the data No.41.
Movement amount of the data No.42.
= End point
6.11.15 Fixed-feed

Feed again after feeding a certain amount by the incremental system to carry out "cut"
or "drilling".

<Figure for operation explanation>

No.51 This operation is repeated.

0 25 150 mm
Upper limit
Set the current value to 20 mm.

<Positioning data>

Positioning Arc Command Dwell Positioning

Operation Axis to be Acceleration Deceleration
No. Control system address address speed time M code data
pattern interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
51 0: Completed 3: Fixed-feed 1 0:100 0:100 20000.0 0.0 3000.00 0 0
52
53

<Sequence program>
A program to start the positioning data No.51.
(Same program as the one in Section 6.11.6.)

Demonstration machine operation

1) Turn X0 ON to carry out OPR.
R 2) Set the digital switch.
ep
ea X3F to X30 X2F to X20
0000 0051
Setting of positioning
data No.

3) Turn X3
ON.
Confirm that the current value becomes m.
Do not turn ON more than 8 times on the 1-axis demonstration machine and
more than 10 times on the XYZ table.
It exceeds the upper limit causing an error.
6.11.16 Speed control

Speed control is used to move endlessly in the same direction; for example, a
conveyer or a carrying machine.
Normally, in speed control, the current value does not change regardless of the
forward run or the reverse run, and it does not stop until the stop instruction comes.
However, if "1" is set to the current feed value update request command in the
detailed parameter (1) (buffer memory address 30/180/330/480), the current value
increases or decreases.
This demonstration machine with the upper/lower limit switch automatically stops at
that position.

<Figure for operation explanation>

500 mm/min X1 is ON
(Stop command)
No.61 Forward run

0
150 mm
Lower limit
Upper limit

No.62 Reverse run

X1 is ON 500 mm/min
(Stop command)

<Positioning
data>

Positioning Arc Command Dwell Positioning

operation Axis to be Acceleration Deceleration
No. Control system address address speed time M code data
pattern interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
61 0: Completed 4: Forward run 0:100 0:100 0.0 0.0 500.00 0 0
Speed 1
62 0: Completed 5: Forward run 0:100 0:100 0.0 0.0 500.00 0 0
Speed 1
63

<Sequence program>
A program to start the positioning data No.61,
No.62. (Same program as the one in Section
6.11.6.)
Demonstration machine operation
1) Turn X0 ON to carry out OPR.
R 2) Set the digital switch to 61.
ep X3F to X30 X2F to X20
ea
0000 0061
Setting of positioning
data No.
Turn X3 ON for the forward run.
The axis-1 current value of the SW D5C-QD75P operation monitor screen
remains "0" and is not incremented.
Confirm that the speed is displayed.

Turn X1 ON during the operation to stop the operation.

3) Set the digital switch to 62.
X3F to X30 X2F to X20
0000 0062
Setting of positioning
data No.
Turn X3 ON for the reverse run.
The axis-1 current value of the SW D5C-QD75P operation monitor screen
remains "0" and is not decremented.
Confirm that the speed is displayed.

Turn X1 ON during the operation to stop the operation.

REFERENCE
If an error occurs, move to the center by the JOG operation and turn X0B (Error reset) ON.
6.11.17 When external command signal is used

After creating the positioning data and writing the start data No. to the buffer memory
1500, "0" needs be written to the external command signal function selection (buffer
memory address 62) and "1" to the external command signal valid (buffer memory
address 1505) to start the data by the input of the external command signal.

<Positioning data>

Positioning Arc Command Dwell Positioning

Operation Control Axis to be Acceleration Deceleration
No. address address speed time M code data
pattern systems interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
71 1: Continuous 1: ABS linear 1 0:100 0:100 50000.0 0.0 1500.00 1000 0
72 0: Completed 1: ABS linear 1 0:100 0:100 75000.0 0.0 1000.00 0 0
73

<Sequence program>

X7(Registration of setting data)

PLS M7

M7 K3X20 D10 Positioning data No.

BIN

M7 X0AC U0A\
= K71 D10 MOVP K0 G62 Selects the external
command signal for
(BUSY)
the external start
U0A\
Carries out the external MOVP K1 G1505 Enables the external
start at "71" command signal
U0A\
MOVP D10 G1500
Indirectly designates
the positioning data
No.

<> K71 D10 M8

Does not carry out the
external start if not "71" U0A\ Disables the external
M8 MOV G1505 command signal

K0

Demonstration machine operation

1) Turn X0 ON to carry out OPR.
2) Start the positioning data No.71 by the external command signal (CHG).
R
ep X3F to X30 X2F to X20
ea 0000 0071
Setting of positioning
data No.
3) Turn X7
ON.
4) Turn ON the CHG switch of the 1-axis demonstration
machine. (The operation starts.)

REMARK
The external command signal can be used as the external start request, external speed switching request, speed •
position/position • speed control switching request, and skip request by the external command signal function selection
of detailed parameter 2.
6.11.18 Speed position switching control by external command signal

Inputting the external switching signal (CHG signal) during speed control carries out
the positioning for the set movement amount.

<Figure for operation explanation>

External command (1-axis demonstration
1000 mm/min signal command)
ON

No.81 Forward run

0 Movement
Reverse amount
No.82run

External command
signal ON

<Positioning
data>

Positioning Arc Command Dwell Positioning

Operation Control Axis to be Acceleration Deceleration
No. address address speed time M code data
pattern systems interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
81 0: Completed 6: VPF 0:100 0:100 50000.0 0.0 1000.00 0 0
82 0: Completed 7: VPR 0:100 0:100 50000.0 0.0 1000.00 0 0
83

<Sequence program>
1) A program to start the positioning data No.81,
No.82. (Same program as the one in Section
6.11.6.)
2) The following programs are needed to use the external command signal (CHG) for
the speed • position switching.
• Write "2" to the 'external command signal function selection' of detailed
parameter 2 (1-axis buffer memory address 62).
• Write "1" to the 'external command valid' (1-axis buffer memory address 1505).
• Write "1" to the 'speed position switching enable flag' (1-axis buffer memory
address 1528).
 (Start to setting data No.)
X3 Y0B0 PLS M3

(Start)
Digital switch
M3 BIN K3X20 D10 between X20 to
X2B
U0A\ Selects the
X0AC

external
= D10 MOVP K2 G6 command signal
(BUSY) 2 for the speed-
position switching
K81

= K82 U0A\
D10 MOVP K1 Enables the
external
command signal
G1505 Enables the

U0A\
MOVP K1 G152 speed-position
8 switching
Positioning start data
No.

<>
D10 <> K82 D10 M8
K81

M8 U0A\ Disables the

MOV K0 G150 external
5 command signal

Demonstration machine operation

1) Turn X0 ON to carry out OPR.
R 2) Set the digital switch to the positioning data No.81.
ep
ea X3F to X30 X2F to X20
0000 0081
Setting of positioning
data No.
3) Turn X7 ON and read the data No.81.

4) Turn X3 ON for the forward run.

If the CHG switch of the demonstration machine is turned ON during the operation,
it stops after moving 50mm.

Turn X1 ON during the operation to stop the operation.

5) Set the digital switch to 82.
X3F to X30 X2F to X20
0000 0082
Setting of positioning
data No.
Turn X7 ON and read the data No.82.
Turn X3 ON for the reverse run.
If the CHG switch of the demonstration machine is turned ON during the operation,
it stops after moving 50mm.
6.11.19 Positioning using M code

For an M code, numbers of 0 to 65535 are used for each axis and added to the
positioning data.
Using the 'M code ON signal output timing' of detailed parameter (1) (buffer memory
27/177/327/477), select when to detect the signal, at the start of "WITH mode [0]" or
at the completion of "AFTER mode (1)”.
(For this time, "AFTER mode [1]" is set by the parameter.
If the M code detection signal (X0A4/X0A5/X0A6/X0A7) turns ON in the sequence
program, the sequence (work) corresponding to the M code is executed by reading
the valid M code (buffer memory 808/908/1008/1108) from the QD75 buffer memory.
Also, comments (32 characters) can be attached to M codes 1 to 50, and the M code
comments being detected by peripheral devices (work descriptions) can be
monitored.
1) An M code is detected when the next data No. is executed, and the work
corresponding to the M code is executed.
No.91,93........M code "1"....... Comment "6s welding"
No.91,93........M code "3"....... Comment "4.4s welding"
No.91,93........M code "5"....... Comment "Processing completed product change"

<Figure for operation explanation>

5000
4000 mm/min
3000

Fo
2000
rw
ar 1000
d
ru
M code 1
Processing
Start completed
No.96 product
R 6s 4.4s 6s 4.4s 4.4s change
ev welding welding welding welding weldin M code 5
er g 2000
No.91 No.9 No.9 No.9 No.95
se mm/min
ru 2 3 4

M code
1 M code M code Time M code M code 3
3 1 3
 <Positioning data>

Positioning Arc Command Dwell Positioning

Operation Control Axis to be Acceleration Deceleration
No. address address speed time M code data
pattern systems interpolated time No. time No.
[ m] [ m] [mm/min] [ms] comment
91 1: Continuous 1: ABS linear 1 0:100 0:100 50000.0 0.0 2000.00 500 1
92 1: Continuous 1: ABS linear 1 0:100 0:100 75000.0 0.0 1000.00 500 3
93 1: Continuous 1: ABS linear 1 0:100 0:100 100000.0 0.0 5000.00 500 1
94 1: Continuous 1: ABS linear 1 0:100 0:100 130000.0 0.0 3000.00 500 3
95 1: Continuous 1: ABS linear 1 0:100 0:100 150000.0 0.0 4000.00 500 3
96 0: Completed 1: ABS linear 1 0:100 0:100 25000.0 0.0 2000.00 500 5
97
98
99
100

[Edit] [M code comment] menu

<M code AFTER mode output>

Confirm that AFTER mode is selected.

 <Sequence program>

X0A4 SM1032(1 second clock) Y73 Detecting M code

M code detection
D108 K60
= K1 T1 6s

M code "1" detection

BCDT1
K4Y60

D108 4.4s
K44
= K3 T2

M code "3" detection

BCDT2
K4Y60

D108 10s
K100
= K5 T3

M code "5" detection

K4Y60
BCDT3

T1 M code reset
MOVP K1 U0A\
G1504

T2

T3
Demonstration machine operation
1) Click Monitor Start button Comment
button.

2) Carry out the circuit monitor of GPPW.

Click (the [Online] [Monitor] [Monitor mode] menu.)
3) Turn X0 ON to carry out OPR.
4) Start the positioning data No.91.

R X3F to X30 X2F to X20

ep 0 0 0 0 0091
ea
Setting of positioning
data No.

Turn X3 ON.
Data from No.91 to 96 are executed consecutively, and weld time is
displayed on the digital displays from Y60 to Y6F.
6.11.20 Summary of sequence program

Regular programs explained in Section 6.11 are brought into one here.

Project name X

Used in Section 6.11.13

As the READY output
condition, provide an interlock if
SM1039(RUN, Always ON after 1 scan) M10 M12 needed. Y0A0 PLC READY
0

SM1032 SM1006(PLC CPU battery error) Y7 Flashes when

3 7 error occurs
1s clock
X0 (QD75 error detection)
A8

D106 K4Y60
Displays
BCDP the error code

X0B(Error reset command) MOVP K1 Error reset

13 U0A\
G1502

Y0B0
Reset of positioning
RST start flag

X0A0 SM1030(0.1s) D<= D100 DBCD D100 K8Y40

19 Current value read
of axis 1
(READY) K0 (0.1m unit)

(Axis 1 forward run JOG command)

X4 Y0A9 U0A\ Axis 1 JOG speed
29
DMOVP K100000 G1518 1000 mm/min
Interlock
X6 U0A\
MOVP K0 Inching movement
G1517 amount 0.0m

X6 U0A\
MOVP Inching movement
K1000 G151
amount 100.0m
7

Axis 1 forward run

Y0A8 JOG

Y74 Lamp
(Axis 1 reverse run JOG command)
X5 Y0A8 DMOVP K100000 Axis 1 JOG speed
U0A\ 1000 mm/min
51 G1518
Interlock
Inching movement
U0A\

MOVP K0 G151 amount 0.0m

7

Axis 1 reverse run

Y0A9 JOG

Y75 Lamp
 (OPR command)
X0 M201 PLS M200
64

(Start command) (Start flag)

M200
68 X1 SET M201 Start flag set

(Stop) Machine OPR

M201
71 MOV K900 D202
P 1 Start No. setting
System area
ZP.PSTRT1 M202
"U0A" D200

Axis 1 start Complete device

RST
M201 Start flag reset

M202 PLS M204

85 M203

(Start completion) (Abnormal completion)

U0A\ Bit 3 read of axis 1
SM1032 MOVP G817 D2 OPR request flag
89 0
1s clock

D20.3 Y70 Flashes with OPR

request

D20.3 MC M20
96 Master control to
turn ON M20 without
N0 the OPR request

NO M20
(Start to standby point)
X2 M221 PLS M220
99

(Start command) (Start flag)

SET M221
M220 X1
103 Start flag set
(Stop)
K6 D222
M221 MOVP No.6
106
Start No. setting
D22 M222
ZP.PSTRT1 "U0A" System area
0
Axis 1 start
Completion device
M221
RST
Start flag reset

M224
M222 M223 PLS
120

(Start completion) (Abnormal completion)

(Start of setting data No.)

124 X3 M231
PLS M230
(Start (Start flag)
command)
128 X1 Start flag set
M230 SET M231
(Stop)
 BIN K3X2 D232 Digital switch between
M231
0 X20 to X2B
131
Start No. setting
ZP.PSTRT1 "U0A" M232 System area
D230
Axis 1 start
Complete device
M231
RST Start flag reset

M232 M233 PLS M234

146
(Start completion) (Abnormal completion)

X1(Stop command) Y0A4 Axis 1 stop

150

Y71 Lamp

(Restart command)

X9 X0AC Y0B0 MOVP K1 U0A\ Axis 1 restart

153 G1503
(BUSY) (Start)

X7(Registration of setting data) PLS M7

160

M7 K3X2 D10 Positioning data No.

BIN 0

K4X3 D11 Setting of data

0
BIN

= K5 D10 * D11 K100 D13

M7 X0AC
170 Set to 0.01 mm/min
(BUSY) U0A\
DMOVP D13 G1514
Write speed to
the buffer memory
for change
U0A\ Write "1" to the speed
MOVP K1 G1516 change request buffer
memory

Axis 1 speed change at

"5"

= K31 D10 D* D11 K10000 D13 Set mm to 0.1m

M7 X0AC
186
(BUSY)

DMOVP D13 U0A\ Address write of axis 1

G230 data No.31
6
Writes the address that is set with the digital switch at "31"M241
Executed at the data
200 M7 X0AC SET

(BUSY) = D10 No. 35

M241 Write the current value to address at
K35 "35" MOVP H0 D24 Write current feed value
to positioning address
206 2
Teaching selection
MOV K35
Positioning data
P D24
No.35 designation
3

"U0A" D2
ZP.TEACH1 40
M242
System area
Axis 1 teaching Complete device

RST
M241 Teaching flag reset
SET M10 Turn OFF PLC
M242 M243 READY Y0A0
222
(Completion) (Abnormal completion)

SET M251 Write to flash ROM

M10 X0A0(QD75 READY OFF)
225

(Turn OFF READY Y040) System area

M251 ZP.PFWRT "U0A" D25 M252

228 0

Complete device
Axis 1
M252 M253 start RST M251
Flash ROM write
flag reset
(Write completion) (Abnormal completion)

RST M10

M7 = K41 * D11 K100 D13 Set to 0.01 mm/min

243 X0AC X8
D10
(BUSY)

U0A\ Write speed V to

G2414 data No.42
DMOVP D13

Write of speed V when X8 is OFF at "41"

X8
D* D11 K10000 D13 Set to 0.1m

Write address P
U0A\ to data No.42
DMOVP D13 G2416

Write of address P when X8 is ON at "41" Selects the external

M7 X0AC U0A\

268 (BUSY) = K71 D10 MOVP K0 G62 command signal for the
external start

U0A\ Enables the external

Carries out the external start at "71" MOVP K1 G1505 command signal
D10
U0A\
MOVP Indirectly designates

G1500 the positioning data No.

K8 D10 MOVP K2
X0AC 1 U0A\ Selects the external
285 = G62 command signal for the
speed-position switching
(BUSY)
D10 MOVP K1
K8 U0A\ Enables the external
= 2 G1505 command signal

Positioning start data No. MOVP K1 Enables the

U0A\ speed-position switching
G1528
Disables the external command signal if not "71", "81", "82"

< > K71 D10 < > K81 D10 < > K82 D10 M8
305

M8 U0A\ Disables the external

MOVP K0 G1505 command signal
315
320 X0A4SM1032
Y73 Detecting M code
M code detection
K60
=K1D108 T1 6s
M code "1" detection

BCDT1 K4Y60

K44 4.4s
=K3D108 T2
M code "3" detection

BCDT2
K4Y60

=K5D108 K100 10s

M code "5" detection T3

BCDT3
T1 K4Y60
MOVP K1
M code reset
U0A\
357 G1504

T2

T3

364 END
 6.12 Monitoring Buffer Memory Using GPPW

The QD75 buffer memory can be monitored directly from GPPW.

Demonstration machine operation

1) Click the [Online] [Monitor] [Buffer memory batch] menu on GPPW.
2) Set the buffer memory address and display type, etc. in the "Buffer memory batch
monitor" dialog box.
3) Clicking the "Monitor Start" button starts monitoring the buffer memory.

Set the starting I/O No. Check either bit format or word format depending on a buffer memory to be monitored.
For double word, check "32bit integer".
of module to be monitored. Enter A0 in this case.

Set the buffer memory address to be monitored. For word format, check DEC.

REMARK
Device test can perform data writing to the buffer memory.
6.13 Practice Question (3) Parameter Change During RUN

There may be the cases where the detailed parameter (1) must be changed while the
PLC is running.
To do this, create the sequence program that executes the following actions: when
the PLC READY Y0A0 turns OFF and the QD75 READY X0A0 turns OFF, the MOV
instruction is turned ON to rewrite the buffer memory storing the M code ON signal
output timing of the detailed parameter (1), using the intelligent function module direct
device.

RUN, Always
ON after 1 scan
X0A (PLC READY OFF command)
SM1039 PLC READY
Y0A0

X0A0 (QD75 READY) "0" or "1" is set by

K1X30 D2 digital switch.
BIN

Write to the
DMOVP buffer memory

Designates the buffer

memory for M code ON
signal output timing of axis 1
Write data using the direct device

Turn ON the PLC READY (Y0A0) after rewriting and start the positioning data No.91.

X3F to X30 X2F to X20

0000 0091
Setting of positioning
data No.

"0" is "WITH" mode.

"1" is "AFTER" mode.
 Practice question (3) Answer

RUN, Always ON after 1 scan

SM1039X0A (PLC READY OFF command)

Y0A0 PLC READY

X0A0 (QD75 READY)

"0" or "1" is set by
BINK1X30 D2 digital switch.

U0A\ DMOVP D2G27

Write to the
buffer memory

Designates the buffer

memory for M code ON.
signal output timing of axis 1

Demonstration machine operation

1) Add the sequence program inside the dotted line above and write the program to
the PLC CPU.
2) Monitor the QD75 buffer memory "27" by the buffer memory batch monitor of
GPPW.
3) Set the digital switch to start the continuous positioning of the data No.91.

R X3F to X30 X2F to X20

ep
ea 0000 0091
Setting of positioning
data No.

"0" is "WITH" mode.

"1" is "AFTER" mode.

4) Turn X0A from OFF to ON to turn OFF the PLC READY, and rewrite the buffer
memory.
5) Turn ON the PLC READY Y0A0 by turning X0A from ON to OFF.
6) Turn X0 ON to carry out OPR.
7) Turn X3 ON.
• When the WITH mode is selected, the M code is detected at the same time
with start, and the timer starts.
• When the AFTER mode is selected, the M code is detected after the
positioning is completed, and the timer starts.
CHAPTER 7 EXERCISE (3) 3-AXIS POSITIONING OPERATION USING SEQUENCE
PROGRAM

(1) Interpolation axis

The 2- to 4-axis linear interpolation and 2-axis circular interpolation operation
generate the positioning data to the reference axis and set the required items to
the interpolation axis.
1) For 2-axis interpolation control, specify the interpolation axis in the "axis to be
interpolated" of the positioning data of the reference axis side.

Axis
definition Reference axis Interpolation axis
Control system
2-axis linear interpolation control, Any of axes 1, 2, 3, Axis set in "axis to be
2-axis fixed-feed control, 2-axis and 4 interpolated" of
circular reference axis
interpolation control, 2-axis speed
control

2) For 3-axis interpolation control, the interpolation axis is automatically

specified for the reference axis.

Axis
definition Reference axis Interpolation axis
Control system
Axis 1 Axis 2, Axis 3
3-axis linear interpolation control,
Axis 2 Axis 3, Axis 4
3-axis fixed-feed control, 3-axis speed
Axis 3 Axis 4, Axis 1
control
Axis 4 Axis 1, Axis 2
Axis 1 Axis 2, Axis 3, Axis 4
4-axis linear interpolation control,
Axis 2 Axis 3, Axis 4, Axis 1
4-axis fixed-feed control, 4-axis speed
Axis 3 Axis 4, Axis 1, Axis 2
control
Axis 4 Axis 1, Axis 2, Axis 3

(2) Interpolation speed

The interpolation speed has the composite speed and the reference axis speed,
and the initial value is the composite speed. However, the value can be changed
to the reference axis speed with the "interpolation speed designation method" of
the detailed parameters (1).
1) Composite speed : Interpolated with the speed to the vector generated by
the movement of the reference axis and interpolation
axis.
2) Reference axis speed: Interpolated with the speed of the reference axis.
(Set so the major axis side becomes the reference
axis.)

(3) Interpolation control continuous positioning

When carrying out interpolation control in which the "continuous positioning
control" and "continuous path control" are designated as the operation pattern,
interpolation control must be set for the positioning methods of all positioning
data from the started positioning data to the positioning data for which
"positioning complete" is set.

7-1
(4) Limits to interpolation control
There are limits to the interpolation control that can be executed and speed
(Interpolation speed designation method) that can be set, depending on the
reference axis and the "Unit setting of the interpolation axis". (For example,
circular interpolation control cannot be executed if the reference axis and
interpolation axis units differ.)
The following table shows the interpolation control and speed designation limits.

Unit setting*1
Reference axis and
"Control system" Interpolation speed Reference axis and
interpolation axis units are the
interpolation control designation method interpolation axis units differ
same, or a combination of
*3
"mm" and "inch" *3
Linear 2 Composite speed
(ABS, INC) Reference axis
Fixed-feed 2 speed
Circular sub Composite speed *2
(ABS, INC)
Circular right
(ABS, INC) Reference axis
Circular left speed
(ABS, INC)
Linear 3 Composite speed
(ABS, INC) Reference axis
Fixed-feed 3 speed
Linear 4 Composite speed
(ABS, INC) Reference axis
Fixed-feed 4 speed
: Setting possible, : Setting not possible
*1 : "mm" and "inch" unit mix possible.
*2 : "degree" setting not possible.
The "Control system error (error code: 524)" will occur and the positioning
cannot be executed if circular interpolation control is set when the unit is
"degree".
The machine will immediately stop if "degree" is set during positioning control.
*3 : The unit set in the reference axis will be used for the speed unit during
control if the units differ or if "mm" and "inch" are combined.

7-2
7.1 XYZ Axis Control Positioning Operation System

Z axis (axis 3)HA-FH-053Y

Forward run M
pulse
MR-H10A
servo
Reverse run amplifier
PLG
pulse

Y axis (axis 2)HA-FH-053Y

Q61P Q02H QX QY Q64 Q62 QD75 Forwardrun
-A1 CPU 42 42P AD DA D4 M
pulseMR-H10A
servo
Reverserun amplifier
pulse PLG

X0A0
to X0BF Y0A0
to Y0BF

X axis (axis 1) HA-FH-053Y

X axis (axis 1)
Forward run
M
pulse MR-H10A
Forward run Reverse run
servo
Reverse run amplifier
pulsePLG Forward run
Forward run

For differential receiver output of QD75D4, differential receiver input is used for parameter 3 (ST0) of MR-H10A.
Common to X axis, Y axis and Z axis
·Max. 200 mm of stroke Workpiece Workpiece
8192 pulse per one rotation of motor
8 mm of ball screw lead Parameter 3 (ST0) 0 0 0 1
Gear ratio 1:1 (Refer to page Appendix-4) Reverse run
Reverse run
PU operation
PARAM 31Y axis (axis 2)Z axis (axis 3)
7.2 Parameter of Axis 1, Axis 2, Axis 3 and OPR Parameter

The "rotation direction setting" is set according to the X, Y, Z table where the axis is
forward run increment and the axes 2 and 3 are reverse run increment.
The interpolation speed is the composite speed of the initial value of detailed
parameter (1).

Project name XYZ

(In the following screen example, the settings of unused 4 axes (initial value for all)
are omitted.)
7.3 Sequence Program for 3-Axis Control

The following shows the sequence program for controlling 3 axes, containing the
PLC READY, error code reading/resetting, current value reading, JOG operation,
OPR and positioning data No. start.

Automatic refresh setting

Current feed Axis 1 Axis 2 Axis 3
value D100 D110 D120
X0: OPR command Y70: OPR request
X1: Stop command Y71: Commanding
X2: Moving to standby point stop Y72:
X3: Circular interpolation Y73:
command X4: Forward run JOG Y74: Forward run JOG
command X5: Reverse run JOG operating Y75: Reverse run
command X6: - JOG operating Y76:
X7: Linear interpolation Y77: Error occurrence
command X8: -
X9: Restart command
X0A: - M300 to
X0B: Error reset M389 Used for QD75
command D300 to dedicated instruction
D389

Project name XYZ

Provide interlock as READY

SM1039(RUN, Normally ON after 1 scan) output conditions if required. Y0A0 PLC READY
0

SM1032 Y77 Flashing for an error

SM1006(PLC CPU battery error)
2
1s clock
A8 (Axis 1 error detection)
X0

A9 (Axis 2 error detection)

X0

A (Axis 3 error detection)

X0A

X0B(Error reset command) MOVP K1 Axis 1 error reset

9 U0A\
G1502

Axis 2 error reset

U0A\
MOVP K1 G1602

Axis 3 error reset

U0A\
MOVP K1 G1702

Y0B0 Axis 1 start reset

RST

RST Y0B1
RST

Y0B2
 Axis
2
start
reset Axis 3 start reset
X0A0 SM1030(0.1s clock) D100 D/P D100 K10000 D50
Changing 0.1 m mm
25 D<=
K0
(READY)

BCD Displaying the current

D50 K4Y40 value of axis 1
Storing the current value of axis 1 (Automatic refresh)

D<= K0
D110 D/P D110 K10000 D60 Changing 0.1 m mm

D60 K4Y50 Displaying the current

value of axis 2
BCD

Storing the current value of axis 2 (Automatic refresh)

D<= K0
D120 D/P D120 K10000 D70 Changing 0.1 m mm

Forward run JOG command BCD D70 K4Y60 Displaying the current
value of axis 3
Storing the current value of axis 3 (Automatic refresh)
X4
69 K1X30 D40 Axis number setting
(1 to 3)
BIN
Y0A9 U0A\ Axis 1 JOG speed
DMOVP K100000 G1518 1000 mm/min
= D40 Axis 1
K1 reverse run
JOG U0A\ Axis 1 inching movement

MOVP K0 G1517 amount 0.0m

Y0A8 Axis 1 forward run JOG

Y0AB
DMOVP K100000 U0A\ Axis 2 JOG speed
= D40 Axis 2 G1618 1000 mm/min
K2 reverse run
JOG
U0A\ Axis 2 inching movement
MOVP K0 G161 amount 0.0m
7

Y0AA Axis 2 forward run JOG

Y0AD U0A\ Axis 3 JOG speed

DMOVP K100000 G1718 1000 mm/min
= D40 Axis 3
K3 reverse run
JOG U0A\ Axis 3 inching movement

MOVP K0 G171 amount 0.0m

7

Axis 3 forward run JOG

Y0AC

Y74 Lamp lighting

 Reverse run JOG command

120 X5
BINK1X30 D40 Axis number setting
(1 to 3)
Y0A8 U0A\ DMOVP K100000G1518 Axis 1 JOG speed
= D40K1 Axis 1 reverse run 1000 mm/min
JOGU0A\
MOVP K0G1517
Axis 1 inching movement
K807 D11 amount 0.0m

Y0A9 Axis 1 reverse run JOG

Y0AA U0A\ DMOVP K100000G1618 Axis 2 JOG speed

= D40K2 Axis2 reverse run 1000 mm/min
JOGU0A\
MOVP K0G1617
Axis 2 inching
K807 D11 movement amount
0.0m

Y0AB
Axis 2 reverse run JOG

Y0AC U0A\ DMOVP K100000G1718

= D40K3 Axis 3 reverse run Axis 3 JOG speed
JOGU0A\ 1000 mm/min
MOVP K0G1717
Axis 3 inching
K807 D11 movement amount
0.0m

Y0AD
Axis 3 reverse run JOG

Y75
Lamp lighting
X1(Stop)
Y0A4
171 Axis 1 stop

Y0A5
Axis 2 stop

Y0A6
Axis 3 stop

Y71
Restart command Lamp lighting
X9 X0ACX0ADX0AEY0B0Y0B1Y0B2
PLSM9
176
(Axis 1 BUSY)(Axis 2 BUSY)(Axis 3 BUSY) (Axis 1 start) (Axis 2 start) (Axis 3 start)
M9 U0A\
MOVP K1G1503
Axis1 restart

U0A\
MOVP K1G1703
Axis3 restart
 (OPR command)
X0 M301 PLS M300
196

SE M301
M300 X1
T
200
(Stop)
M301
203 MOV K9001 D302
P

ZP.PSTRT1 " U0A D30 M302 Axis 1 OPR

" 0

M302 M303
M301
216 RST

PLS M304

PLS M310
M304 M311
221

SE M311
M310 X1
T
225
(Stop)
M311
228 MOV K9001 D312
P

ZP.PSTRT2 " U0A D31 M312 Axis 2 OPR

" 0

M312 M313
M311
241 RST

PLS M314

PLS M320
M314 M321
246

SE M321
M320 X1
T
250
(Stop)
M321
253 MOVP K9001 D322

U0A D32 M322 Axis 3 OPR

ZP.PSTRT3 " " 0

M322 M323
M321
266 RST

SM1032(1s clock) U0A\ D21

Detection of axis 1
26 MOVP G817 OPR request flag
9

U0A\ D22 Detection of axis 2

MOVP G917 OPR request flag
 U0A\ Detection of axis 3
MOVP G1017 D23 OPR request flag

M12 Y70 OPR request

MC M12
D21.3 D22.3 D23.3 (Three bit of D21, D22, and D23) Turning ON M12
284 without OPR request of
N0 master control No.
(Axis 1) (Axis 2) (Axis
N0 3) M12 start
axis 1, axis 2 and axis 3
(Movement command to standby
point) X2 M331 PLS M330
28
9

SET M331
M330 X1
293
(Stop)
M331 MOVP K100 D332
296

ZP.PSTRT1 "U0A" D330 M332

Starting axis 1
data No.100
Operation
of
Section MOVP K100 D342
7.4

ZP.PSTRT2 "U0A" D340 M342

Starting axis 2
data No.100

MOVP
K100 D352

"U0A D35 M35

ZP.PSTRT3 Starting axis 3
" 0 2
data No.100

RST M331

PLS M334
M332 M342 M352 M333 M343 M353
33
4 (Circular interpolation command)

X3 M361 PLS M360

342

SET M361
M360 X1
34
6
 M361
349 MOVP K101 D362

Starting the dataNo.101

ZP.PSTRT1 "U0A"D360 M362 of interpolation control
Operation of Section 7.5
reference axis 1
(Interpolation of
axis 1 and axis 2)
MOVP K101 D372

Starting the data No.101

ZP.PSTRT3 "U0A"D370 M372 of independent control
axis 3

RST M361

M362M372M363M373
375 PLS M364
(3-axis linear interpolation command)
X7M381
381 PLS M380

M380 X1
385 SET M381
(Stop)
M381
388 MOVP K107 D382

Starting the data No.107

ZP.PSTRT1 "U0A"D380 M382 of interpolation control
reference axis 1
Operation of Section 7.6 (Interpolation of axis 1,
axis 2 and axis 3)
RST M381

M382M383
402 PLS M384

Completion of
406 MCR NO master control

407 END
7.4 Independent Positioning to Standby Point by Each Axis

The axis 1, axis 2 and axis 3 are independently operated with the control system of
ABS linear 1.

<Figure for operation explanation>

200 200

150
150

Y axis
(Axis 2)
100
100

75 75

50 50

25 25
Standby point
0 0 No.100
0 25 50 75Standby
100point No.100
150 200mm

X axis (Axis 1) Z axis (Axis 3)

(Independent axis)

Axis to Positioning Command

Operation Acceleration Deceleration Arc address Dwell time Positioning data
No. Control system be address speed M code
pattern time No. time No. [µm] [ms] comment
interpolated [µm] [mm/min]
100 0: 1: ABS linear 1 0: 100 0: 100 25000.0 0.0 2000.00 0 0
Completed

(Independent axis)

Axis to Command
Operation Acceleration Deceleration Positioning Arc address Dwell time Positioning data
No. Control system be speed M code
pattern time No. time No. address [µm] [µm] [ms] comment
interpolated [mm/min]
100 0: 1: ABS linear 1 0: 100 0: 100 25000.0 0.0 2000.00 0 0
Completed

(Independent axis)

Axis to Command
Operation Acceleration Deceleration Positioning Arc address Dwell time Positioning data
No. Control system be speed M code
pattern time No. time No. address [µm] [µm] [ms] comment
interpolated [mm/min]
100 0: 1: ABS linear 1 0: 100 0: 100 25000.0 0.0 2000.00 0 0
Completed
Demonstration machine operation
1) The QD75 setting data (parameter and positioning data) is
Project name XYZ .
Read from the text FD and write to the QD75D4.

2) The sequence program is Project name XYZ .

Read from the text FD and write to the Q02HCPU.

3) When turning ON X0, OPR is started in the order of axis 1, axis 2 and axis 3.

4) When turning ON X2, the axis 1, axis 2 and axis 3 carry out positioning together
to the standby point of positioning data No.100 (25mm).
(The current value is 25000.0mm.)
Y6F to
Y6 Y5F Y5 Y4F Y40
0 0
to to
0025 0025 0025
(Current value (mm) of axis (Current value (mm) of axis (Current value (mm) of axis 1)
3) 2)
7.5 Interpolation Operations (Axis 1/Axis 2) and Simultaneous Operation (Axis 3)

When carrying out 2-axis linear interpolation or 2-axis circular interpolation by axis 1
and axis 2, the axis 3 is independently operated.

<Figure for operation explanation>

200 200 101

(Arc address) (Address)
No.102 104
Sub point End No.103
150 point 150

103
Y axis

(Interpolation axis 2) 102

100
100 Center point

No.101 No.104 (Arc address) 75

75
End point 50
50 105

No.105
25 No.106 (Address) 25
No.100

0 0
0 25 50 75 100 150 200
mm Z axis
X axis (Reference axis 1) (Independent axis 3)

REMARK

QD75P3 XYZ table Basic parameters (1)

Axis
connector connector rotation direction
Axis 1 AX1 X 0: Forward run
increment
Axis 2 AX2 Y 1: Reverse run
increment
Axis 3 AX3 Z 1: Reverse run
increment
The positioning data ranges from No.1 to 600. As default, however, only No.1 to 100 are displayed on the screen.
To display No.101 or higher numbers, specify a range with the following procedure. [Tools][Options][Positioning data set]set a specifi

(Reference axis)

Axis to Command
Operation Acceleration Deceleration Positioning Arc address Dwell time Positioning data
No. Control system be speed M code
pattern time No. time No. address [µm] [µm] [ms] comment
interpolated [mm/min]
101 1: A: ABS linear 2 2-axis 0: 100 0: 100 50000.0 0.0 5000.00 700 0
Continuous
102 1: D: ABS circular 2-axis 0: 100 0: 100 150000.0 0.0 3000.00 700 0
Continuous sub
103 1: A: ABS linear 2 2-axis 0: 100 0: 100 200000.0 75000.0 9000.00 700 0
Continuous
104 2: Path G: ABS circular 2-axis 0: 100 0: 100 200000.0 0.0 4000.00 0 0
left
105 2: Path A: ABS linear 2 2-axis 0: 100 0: 100 200000.0 200000.0 2000.00 0 0
106 0: A: ABS linear 2 2-axis 0: 100 0: 100 25000.0 0.0 10000.00 0 0
Completed

(Interpolation axis)

Axis to Command
Operation Acceleration Deceleration Positioning Arc address Dwell time Positioning data
No. Control system be speed M code
pattern time No. time No. address [µm] [µm] [ms] comment
interpolated [mm/min]
101 100000.0 0.0 0.00
102 150000.0 0.0 0.00
103 150000.0 150000.0 0.00
104 50000.0 0.0 0.00
105 25000.0 100000.0 0.00
106 25000.0 0.0 0.00

(Independent axis)

Axis to Command
Operation Acceleration Deceleration Positioning Arc address Dwell time Positioning data
No. Control system be speed M code
pattern time No. time No. address [µm] [µm] [ms] comment
interpolated [mm/min]
101 1: 1: ABS linear 1 0: 100 0: 100 200000.0 0.0 5000.00 700 0
Continuous
102 1: 2: INC linear 1 0: 100 0: 100 -100000.0 0.0 7000.00 700 0
Continuous
103 1: 2: INC linear 1 0: 100 0: 100 30000.0 0.0 1500.00 700 0
Continuous
104 1: 2: INC linear 1 0: 100 0: 100 50000.0 0.0 2000.00 700 0
Continuous
105 0: 1: ABS linear 1 0: 100 0: 100 25000.0 0.0 4000.00 700 0
Completed
106

Demonstration machine operation

1) When turning ON X3, the interpolation operation is carried out by axis 1 and axis
2, and the independent operation is carried out by axis 3.

2) When turning ON X1 during the continuous operation, the operation is

stopped. When turning ON X9, the continuous operation is carried out.
7.6 3-Axis Interpolation Operation

The 3-axis linear interpolation control by axis 1, axis 2 and axis 3 is operated.

<Figure for operation explanation>

The following shows the operation image. The actual demonstration machine is
the same as that of Section 7.4.

Y axis
(Interpolation axis 2) No.107

200
mm

150
Z axis
(Interpolationaxis 3)
100
200 75 No.108
mm 150
100 50
75
25

50 X axis
25 50 75 100 150 (Reference axis 1)
0 25 200 mm

(Reference axis)

Axis to Positioning Command

Operation Acceleration Deceleration Arc address Dwell time Positioning data
No. Control system be address speed M code
pattern time No. time No. [µm] [ms] comment
interpolated [µm] [mm/min]
107 1: L: ABS linear 3 0: 100 0: 100 200000.0 0.0 3000.00 700 0
Continuous
108 0: L: ABS linear 3 0: 100 0: 100 25000.0 0.0 2000.00 700 0
Completed
109

(Interpolation axis)

Axis to Positioning Command

Operation Acceleration Deceleration Arc address Dwell time Positioning data
No. Control system be address speed M code
pattern time No. time No. [µm] [ms] comment
interpolated [µm] [mm/min]
107 200000.0 0.0 0.00
108 25000.0 0.0 0.00
109

(Interpolation axis)

Axis to Positioning Command

Operation Acceleration Deceleration Arc address Dwell time Positioning data
No. Control system be address speed M code
pattern time No. time No. [µm] [ms] comment
interpolated [µm] [mm/min]
107 200000.0 0.0 0.00
108 25000.0 0.0 0.00
109

Demonstration machine operation

1) When turning ON X7, the linear interpolation operation is carried out by axis 1,
axis 2 and axis 3.
APPENDICES

Appendix 1 X-Y-Z Control Demonstration Machine

Mount the QD75 on the slot of the demonstration machine and connect the MR-H10A
amplifier and X-Y-Z table as shown below.

(XY0A0 to 0BF)

24VDC Q61P-A1 Q02HCPU QX42 QY42P Q64 Q62QD75D4

output
Power supply I/O panel

SW D5C-QD75P SW D5C-GPPW

RS-232C
cable
Differential driver output

AX1
AX2
AX3

X axis encoder
Y axis encoder Z axis encoder

Peripheral device for the operating system of PLC program

X axis UVW

Y axis UVW
Z axis UVW
X Y Z
LS of X-Y-Z X-Y-Z table

EMG switch

Details are shown on the next page.

STOP/START/CHANGE
Set Parameter No.3 of
MR-H servo amplifier X, Y,
and Z to "1".

App - 1
The XYZ table allows you to draw a plain view with a ballpoint pen using three
servomotors (HA-FH-053Y) and a ball screw (Lead 8mm).

(1) Plain view of XYZ table

200 mm

X axis Y axis Z axis

M M
M
FLS
RLS DOG FLS
FLS

200
mm 200 mm
Ballpoint
pen

DOG

RLS DOG

RLS

Ball screw lead: 8mm/rotation

Timing belt: 1/1 coupling
Weight: Approx. 23 kg
Accessory: EA-850C type manufactured by SHARP CORPORATION
Ballpoint pen (5 sets)

Replacement
of ballpoint pen
Pen up-and-down • Before using the
screw
demonstration machine, be
sure to move the ballpoint
pen up and down.
If the ballpoint pen is
constantly attached to a
paper, its ink will leak and be
wasted quickly.
Move the ball point pen down
after checking the machine
operation.

Screw for • When replacing the ballpoint

replacement pen, loosen the
of pen
replacement screw on the
edge of the head.
Be sure not to tighten up the
screw too much after the
replacement.
 (2) Internal connection diagram of XYZ table

Relay amplifier HA-FH-053Y

X axis Y axis Z axis From servo amplifier
U K1.25 mm2
ABC
D VK1.25 mm2
M PG
WK1.25 mm2

E
CONX1/CONY1:MS3102A/8-4P(DDK)
(CON Z1: For 3 axes)

7 4
17 3
9 14
X axis Y axis Z axis To servo amplifier 15 15
10 8 Motor accessory cable
1 2
20 7
11 1
19 10
13 20

CONXE1/CONYE1:MRP-20M01(Honda)
(CON ZE1: For 3axes)

CONLS:MRP-16M01(Honda)
OUT
X axis Y axis Z axis
Zeroing dog Black + Brown
1 6 11 L Pink Switch = ON at zero point
-
Blue
OUT
Limit + Switch = OFF
2 7 12 L at limit
-
OUT
3 8 13 Limit + Switch = OFF
L at limit
-

+24V
4 9 14 SG
5 10 15

To QD754D module
 (3) Basic parameter of the MR-H10A servo amplifier (For details, refer to the
instruction manual.)
(For the demonstration machine, set the parameter No.3 (ST0) to "1".)

Initial
Pr No. Setting value
Name value Function description
abbr.
Setting range Unit
0 3 3 0: HA-SH standard 2: HA-UH flat
Motor series
MSR* 0 to 3 1: HA-LH low-inertia 3:HA-FH
053 053 Upper 2 digits : Motor rated output (Unit: 100W) 053
1
Motor type Last 1 digit : Rated rotation speed (Unit: 3000 rev/min
MIY* 023 to 2202 50 W
1000rev/min.)
0000 1) 0 to e according to the type of regenerative
Without regenerative 0000 brake option
2 brake option 2) Servo loop
Servo type
STY* 0 1 0 2 0: Position 1: Position-speed
0000 to 0D05h 2: Speed 3: Speed-torque
4: Torque 5: Torque-position
1) Absolute position detection
0: Invalid 1: Valid
0001 0000 2) External dynamic brake
0: Without 1: With
3 3) Pin 23 function of connector CN1
Function selection 1
STO* 1 2 3 4 0: Zero speed detection ZSP
1: Electromagnetic brake interlock
4) Pulse train input system
0000 to 2111h
0: Open collector
1: Differential receiver
Command pulse 1 1
4 Command pulse CMX Position command CMX
multiplying factor f2=f1
CMX (numerator) 1 to 50000 input f1 CDV pulse f2 CDV
5 Command pulse 1 1 1 CMX
multiplying factor (Refer to the next page)
CDV (denominator) 1 to 50000 50  CDV 50
6 100 100
In-position range Sets a droop pulse value to output the positioning complete signal.
INP 0 to 50000 PLS
7 Position control gain 70 70 Position loop gain. Sets this gain to improve trace ability within the
PG1 1 4 to 1000 rad/sec range where overshooting does not have a too high value.
8 3 3 Sets time constant when setting the primary delay filter to the position
Smoothing
PST 0 to 50000 msec command.
9 SC1 Internal speed command 1 speed (Speed torque)
10 SC2 Internal speed command 2 speeds (Speed torque)
11 SC3 Internal speed command 3 speeds (Speed torque)
12 Not used for positioning STA Acceleration time constant (Speed)
13 STB Deceleration time constant (Speed)
14 STC S-curve acceleration/deceleration time constant
15 TQC Torque command time constant (Torque)
16 Torque limit time 0 0 Sets time constant when setting the primary delay filter to the torque
TLT constant 0 to 50000 msec limit command

0 0 0: Motor speed ( 8V/max.speed)

0001 1: Torque ( 8V/max.torque)
0001
(Speed, droop pulse) 2: Motor speed ( 8V/max. speed)
3: Torque ( 8V/max.torque)
17 Monitor output mode 4: Current command output
MOD selection 5: Command pulse frequency ( 8V/400KPPS)
Monitor 2 output
6: Droop pulse 1/1 ( 11.6V/2048PLS)
Monitor 1 output
7: Droop pulse 1/4 ( 11.6V/512PLS)
0000 to 0909h
Output details are 8: Droop pulse 1/16 ( 11.6V/128PLS)
shown right. 9: Droop pulse 1/32 ( 11.6V/64PLS)

Initial
Pr No. Setting value
Name value Function description
 Setting range Unit
abbr.

Main body display (CS1=0)

0 : Cumulative feedback pulses
1) Display-switching of the
1 2 3 4 1 : Motor speed
MR-PRU at power-on
0000 0000 2 : Command speed
0: The following table
1: Depends on 4) 3 : Droop pulses
4 : Cumulative command pulses
2) Status display of the MR-PRU at
Display mode power-on 5 : Command pulse frequency
6 : Speed command voltage
selection Set 0 to F like 4)
7 : Reverse run torque limit
18
3) Main body display automatic
DMD* Main body display is switching (CS1=0) command voltage
8 : Forward run torque limit
valid when the rotary 0: The following table
command voltage
switch CS1 is 0 1: Depends on 4)
9 : Regenerative load ratio
<Table>
0000 to 1F1Fh A : Effective load ratio
Position control mode
: Cumulative feedback pulses B : Peak load ratio
C : Within one-revolution position
Speed control mode
D : ABS counter
: Motor speed
E : Machine speed
Torque control mode
F : Bus voltage
: Peak load ratio
Reference parameter / Write parameter
000E*1 0000 0000: Basic / Basic
19 Display mode
000A: PARA-No.19 / PARA-No.19
DMD* selection
0000 to FFFFh 000C: Basic + Expansion / Basic
000E: Basic + Expansion / Basic + Expansion
*: Valid when switching power OFF to ON after the parameter settings
*1: When setting the expansion parameters on the next page, set to "0000E"
 (4) Expansion parameter of the MR-H10A servo amplifier (For details, refer to the
instruction manual.)
(The expansion parameters of the demonstration machine are the initial values.)

Pr No. Initial
Setting value
Name value Function description
abbr.
Setting range Unit
First digit: Auto tuning selection 0.1.2
20 0001 0001 Second digit : Restart after instantaneous power failure Valid/Invalid
* Function selection 2
OP1 Third digit : Auto tuning response 0 to C
0000 to 1C12h Fourth digit : Speed control servo lock Invalid/Valid
First digit: Low acoustic noise selection 0.3
0000 0000 Second digit: Command pulse input form
21
* Function selection 3 (0: CW/CCW 1: Signed 2: A phase/B phase)
OP2
0000 to 2124h Third digit: Command pulse input logic
(0: Positive logic 2: Negative logic Fourth digit: 0)
22 0000 0000 Specifies sudden stop (0) or slow stop (1) (by PARA No.8) when the
* Function selection 4
OP3 000 to 0010 limit switch (stroke end) operates in second digit.
23 0 0 Droop pulse is 0 at constant speed operation when set to 100%.
Feed forward gain
FFC 0 to 100 % Used when the auto tuning is invalid.
24 Command pulse 1 1
multiplying factor
CM1 numerator 2 1 to 50000 Dl1 Dl2 Electronic gear
1 numerator
25 Command pulse 1 1 Sets to 50 or more, 50 or less ON OFF CM1
multiplying factor when electronic gear switching
CM2 1 to 50000 OFF ON CM2
numerator 3
function is valid in PARA No.41.
Command pulse 1 1 ON ON CM3
26
multiplying factor OFF OFF PARA-No.4
CM3 numerator 4 1 to 50000
27 Excessive error alarm 80 80
For alarm output of excessive droop pulse
ERZ level 1 to 1000 KPLS
28 STD Second acceleration time constant
29 STE Second deceleration time constant
30 Not used for SC4 Internal command speed 4
31 positioning SC5 Internal command speed 5
32 SC6 Internal command speed 6
33 SC7 Internal command speed 7
34 50 50
Zero speed Operating range of zero speed output
ZSP 0000 to 10000 rpm
35 Not used for VCM Rotation speed at 10V command
36 positioning
VCA* VC speed command average
37
Spare TLC Torque control command full-scale value
38
The following selection can be made with second digit of PARA No.43.
1 1 1) Output division ratio setting
39 Encoder output of servo Servo amplifier Cumulative feedback pulse per motor rotation
* output = 4 ENR setting value (P/R)
ENR amplifier
2) Output pulse setting
1 to 32768
Servo amplifier output = ENR setting value/4 (P/R)

40 Torque limit value 100 100 Max. torque is 100%. When external torque limit is valid, limits nearer
TLL (Internal) 0 to 100 % one. Monitor output 8V at this setting level.
1) Second acceleration/deceleration selection
(Select with CR=ON)
0: Invalid
0000 0000 1: Valid (PARA No. 28, 29)
2) Clear signal (CR)
41 0: Leading
* Input signal selection 1 1: Shortened
IP1
1 2 3 4 3) Internal speed 7 (D10 D11 D12)
0: Invalid
0000 to 1111h 1: PARA No. 30 to 33 Valid
4) Electronic gear 4-stage switching
0: Invalid
1: PARA No.24, 25 Valid
 Initial
Pr No. Setting value
Name value Function description
abbr.
Setting range Unit

1 2 3 4
0000 0000
1) LSN input selection
42 2) LSP input selection
* Input signal selection 2
IP2 3) SON input selection
4) External torque limit signal
0000 to 1111h 0: OFF Internal limit ON External limit
1: OFF Max. torque ON Internal limit
First digit: 0: m/min 1: m/sec 2:
0000 0000
deg/min Multiplying factor is according to PARA
43
* Function selection 5 No.45
OP4
0000 to 0012h Second digit: Encoder output selection of the servo amplifier (PARA No.
39)
0: Division ratio setting 1: Output pulse setting
44 0000 0000 First digit: Alarm code output Valid/Invalid
* Output signal selection
OPC 0000 to 0011h Second digit: Pre-alarm output Valid/Invalid
45 Machine speed 10000 10000
* Sets the conversion constant of rotation speed/machine speed.
MVC conversion constant 0 to 50000
1) Sampling time (msec)
0001 0001 0: 1.77 3: 14.2
2: 7.11
46 Data selection before
* 0 1 2 3 2) Data selection 1
MOA alarm
3) Data selection 2
0000 to 0499h
Every selection is according to on items 0 to
9 of PARA Nol.17.
47 Not used for
VC offset
VCO positioning
48 TLAP 0 0
Offset for the limit analog command of a reverse run side torque
TPO offset -9.999 to 9.999 mV
49 TLNP 0 0
Offset for the limit analog command of a forward run side torque
TNO offset -9.999 to 9.999 mV
50 MO1 0 0
Offset for monitor output 1
MO1 offset -9.999 to 9.999 mV
51 MO2 0 0
Offset for monitor output 2
MO2 offset -9.999 to 9.999 mV
53 Electromagnetic brake 100 100 Sets the time delay from the electromagnetic brake operation to the
MBR sequence output 0 to 1000 msec base circuit shut-off.
52
54
55 Spare
56
57
58 1.0 1.0 Automatically set if the auto tuning is set for the load inertia moment
Load inertia ratio
DG2 0.0 to 100.0 0.1 ratio to the servomotor
59 Machine resonance 0 0 0: Without filter Sets 1 to 7 according to the resonance frequencies
NCH suppression filter 0 to 7 1125 to 281
60 25 25 Used when increasing the response for load disturbance
Position control gain 2
PG2 1 to 500 rad/sec Setting larger values generates vibration noise.
61 VG1 Speed control gain 1
62 Not used for VG2 Speed control gain 2
63 positioning VIC Speed integral compensation
64 VDC Speed differential compensation
Appendix 2 Installing SW D5C-QD75P

This section explains how to install and uninstall the SQ D5C-QD75P.

Start

Installation of SW D5C-QD75P
Register your name and organization name.
(1) Refer to the details on QD75P install operation
Register product I/D.

Startup of application
Check whether it is correctly installed or not. Refer to Section 5.2 Startup of QD75P

Completion

App - 8
 (1) Installing SW D5C-QD75P
This section explains how to install SW D5C-QD75P.

POINT
• Before installation, close all other applications running on Windows.
• When using Windows NT Workstation 4.0, log on as a user with administrative
privileges (for computer management).

1) Start the explorer and click the drive where a

disk is inserted.
Double-click "Setup.exe".
To display the explorer, select "Start"
"Program" "Explorer".

When the message on the left appears, click the

When uninstall is not performed "Cancel" button to uninstall the software, and then
install it again.

2) Input your name and any organization name,

and click the "Next" button.
The confirmation dialog box is displayed.
Perform the operation according to the
message.

(To the next page)

(From the previous
page)
 3) Enter the product ID of the software and click
the "Next" button.
The product ID is indicated on the "software
registration certificate".

4) Specify the installation destination folder.

Specify the installation destination folder and
click the "Next" button.
Default is "C: MELSEC".
When changing the installation destination,
click the "Browse…" button and specify a
new destination drive and folder.

5) The installation is completed.

POINT
• When the installation is failed in the middle of process, uninstall the software, and
then reinstall it again.
The following icon appears after the installation of SW D5C-QD75P.
Appendix 3 QD75 Maintenance Instructions

The following describes the replacement procedures of the QD75 module.

The explanations are on the premise that SW D5C-QD75P is installed in a peripheral
device (personal computer).

1) Read the positioning data, parameters and block start data from the QD75 buffer
memory to a peripheral device (personal computer).

2) Turn the PLC power off and remove the connector connected to the QD75 module.

3) Remove the QD75 from the base unit.

4) Mount a new QD75 module on the base unit.

5) Set the connector to be connected to the QD75 module.

6) Turn the power on, and check the QD75 status and the connecting status with
external devices using the QD75P connection confirmation function of a
peripheral device (personal computer).

7) Write each data from a peripheral device (personal computer) to the QD75D
module.

8) Activate the PLC CPU and confirm that it operates properly.

App - 12
Appendix 4 Intelligent Function Module Direct Device

In this document, writing and reading of data are performed using the intelligent
function module direct device in order to simplify the sequence program and reduce
steps
(1) Intelligence function module direct device
This device directly accesses the buffer memory of the intelligent function
module/special function module from the QCPU.
Designation method : U \G
Buffer memory address (0 to 16383 with a decimal)
High-order two digits when expressing the I/O number of
intelligent function module/special function module in 3 digits
In case of X/Y0A0····X/Y0A0
Designation: 0A

(2) Program examples

The following shows the two program examples, one of which uses the
intelligent function module device and the other of which uses the TO
instructions, when writing "9001" to the buffer memory (address: 1500) for one
axis positioning start No. of the QD75D4 positioning module (X/X0A0).

When using the intelligent

function module device When using the TO instructions
X0
X0 U0A\ MOV K9001 D0 T0 H0A K1500 D0 K1
MOV K9001 G1500

Figure App.4.1 Examples of data write to the buffer memory

(3) Processing speed

The following describes the processing speed by the intelligence function module
direct device.
(a) When reading and writing, the processing speed is equivalent to the
"processing speed of the FROM/TO instructions. (For example, in the case
of "DMOV U0A G800 D0".)
(b) When performing read operation and other operations together by one
instruction, the processing speed is the total speed of the "processing speed
by FROM/TO instructions" and the "instruction processing speed". (For
example, in the case of "D/U0A G800 K10000 D10".)
 Appendix 5 QD75 Dedicated Instructions

The following describes the QD75 dedicated instruction types, the form of each
instruction and how to use them.

(1) List of QD75 dedicated instructions

Application Instruction symbol Outline of functions

Axis 1 ABRST1 Restores the absolute position of the designated axis of the QD75.
Absolute position restoration
Axis 2 ABRST2 (Refer to Section 14.3 of
Instru ction the manual.)
Axis 3 ABRST3 Z.ABRST "Un" (S) (D)
Axis 4 ABRST4

Axis 1 PSTRT1 Starts the positioning control of the designated axis of the QD75.
Axis 2 PSTRT2 (Refer to Appendix 5.1 of
Instru ction the text.)
Positioning startAxis 3 PSTRT3 ZP.PSTRT "Un" (S) (D)
Axis 4 PSTRT4

Axis 1 TEACH1 Carries out teaching of the designated axis of the QD75.
Axis 2 TEACH2 (Refer to Appendix 5.2 of
Instru ction the text.)
Teaching Axis 3 TEACH3 ZP.TEACH "Un" (S) (D)
Axis 4 TEACH4

Writes the buffer memory parameters, positioning data and block start data to the flas
(Refer to Appendix 5.3 of
ction the text.)
Writing to flash ROM Instru
ZP.PFWRT "Un" (S) (D)
PFWRT

Initializes the parameters of the buffer memory and flash ROM to the
factory-set data (initial values).
(Refer to Section 14.7 of
ction
Instru the manual.)
Parameter initialization PINIT
Z.PINIT "Un" (S) (D)

Setting data Setting details Data type

A QD75 head I/O number
"Un" (00 to FE: Highest two digits in the case of an I/O number expressed in three BIN 16 bits
digits)
(S) A head number of a word device in which control data is stored Word
A head number of a bit device that turns ON for one scan time at completion
of the instruction.
(D) Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON for
one scan time.
 (2) Sequence program of dedicated instructions
The following shows two examples of the sequence program that starts the axis
1 positioning data No. 100 when X2 is turned on. One of the examples uses the
dedicated instruction PSTRT and the other uses the direct device.

[When dedicated instruction PSTRT1 is used]

X2 M100
PLSM2
(Start command) (Start flag)
M2
SETM100Start flag set

M100 No.100 start

MOVP K100 D202
Start No. setting
System area
ZP.PSTRT1"U0A" D200 M200
Axis 1 startComplete device
RSTM100Start flag reset

M200 M201
PLSM101
(Start completion)(Abnormal completion)

[When dedicated instruction is not used]

X2 Y0B0
PLSM2
(Start(Start) command)
M2
U0A\
K807 D11K100 G1500 No.100 start
MOVP

SETY0B0Axis 1 start

Y0B0 X0B0X0AC
RST Y0B0 Start flag reset
(Start)(Start completion) X0A8
(BUSY)

(Error detection)

"U0A" (S) (D)

M200.....Turns ON from one scan at start completion
ZP.PSTRT1 M201.....Turns ON from one scan at abnormal completion
D200.....System area
D201.....Error code is input at abnormal completion
D202.....Sets start No

Highest two digits of QD75 mounting I/O number (X ·Y0)

Appendix 5.1 PSTRT1, PSTRT2, PSTRT3, PSTRT4

These dedicated instructions are used to start the positioning of the designated axis.

Usable device
Setting MELSECNET/10 Special
Internal device Index register constant
data File register direct J module Others
Zn
Bit Word Bit Word UG K,H,$
(S)
(D)

[Instruction symbol] [Execution condition]

PSTRT1(Axis 1)
ZP.PSTRT1"Un"(S)(D)

PSTRT2(Axis 2) ZP.PSTRT2"Un"(S)(D)

PSTRT3(Axis 3) ZP.PSTRT3"Un"(S)(D)

PSTRT4(Axis 4) ZP.PSTRT4"Un"(S)(D)

When PSTRT1, PSTRT2, PSTRT3 and PSTRT4 are the same, they are designated
as "PSTRT ".

Setting data

Setting data Setting details Setting side (*1) Data type

A QD75 head I/O number
"Un" (00 to FE: Highest two digits in the case of an I/O number User BIN 16 bits
expressed in three digits)
(S) A head number of a word device in which control data is stored Word
A head number of a bit device that turns ON for one scan time at
completion of the instruction.
(D) System Bit
If the instruction is completed abnormally, ((D) + 1) will also be
turned ON.
Control data

Device Item Setting data Setting range Setting side (*1)

(S)+0 System area
The state at the time of completion is stored.
•0 : Normal completion
(S)+1 Complete status System
• Other than 0 : Abnormal completion
(error code)
The following data Nos. to be started by the
PSTRT instruction are designated.
• Positioning data No. : 1 to 600
1 to 600
• Block start : 7000 to 7004
(S)+2 Start No. 7000 to 7004 User
• Machine OPR : 9001
9000 to 9004
• Fast OPR : 9002
• Current value changing : 9003
• Multiple axes simultaneous start : 9004
*1: The data on the setting side is as follows.
• User : Data before the execution of dedicated instructions is stored by users.
• System : Data after the execution of dedicated instruction is stored by PLC CPU.
Functions
(1) The positioning start of the axes to be processed (See below) is carried out.
• PSTRT1: Axis 1
• PSTRT2: Axis 2
• PSTRT3: Axis 3
• PSTRT4: Axis 4
(2) The block start, OPR start, current value changing, and multiple axes
simultaneous start can be carried out by setting "start number" to 7000 to
7004/9001 to 9004 in ((S)+2).
(3) The PSTRT instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).
(a) Complete device ((D)+0)
This device is turned ON by the END processing of the scan in which
PSTRT instruction was completed, and turned OFF by the next END
processing.
(b) Complete state display device ((D)+1)
This device is turned ON or OFF according to how the PSTRT instruction
is completed.
• When completed normally : Kept unchanged at OFF.
• When completed abnormally : This device is turned ON by the END
processing of the scan in which the PSTRT
instruction was completed, and turned OFF
by the next END processing. (Same
ON/OFF operation as the complete device).
END processing END processing END processing END processing

Sequence program PSTRT instruction execution completion

ON
OFF
ON
PSTRT instruction

OFF When
ON completed
Complete device abnormally
When
OFF completed normally
Complete state 1 scan
display device

Errors (1) When the PSTRT instruction is completed abnormally, the error complete
signal ((D)+1) is turned ON, and the error code is stored in the complete status
((S)+1).
Precautions (1) When positioning is started by the PSTRT instruction, the positioning start
signals (Y10 to Y13) will not turn ON.
To confirm that positioning control is being executed, use the PSTRT start
command or the positioning start complete signals (X10 to X13).

(2) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(They can be executed simultaneously for different axes.)
• Positioning start instructions (PSTRT1 to PSTRT4)
• Absolute position restoration instructions (ABRST1 to ABRST4)
• Teaching instructions (TEACH1 to TEACH4)

(3) The PSTRT instruction can be executed when the QD75 READY signal (X0) is
turned ON.
When the QD75 READY signal is turned OFF, the PSTRT instruction will not be
executed even if the PSTRT instruction execution request is given. (Not
processed.)
Before executing the PSTRT instruction, turn ON the PLC READY signal (Y0),
and turn ON the QD75 READY signal (X0).

Program examples The following program executes the positioning of positioning data No.100 and No.200
repeatedly when X71 turns ON.
The positioning is completed when X72 turns ON.
Use D90 to D92 as the control data devices, and M92 and M93 as the complete
devices of the positioning data No. 100.

Use D93 to D95 as the control data devices, and M95 and M96 as the complete
devices of the positioning data No. 200.
(1) Positioning start command reception
X71 Positioning start command pulsed

Positioning start command Positioning data No.100 start pulse

M90X72 Positioning start command hold

Positioning data No.100 start storage
Positioning
Position
-ing data stop No.100
start pulse

M98

(2) Positioning data No.100 start

M91 Positioning data No.100 setting

Position Positioning start No.

-ing data
No.100
start storage Positioning start execution

Device Complete head for device for PSTR1 PSTRT1

instruction
Positioning start command storage OFF

Position
-ing data No.100
start storage
Positioning start command pulsed
(3) Positioning data No.200 start request
M92 M93

Complete Abnormal device for complete Position

-ing start command storage
PSTRT1 device for PSTR 1 Positioning start command hold
M72
M94
Position Positioning Position
-ing start stop command storage -ing start command storage
(4) Positioning data No.200 start
M95
Positioning data No.200 setting
Position
-ing start command storage
Positioning start No.

Positioning start execution

DeviceComplete
head for device for PSTR1PSTRT1
instruction
Positioning start command storage OFF

Position
-ing start command storage

(5) Positioning data No.100 start request M96M97

Complete Abnormal device for complete PSTRT1 device for
PSTR 1
Appendix 5.2 TEACH1, TEACH2, TEACH3, TEACH4

These dedicated instructions are used to teach the designated axis.

Usable device
Setting MELSECNET/10 Special
Internal device Index register Constant
data File register direct J module Others
Zn
Bit Word Bit Word UG K,H,$
(S)
(D)

[Instruction symbol] [Execution condition]

TEACH1(Axis 1)
ZP.TEACH1"Un" (S) (D)

TEACH2(Axis 2)
ZP.TEACH2"Un" (S) (D)

TEACH3(Axis 3) ZP.TEACH3"Un" (S) (D)

TEACH4(Axis 4) ZP.TEACH4"Un" (S) (D)

When PSTRT1, PSTRT2, PSTRT3, and PSTRT4 are the same, they are shown as
"PSTRT ".

Setting data
Setting data Setting details Setting side (*1) Data type
A QD75 head I/O number
"Un" (00 to FE: Highest two digits in the case of an I/O number User BIN 16 bits
expressed in three digits)
(S) A head number of a device in which control data is stored - Word
A head number of a bit device that turns ON for one scan time at
completion of the instruction.
(D) System Bit
If the instruction is completed abnormally, ((D) + 1) will also be
turned ON.
Control data
Device Item Setting data Setting range Setting side (*1)
(S)+0 System area
The state at the time of completion is stored.
0 : Normal completion
(S)+1 Complete status System
Other than 0 : Abnormal
completion
(error code)
The address to write the current feed value
to (positioning address/arc address) is set.
Teaching 0: Writes the current feed value to the
(S)+2 positioning address. 0,1 User
data selection
1: Writes the current feed value to the arc
address.
Positioning data The positioning data No. to carry out
(S)+3 1 to 600 User
No. teaching is set.
*1 The data on the setting side is as follows.
• User : Data before the execution of dedicated instructions is stored by users.
• System : Data after the execution of dedicated instruction is stored by PLC CPU.

Functions (1) The "current feed value" of the axes to be processed (See below) is set in the
positioning address or arc address.
The positioning data other than the positioning addresses and arc addresses are
set using a peripheral device or sequence program.
• TEACH1: Axis 1
• TEACH2: Axis 2
• TEACH3: Axis 3
• TEACH4: Axis 4
(2) Teaching can be carried out for the positioning data No. 1 to 600.
(3) The movement of the machine to the address (position) set in the positioning
address/arc address of the positioning data is carried out in the JOG operation,
inching operation, or manual pulse generator operation.
(4) The TEACH instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).
(a) Complete device ((D)+0)
This device is turned ON by the END processing of the scan in which
TEACH instruction is completed, and turned OFF by the next END
processing.
(b) Complete state display device ((D)+1)
This device is turned ON and OFF according to how the TEACH instruction
is completed.
• When completed normally : Kept unchanged at OFF.
• When completed abnormally : This device is turned ON by the END
processing of the scan in which TEACH
instruction was completed, and turned
OFF by the next END processing. (Same
ON/OFF operation as complete device).
END processing END processing END processing END processing

Sequence program TEACH instruction execution completion

ON
OFF
ON
TEACH instruction
When completed
OFF ON abnormally
Complete device
When
OFF completed normally
Complete state 1 scan
display device

Errors
 (1) When the TEACH instruction is completed abnormally, the error complete
signal ((D)+1) is turned ON, and the error code is stored in the complete status
Precautions (S)+1.

(1) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(They can be executed simultaneously for different axes.)
• Positioning start instructions (PSTRT1 to PSTRT4)
• Absolute position restoration instructions (ABRST1 to ABRST4)
• Teaching instructions (TEACH1 to TEACH4)

(2) The TEACH instruction can be executed when the BUSY signal (XC, XD, XE,
XF) is turned OFF.
When the BUSY signal is turned ON, the TEACH instruction will not be
executed. (Not processed.)
Before executing the PFWRT instruction, make sure that the BUSY signal for the
Program example axis to be processed is turned OFF.

(1) Write a sequence program where the teaching is executed to the positioning
data No. 3 of the axis 1 when X39 is turned ON.

No.20 Teaching program

Positioned manually to target position

Teaching command pulsed

X39

Teaching command Teaching

command pulse

Teaching command hold

M19X0C
Teaching commandBusy
pulse
signal Teaching command storage

Teaching data setting

M20

Teaching data
Teaching command storage

Positioning data No. setting

Positionin data gNo.

Teaching execution

ControlComplete
data fordevice TEACH 1
instruction

Teaching command storage OFF

M34M35
Teaching command pulse
Complete Abnormal devicecomplete
device
Appendix 5.3 PFWRT

These dedicated instructions are used to write the QD75 parameters, positioning data
and block start data to the flash ROM.

Usable device
Setting MELSECNET/10 Special
Internal device Index register Constant
data File register direct J module Others
Zn
Bit Word Bit Word UG K,H,$
(S)
(D)

[Instruction symbol] [Execution condition]

PFWRT ZP.PFWRT"Un" (S) (D)

Setting data

Setting data Setting details Setting side (*1) Data type

A QD75 head I/O number
"Un" (00 to FE: Highest two digits in the case of I/O number expressed User BIN 16 bits
in three digits)
(S) A head number of a word device in which control data is stored Word
A head number of a bit device that turns ON for one scan time at
completion of the instruction.
(D) System Bit
If the instruction is completed abnormally, ((D) + 1) will also be
turned ON.

Control data

Device Item Setting data Setting range Setting side (*1)

(S)+0 System area
The state at the time of completion is stored.
0 : Normal completion
(S)+1 Complete status System
Other than 0 : Abnormal completion
(error code)

*1: The data on the setting side is as follows.

• User : Data before the execution of dedicated instructions is stored by users.
• System : Data after the execution of dedicated instruction is stored by PLC CPU.
Functions (1) The PFWRT instruction completion can be confirmed using the complete devices
((D)+0) and ((D)+1).
(a) Complete device ((D)+0)
This device is turned ON by the END processing of the scan in which the
PFWRT instruction is completed, and turned OFF by the next END
processing.
(b) Complete state display device ((D)+1)
This device is turned ON and OFF according to how the PFWRT instruction
is completed.
• When completed normally : Kept unchanged at OFF.
• When completed abnormally : This device is turned ON by the END
 processing of the scan in which the next END processing. (Same
the PFWRT instruction is ON/OFF operation as complete device).
completed, and turned OFF by
END processing END processing END processing END processing

Sequence program PFWRT instruction execution completion

ON
OFF
ON
PFWRT instruction

OFF When
completed
Complete device ON abnormally
When
OFF completed normally
Complete state 1 scan
display device

Errors (1) When a dedicated instruction is completed abnormally, the error complete signal ((D)
+1) is turned ON, and the error code is stored in the complete status ((S)+1).

Precautions (1) Do not turn OFF the power or reset the PLC CPU while parameters, positioning
data and block start data are written to the flash ROM using the PFWRT
instruction.
Doing so causes a parameter error or abnormal positioning operation because
the parameters, positioning data and block start data are not written normally to
the flash ROM.
If this error occurs, restart the operation by the method shown below.
• For the QD75 S/W package, write the parameters, positioning data and block
start data again to the flash ROM.
• For a sequence program, write the parameters, positioning data and block start
data to the QD75 after initializing the parameters (by executing the PINIT
instruction, etc.).
Then execute the PFWRT instruction again.

(2) Number of writings to the flash ROM is up to 100,000 times.

If writing to the flash ROM more than 100,000 times, the writing to the flash ROM
will become impossible.
 (3) After the power ON and PLC CPU reset operation, writing to the flash ROM
using a sequence program is limited up to 25 times. (Not limited up to 25 times
when writing to the flash ROM is carried out by a peripheral device.)
If writing to the flash ROM is requested more than 25 times after the power
ON/PLC CPU reset operation, the flash ROM write number error (error code:
805) will occur, and the writing will be disabled.
If the flash ROM write error occurs even if writing to the flash ROM is requested
only one time, check and correct the writing program.
Then reset the error, or turn ON the power and reset the PLC CPU again.

(4) The PFWRT instruction can be executed when the QD75 READY signal (X0) is
turned OFF.
When the QD75 READY signal is turned ON, the PFWRT instruction cannot be
executed.
Before executing the PFWRT instruction, turn OFF the PLC READY signal (Y0)
and then turn OFF the QD75 READY signal.

Program example (1) The following is a program used to write the parameters, positioning data and
block start data stored in the buffer memory to the flash ROM when X3D is
turned ON.

No.26 Flash ROM write program

Flash ROM write command pulsed
X3D
Flash ROM
Flas write
h command
ROM pulse
write Flash ROM write command hold
command

M26 X0C

BUSY
Flash signal Flash ROM
ROM write
write command
command storage
pulse Standby of PLC READY signal output to QD75

M27 Y0
PLC PLC READY
Flash READY signal OFF
ROM signal confirmation
write
command Flash ROM write execution
storage
T1
Control data Complete
PLC for PFWRT device
READY instruction
signal
OFF
Flash ROM write command storage OFF
confirm
-ation M38

M39
Abnormal Flash
Complete complete ROM
device device write
command
storage
Appendix 6 Connection Examples with Servomotors

Appendix 6.1 Connection Example of QD75D and MR-H A (Differential Driver)*6

Regenerative brake option

Configure a sequence to turn OFF
NCP *4 Servo motor
the MC at alarms and emergency stops.
NF MC
Power supply RST MR-H A UU
3-phase 200VAC V VWE SM
W

R1 S1

10m max. *5
CN1 *4
SG 16 CN2
QD75D
SG 40 En
*1 Near-point dog
External emergency stop EMG 46 co
DOG FLS RLS STOP CHG 3
Upper limit *2 Servo-on Reset Torque limitSON 12 de
Lower limit *2 RESend LSN
Forward run stroke end Reverse run stroke 15 r
Stop TL VIN
13
External command*3 LSP 38
50m max.
*3
39
COM COM CLEAR 6 20
DC24V
7 VDD CR SG PP PPR NP 22
NPR RD
13 37
CLEAR COM 14 17
10 CN3 Monitor output 10k
15
PULSE F+ PULSE F- PULSE R+ PULSE R- READY RDY COM Max. 1mA total Two-way deviation
11 4MO1 MO2 MOG A A
16
35 3
17
36 1
18
11 49 2m max.
12

PGO59 LZ LZR 8
PGO COM10 9

5V A B +5V
PULSER A+ A19 PULSER A- B19 PULSER B+ A20 PULSER B- Zero
B20speed detection Fault VDD21
OV RA1
5G ZSP23
ALM48
RA2

Manual pulse generator MR-HDP01

P15R TLAP LG N15R TLAN

1 LG SD
Analog torque limit command (+)
27
+10V/max. current
28
26
29
Analog torque limit command (-)
30
-10V/max. current
50

2m max.

REMARK
(1) *1: The logic for each I/O terminal can be changed with the input signal logic
selection and the output signal logic selection in the detailed parameters 1.
(Negative logic is used for all terminals in the example above.)
(2) *2: The QD75D upper limit (FLS) and lower limit (RLS) are used in the OPR
retry function. Set these signals inside the servo amplifier limit switches.
(3) *3: These are limit switches for the servo amplifier (for stop).
(4) *4: Refer to the specifications and handling instruction manual of the servo
amplifier MR-H for details on connection.
(5) *5: This indicates the distance between the QD75D and servo amplifier.
(6) *6: Use the same logic (positive logic/negative logic) for the QD75D and servo
amplifier. The QD75D is initially set to negative logic.
(7) "FA-CBLQ75M2H(-P) cable" can be used for the connection between the
QD75D and MR-H ]A.
(Refer to Section 2.2 Component list.)
Appendix 6.2 Connection Example of QD75D and MR-J2/J2S A (Differential Driver) *5

HC-MF,HA-FF
Configure a sequence to turn OFF series motors
the MC at alarms and
emergency stops.

NF MC MR-J2- A
L1 U
V U
V
Power supply TE1 SM
L2 W
3-phase 200VAC W
L3 E
L11 PE B1
EMG
L21
PE
C TE2
D DC24V Electromagnetic
brake
P
10m max.*4 CN1A B2

QD75D Servo-on signal OFF

Shut off by alarm signal En
*1 OPC 11 co
PULSE F+ 15 PP 3 CN2 de
PULSE F- 16 PG 13 r
PULSE R+ 17 NP 2
PULSE R- 18 NG 12
CLEAR 13 CR 8
CLEAR COM 14 SG 10
READY 11 RD 19
RDY COM 12 COM 9

PG05 9 LZ 5
RD
PG0 COM 10 LZR 15
DC24V SD
COM 6 CN3 GND
COM 7 12 TxD Commercially
GND available
LG 1 2 RxD
Near-point dog RS personal
Externa SD Plate 1 LG computer
DOG 3 l CS
CN1B 11 LG
5 LG
15 LG
FLS 1 Upper limit emergency
DR
stop EMG 15

*2
RLS Lower limit *2 Servo-on ER
2 SON 5
STOP 4 Stop Reset RES 14 Monitor output
External 4 MO1 A Max. 1mA total
CHG 5 command Proportion control
PC 8 10k Two-way deviation
5V 3 LG
PULSER A+ A19 5V Torque limit selection
TL 9
*3 Forward run stroke end 14 MO2 A
PULSER A- B19 A LSP 16 10k
*3 Reverse run stroke end 13 LG
PULSER B+ A20 B LSN 17
SG 10 Plate SD
PULSER B- B20
OV 5G SG 20 2m max.

Manual pulse VDD 3

generator MR-HDP01 RA1
COM 13
Fault ALM 18
RA2
Zero speed detection ZSP 19
RA3
Limiting torque TLC 6

P15R 11
Analog torque limit command (+)
TLA 12
+10V/max. current
LG 1
SD Plate
2m max.

REMARK

(1) *1: The logic for each I/O terminal can be changed with the input signal logic
selection and the output signal logic selection in the detailed parameters 1.
(Negative logic is used for all terminals in the example above.)
(2) *2: The QD75D upper limit (FLS) and lower limit (RLS) are used in the OPR
retry function. Set these signals inside the servo amplifier limit switches.
(3) *3: These are limit switches for the servo amplifier (for stop).
(4) *4: This indicates the distance between the QD75D and servo amplifier.
(5) *5: Use the same logic (positive logic/negative logic) for the QD75D and servo
amplifier. The QD75D is initially set to negative logic.
(6) "FA-CBLQ75M2J2(-P) cable" can be used for the connection between the
QD75D and MR-J2/J2S- A.
(Refer to Section 2.2 Component list.)
 Appendix 6.3 Connection Example of QD75D and MR-C A (Differential Driver) *5

Configure a sequence to turn OFF the MC at alarms and Regenerative resistor is an external option.
HC-PQ
emergency stops.
series motor
NF MC CP
Power supply U
L1 TE1 U
1-phase 200VAC (A type) V SM
V
or 1-phase 100VAC (A1 type) L2 WW
E

MR-C A EMG
or
MR-C A1 Electromagnetic brake
DC24V
ervo-on signal OFF Shut off by alarm signal

10m max. *4 CN2

QD75D En
*1 15 CN1 co
PULSE F+ PULSE F- PULSE R+ PULSE R- CLEAR CLEAR
16 COM PG024 PP9 de
PG0 COM READY DOG 17 PG10 r
FLS RLS STOP CHG COM COM 18 NP7
13 NG8
14 CR13
8 SG12
10 V+1
11 OP4
3 Servo READY
SD 11
Near-point dog
Servo-on SON 17
Upper limit *3
*2 Forward run stroke end LSP 15
Lower limit *3
*2 Reverse run stroke end LSN 14
Stop Fault RA1
External command ALM 2
7 V24 20

+5V
5V A B
PULSER A+ A19 PULSER A- B19 PULSER B+ A20 PULSER B- B20
OV

5G
Manual pulse generator MR-HDP01

24V, 0.2A or more

24V +
power supply -

REMARK
(1) *1: The logic for each I/O terminal can be changed with the input signal logic
selection and the output signal logic selection in the detailed parameters 1.
(Negative logic is used for all terminals in the example above.)
(2) *2: The QD75D upper limit (FLS) and lower limit (RLS) are used in the OPR
retry function. Set these signals inside the servo amplifier limit switches.
(3) *3: These are limit switches for the servo amplifier (for stop).
(4) *4: This indicates the distance between the QD75D and servo amplifier.
(5) *5: Use the same logic (positive logic/negative logic) for the QD75D and servo
amplifier. The QD75D is initially set to negative logic.
(6) "FA-CBLQ75M2C2(-P) cable" can be used for the connection between the
QD75D and MR-C A.
(Refer to Section 2.2 Component list.)
Appendix 7 Comparisons with Conventional Positioning Modules

Appendix 7.1 Comparisons with A1SD71S2 Model

The following shows comparisons with the conventional positioning module

A1SD71S2 with the main focus on the QD75 specifications.

Model QD75P1 QD75P2 QD75P4

A1SD71S2
Item QD75D1 QD75D2 QD75D4
No. of control axes 1-axis 2-axis 4-axis 2-axis
No. of positioning data items 600/axis 400/axis
2-axis linear
interpolation
3-axis linear
Interpolation interpolation
functions 4-axis linear
interpolation
2-axis circular
interpolation
Position control
Speed control
Speed-position
Positioning switching
systems control
Position-speed
switching
control
OPR function (6 types) (3 types)
JOG operation
Inching operation
Manual pulse generator function
Automatic
trapezoidal
Acceleration acceleration
/deceleration /deceleration
processing S-curve
acceleration
/deceleration
Acceleration time and deceleration time setting Acceleration/deceleration time
Acceleration/deceleration time
possible (4 patterns each) same
Compensation Electronic gears, backlash compensation Backlash compensation
Error display Error LED Error LED
History data storage
Provided (3 types, 16 items/axis) None
(Start, error, warning)
Flash ROM Buffer memory
Data storage destination
(battery-less backup) (battery backup)
No. of I/O points 32 48
No. of module occupied slots 1 2
AD71TU
Peripheral AD75TU
devices A6GPP,A6PHP
(data A7PHP,A7HGP
setting, PC9800 series
etc.) DOS/V personal
computer
: Possible, : Not possible
Appendix 7.2 Comparisons with A1SD75

The following shows the comparisons between the QD75 and the conventional
positioning module A1SD75.
(1) Comparisons of performance specifications
Model QD75P1 QD75P2 QD75P4 A1SD75 A1SD75 A1SD75
Item QD75D1 QD75D2 QD75D4 P1-S3 P2-S3 P3-S3
No. of control axes 1-axis 2-axis 4-axis 1-axis 2-axis 3-axis
No. of positioning data items 600/axis 600/axis*1
Position 2-axis linear interpolation
control 3-axis linear interpolation
interpolation 4-axis linear interpolation
functions
2-axis circular interpolation
Position control
1-axis
2-axis linear
interpolation
Speed
3-axis linear
control interpolation
Positioning
systems 4-axis linear
interpolation
Speed-position switching
control
Position-speed switching
control
<Absolute system> <Absolute system>
-214748364.8 to 214748364.7( m) -214748364.8 to 214748364.7 ( m)
/-13421772.8 to 13421772.7 ( m)
-21474.83648 to 21474.83647(inch) -21474.83648 to 21474.83647 (inch)
/-1342.17728 to 1342.17727 (inch)
0 to 359.99999 (degree) 0 to 359.99999 (degree)
/0 to 359.99999 (degree)
-2147483648 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse)
/-134217728 to 134217727 (pulse)
<Incremental system > <Incremental system>
-214748364.8 to 214748364.7 ( m) -214748364.8 to 214748364.7 ( m)
/-13421772.8 to 13421772.7 ( m)
-21474.83648 to 21474.83647 (inch) -21474.83648 to 21474.83647 (inch)
2 /-1342.17728 to 1342.17727 (inch)
Positioning range* -21474.83648 to 21474.83647 (degree) -21474.83648 to 21474.83647 (degree)
/-1342.17728 to 1342.17727 (degree)
-2147483648 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse))
/-134217728 to 134217727 (pulse)
<Speed-position or position-speed <Speed-position switching control>
switching controls>
0 to 214748364.7 ( m) 0 to 214748364.7 ( m)
/0 to 13421772.7 ( m)
0 to 21474.83647 (inch) 0 to 21474.83647 (inch)
/0 to 1342.17727 (inch)
0 to 21474.83647 (degree) 0 to 21474.83647 (degree)
/0 to 1342.17727 (degree)
0 to 2147483647 (pulse) 0 to 2147483647 (pulse)
/0 to 134217727 (pulse)

0.01 to 20000000.00 (mm/min) 0.01 to 6000000.00 (mm/min)

/0.01 to 375000.00 (mm/min)
0.001 to 2000000.000 (inch/min) 0.001 to 600000.000 (inch/min)
2 /0.001 to 37500.000 (inch/min)
Speed command range *
0.001 to 2000000.000 (degree/min) 0.001 to 600000.000 (degree/min)
/0.001 to 37500.000 (degree/min)
1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)
/1 to 62500 (pulse/s)
OPR function (6 types)*3 (6 types)
Model QD75P1 QD75P2 QD75P4
Item QD75D1 QD75D2 QD75D4 A1SD75P1-S3 A1SD75P2-S3 A1SD75P3-S3
JOG operation
Inching operation
Manual pulse generator function 1 generator/module 1 generator/axis
Automatic
Acceleratio trapezoidal
acceleration/decel
n/decelerati
eration
on
processing S-curve
acceleration/decel
eration
Acceleratio Acceleration time and deceleration time Acceleration time and deceleration time
No. of patterns
n/decelerati setting possible (4 patterns each) setting possible (4 patterns each)
on time Setting range 1 to 8388608ms 1 to 65535ms/1 to 8388608ms selectable
Electronic gears, backlash compensation, Electronic gears, backlash compensation,
Compensation near pass*4 near pass*4
Error display Error LED 17-segment LED
History data storage
Provided (3 types, 16 items/axis) Provided (4 types, 16 items/axis)
(Start, error, warning)
Flash ROM Flash ROM
Data storage destination
(battery-less backup) (battery-less backup)
A6CON1 (Soldering type, sold separately) 10136-3000VE (Soldering type, supplied)
Connection connector A6CON2 (Crimp type, sold separately) 10136-6000EL (Crimp type, sold
separately)
A6CON1: 0.3mm2 10136-3000VE: AWG#24 to #30 (Approx.
0.05 to 0.2 SQ)
Applicable wire size
A6CON2: AWG#24 to 28 10136-6000EL: AWG#28 (Approx. 0.08
SQ)
QD75P : Open collector Both differential driver and open collector
Command pulse output system QD75D : Differential driver available
When connected with open collector: When connected with open collector
200kpps : 200kbps
Max. output pulse
When connected with differential driver: When connected with differential driver
1Mpps : 400 kbps
When connected with open collector: 2m When connected with open collector
Max. connection distance between (6.56ft) : 2m (6.56ft)
servos When connected with differential driver: When connected with differential drive
10m (32.79ft) : 10m (32.79ft)
QD75P1: QD75P2: QD75P4:
Internal current consumption (A) 0.4A 0.46A 0.58A
0.7A or less
[5VDC] QD75D1: QD75D2: QD75D4:
0.52A 0.56A 0.82A
No. of I/O points 32 32
No. of module occupied slots 1 1
Outline dimensions (mm (inch)) 98(3.86)(H) 27.4(1.08)(W) 90(3.55)(D) 130(5.12)(H) 34.5(1.36)(W) 93.6(3.69)(D)
Weight (kg (lb)) 0.15(0.33) 0.15(0.33) 0.16(0.35) 0.35(0.77)
STRT signal (integrated into "CHG") (External start signal)
External command signal (External start or
I/O signal CHG signal speed-position switching selectable with Speed-position switching signal
for parameters)
external In-position
(for monitor)
devices (INP)
Signal logic
switching Command pulse output signal only
Connection with
peripheral devices Connection via PLC CPU Direct connection
Peripheral AD71TU
devices*5 AD75TU
(data A6GPP,A6PHP
setting, A7PHP,A7HGP
etc.) PC9800 series
DOS/V personal
computer
: Possible, : Not possible
*1: Up to 100 data items/axis of positioning data (No. 1 to 100) can be set using the buffer
memory. The positioning data in the buffer memory is not backed up.
*2: Indicates the standard mode/stepping motor mode.
*3: The deviation counter clear signal output time can be set with parameters.
*4: The near pass function is valid only during the continuous path control. (A1SD75:
Selected with parameters, QD75: Standard function)
*5: Teaching unit which can be used for the QD75 has not been manufactured.
 (2) Function comparisons

Functions added from those of

A1SD75

Added functions Remarks

I/O signal logic switching function Refer to Section 13.4 of QD75 User's Manual
Inching operation Refer to Section 11.3 of QD75 User's Manual
Target position change function Refer to Section 12.7.5 of QD75 User's Manual
Multiple axes simultaneous start control Refer to Section 10.5 of QD75 User's Manual
3-axis linear interpolation control
4-axis linear interpolation control
3-axis fixed-feed control
4-axis fixed-feed control
Control
2-axis speed control
systems Refer to Chapter 9 of QD75 User's Manual
3-axis speed control
4-axis speed control
Position-speed switching control
NOP instruction
LOOP instruction, LEND instruction
Absolute position restoration
Positioning start
Dedicated
Teaching Refer to Chapter 14 of QD75 User's Manual
instructions
Flash ROM writing
Parameter initialization
Refer to the software package Operating Manual
Automatic refresh of intelligent function modules
for QD75
Output hold/clear parameter setting during PLC CPU error
Refer to User's Manual of PLC CPU to be used
stop
Flash ROM write limit Refer to Section 13.3 of QD75 User's Manual

Functions deleted from those of A1SD75

Deleted functions Remarks

Stepping motor mode
OPR operation error (Error code: 208)
Fast machine OPR
Special start (stop)
In the QD75, the start block area on the buffer
memory is expanded to five blocks (0 to 4). Each
Indirect designation
start block can be directly designated with
positioning start No. (7000 to 7004).
Block transfer With the A1SD75, this interface is used to set
positioning data Nos. 101 to 600 that do not exist
on the buffer memory.
Positioning data I/F
Since all positioning data can be set in the buffer
memory with the QD75, this function was deleted.
The contents are the same as those of the start
Start history storage during error history. Therefore, the QD75 stores only the start
history.
These data were deleted because they can be
System monitor data displayed in the system monitor "Module's detailed
(module type, OS information) information" of GPPW. (Refer to GPP Function
software package Operating Manual.)
Functions changed from those of A1SD75
Changed functions Descriptions
1. The limit check of arc address is carried out only when a sub point
is designated. It is not carried out when a center point is
designated.
2. The software stroke limit check during speed control is carried out
in the following cases:
• When the software stroke limit is applied to the current feed
value using software stroke selection and the current feed value
is updated with the current feed value during speed control.
• When the software stroke limit is applied to the machine feed
Software stroke limit function value.
3. If an attempt is made to change the current value but the
designated address is out of the software stroke limit range, the
attempt is considered as an error and the current value is not
changed.
4. The conventional models feature three types of software stroke
limit error codes for upper limit and lower limit respectively. With
the QD75, errors for the software stroke upper limit are integrated
into error code 507, and errors for the lower limit are integrated
into error code 508. Error codes 509 to 512 were deleted.
1. An error occurs when the designated new current value is out of
Current value changing the software stroke limit range.
M code function 2. An M code setting value is valid during the positioning data
current value changing instruction.
1. An error occurs when the command frequency value calculated
from the speed limit value exceeds the maximum command
frequency of the positioning module being used.
Acceleration/deceleration control
2. Only two-word type (1 to 8388608ms) can be used as the setting
value for the acceleration/deceleration time.
(The switch between 1-word type and 2-word type was deleted.)
1. "Peripheral side (emergency) stop" was deleted from the stop
causes of Stop group 2 sudden stop selection. "Test mode fault"
in the stop causes of Stop group 3 sudden stop selection was
changed to be in the stop causes of Stop group 2 sudden stop
selection.
Stop process and restart after stop
2. "Stop (QD75 peripheral)" was added to the stop causes of Stop
Positioning operation stop
group 3 sudden stop selection.
3. Error code 100 (Peripheral device stop during operation) was
deleted.
4. I/O reset was added to the stop causes of Stop group 2 sudden
stop selection.
A1SD75 QD75
READY signal (X0) OFF Normal(READY) Not READY/WDT error
ON Not READY/WDT error Normal(READY)
1. The No. of connectable manual pulse generators was changed
from 1 generator/1 axis to 1 generator/1 module.
Manual pulse generator operation
2. The speed during manual pulse generator operation is limited with
"Speed limit value".
"Step stopped" was changed to "Stopped" and "Step error
occurring" was changed to "Error occurring".
Axis operation status "In position control for position-speed switching control", "In speed
control for position-speed switching control", and "In absolute
position restoration" were added.
A1SD75 : If the reference axis operates in the reverse direction,
the control is internally changed into the continuous
positioning control (restart after deceleration stop).
QD75 : Even if the reference axis operates in the reverse
Continuous path control
direction with interpolation, the control remains as the
continuous path control.
(In single-axis operation, the operation is the same as that
of the A1SD75.)
Changed functions Descriptions
 For the continuous path control, only the near pass function is
Near pass
available.
2-axis interpolation
• 2-axis linear interpolation
The interpolation target axis can be randomly set with a positioning
• 2-axis fixed-feed
identifier.
• Circular interpolation
• 2-axis speed control
1. "Step stopped" was changed to "Stopped" and "Step error
occurring" was changed to "Error occurring" in the axis operation
status parameters.
Step function
2. The restart command for the step start information (02H) was
deleted.
3. The step operation is restarted with the restart command.
The command in-position width is expanded.
Command in-position function • A1SD75:1 to 32767000
• QD75: 1 to 2147483647
The operating direction can be designated even for the ABS control
Control unit "degree" handling
in the unit of "degree".
No. 9004 (Multiple axes simultaneous start control) was added.
Positioning start No. Nos. 7004 to 7010 (block start designation) and 8000 to 8049
(indirect designation) were deleted.
With the QD75, the number of blocks were changed to 5 (7000 to
Block start data 7004).
(With the A1SD75, this data is called "positioning start information".)
Special start data "Simultaneous start" The simultaneous start is possible up to 4 axes.
The configuration of "start information" and "start No." was changed
Start history
so that the start No. can be directly checked.
When the PLC CPU starting method is set to asynchronous, an
Synchronization flag (X1)
interlock is established with the synchronization flag (X1) signal.
After the PLC is turned ON or the PLC CPU module is reset, the
Basic parameter 1 "Pulse output mode" valid value is only the first value when the PLC READY signal (Y0)
turns from OFF to ON.
A1SD75 QD75
Software stroke limits Software stroke limits
0
invalid for manual valid for manual
Detailed parameters "Software stroke limit (Factory setting)
operation operation
valid/invalid setting"
Software stroke limits Software stroke limits
1 valid for manual invalid for manual
operation operation
 (3) Input/output signal

comparisons Input signal comparisons

A1SD75 QD75
Name Logic Logic switch with Logic Logic switch with
(initial status) parameters (initial status) parameters
Drive unit READY Negative logic Not possible Negative logic Possible
In-position signal Negative logic Not possible
Zero signal Negative logic Not possible Negative logic Possible
Manual pulse generator A
phase Negative logic Negative logic
Not possible Possible
Manual pulse generator B (multiple of 4) (multiple of 4)
phase *1
Near-point signal Negative logic Not possible Negative logic Possible
Stop signal Negative logic Not possible Negative logic Possible
Upper limit Negative logic Not possible Negative logic Possible
Lower limit Negative logic Not possible Negative logic Possible
2
External start * Negative logic Not possible
Speed-position switching Negative logic Possible
2
Negative logic Not possible
signal *

Output signal comparisons

A1SD75 QD75
Name Logic Logic switch with Logic Logic switch with
(initial status) parameters (initial status) parameters
Positive logic Negative logic
Command pulse *3 Possible Possible
CW/CCW mode CW/CCW mode
Deviation counter clear Negative logic Not possible Negative logic Possible

*1: Comparisons about manual pulse generator A phase/B phase

A1SD75 QD75
No. of connectable manual
1 generator/axis 1 generator/module
pulse generators
Possible
Mode selection
Not possible Multiple of 1 mode, multiple of 4 mode,
(with parameter)
PLS/SIGN mode

*2: With the QD75, the "external start signal" and "speed-position switching signal" are combined into the
"external command signal".

*3: Comparisons about command pulse

A1SD75 QD75
Possible
Mode selection PLS/SIGN mode, A phase/B phase
(with parameter) (multiple of 4) mode, A phase/B phase (multiple of 1) mode,
CW/CCW mode
Open collector : 200kbps Open collector : 200kpps
Max. command frequency
Differential driver: 400kbps Differential driver: 1Mpps
Appendix 8 Glossary of MELSEC Positioning Related Terms

A ABSOLUTE SYSTEM
ABSOLUTE ENCODER One of systems for expressing a positioning
A detector that enables the angle data within 1 address.
motor rotation to be output to an external Absolute address system.
destination. Absolute encoders are generally able This system uses 0 as a reference, and expresses
to output 360° in 8 to 12 bits. the address as the distance from 0. The direction
Incremental encoders have a disadvantage in that is automatically determined, even when it is not
the axis position is lost when a power failure designated. The other address system is the
occurs. On the other hand, with absolute increment system.
encoders,
the axis position is not lost even when a power 0 No.1 No.2 No.3
failure occurs.
Various codes such as a binary code and BCD
code can be output. Absolute encoders are more
expensive, more accurate, and larger than
incremental encoders. Refer to "ENCODER". AUTOMATIC TRAPEZOIDAL
Fixed slit
Light-emitting diode
0
ACCELERATION/DECELERATION
2 1

Slit 2

234
An operation in which a graph of the time and
disk 2
speed takes a trapezoidal shape.
Phototransistor Acceleration

Deceleration
24
23
Speed
2 21
Rotating axis 2
Time
20
Binary code C
ABSOLUTE POSITION DETECTION SYSTEM COMPOSITE SPEED
In the absolute position detection system, once Movement speed of the control target during
OPR is carried out at the system startup, the interpolation operations.
system stores the machine position in the memory
and retains the current position even when the
Y axis speed Composite speed
power is turned OFF. Mechanical deviation will be
compensated, so that OPR is not required after
the power is turned ON next time. This system X axis speed

must have a motor with an absolute position CREEP SPEED

detector
and a servo amplifier and positioning module Very slow speed at which a machine moves.
compatible with the absolute position detection It is difficult for the machine to stop suddenly when
system. running at high speed, so the movement must first
be changed to the creep speed before stopping.

CURRENT FEED VALUE

The OP address at completion of machine OPR is
stored.
The position currently being executed is stored.
This value changes when the current value is
changed.
D Deviation counters have the following two functions.
DEVIATION COUNTER
 1)To count the command pulses issued from the DRIVE UNIT READY
QD75, and transmit the count value to the D/A This signal is output when the drive unit for the
converter. motor is in a READY state.
2)To subtract the feedback pulses from the This signal remains OFF when the drive unit
command pulses, and run the motor by the power is OFF, or during faults, etc.
deviation value (droop pulse) of the command
pulses and feedback pulses until the command DROOP PULSE
pulses reaches 0. Because of inertia (GD2) on machines, if a speed
Command command is simply issued without any time-
pulse sDeviation D/A Motor
counter converter consideration, a positioning module will fail to
follow the command in time.
Feedback pulses
To solve this, servomotors employ a method in
PLG Encoder which the speed command pulses are first
accumulated in a deviation counter before sent.
DIFFERENTIAL OUTPUT TYPE
This way, the pulses are successfully delayed.
When one signal is output with this method, a
These accumulated pulses are called the droop
pulse.
The deviation counter emits all pulses and returns
to 0 when the machine stops.
companion signal having the reverse polarity is 1,00 0200accumulate
pulses
80 0
D/A
simultaneously output. This method enables high- pulses in the counter pulses Voltage
frequency transfer, and is resistant to noise, etc.,
so it is also used in high-speed signal transfer DYNAMIC BRAKE
such as inputting and outputting of pulse trains. In When protection circuits operate due to power
general, the transmission side is called the driver, failures, emergency stops (EMG signal), etc., this
the reception side is called the receiver, and a brake is used to short-circuit between servomotor
dedicated IC is used. terminals via a resistor, make the motor consume
Command device Servo amplifier
rotation energy, and stop the motor suddenly
without allowing coasting of the motor.
Braking torque is provided by electromagnetic
brakes only when running motors with which a
large brake torque can be obtained. Because
Driver Receiver electromagnetic brakes have no holding power,
they are used in combination with mechanical
brakes to prevent dropping of the vertical axis.
DRIVE UNIT
Commands output from the positioning module are
E
low-voltage, low-current commands with
ELECTRONIC GEAR
insufficient energy to run the motor.
This function electrically increases/decreases the
The drive unit increases the width of these
command pulses from the pulse command
commands so the motor can be run. It is an
module by 1/50 to 50-fold. Thus, the positioning
accessory on servomotors and stepping motors.
speed and movement amount can be controlled
Also called a servo amplifier.
by the electronic gear ratio magnification.
Positioning module
Drive Motor
unit

Power supply
F The axis returns to the machine OP at the OPR speed without
FAST OPR detecting the zeroing dog.
 (This is not validated unless machine OPR has I
been carried out first.) INCREMENTAL SYSTEM
OPR speed
The current value is 0 in this system. Target
positions are represented by the designated
direction and distance of travel from the current
value. Also called the relative address system.
This system is used in fixed-feed, etc.
Stop No.1 No.2 No.3

0
OP
Left
No.2 is several millimeters
0 0 to the right of No.1.
Dog switch
Right Right

FEEDBACK PULSE
INCREMENTAL ENCODER
A method of returning a pulse train to confirm
A device that simply outputs ON/OFF pulses by
whether the machine faithfully operated according
the rotation of the axis. 1-phase types output only
to the commands issued in automatic control. If
A pulses, and do not indicate the axis rotation
the machine did not faithfully operate according to
direction. 2-phase types output both A and B pulse
the commands, a correction command is issued.
trains, and can judge the rotation direction. The
For example, if a command is issued for 10,000
direction is judged to be forward if the B pulse train
pulses, and a feedback pulse of 10,000 pulses is
turns ON when A is ON, and judged to be reverse
returned, then the balance becomes 0 and it can
if A turns ON when B is ON. There is also another
be judged that the command was faithfully
type of incremental encoders with a zero signal.
followed.
The most commonly used incremental encoders
FLASH ROM output between 100 and 10,000 pulses per axis
This battery-less memory can be used to store rotation.
B signal slit
parameters and positioning data for backup.
A signal slit
Because it is battery-less, battery maintenance is Light-emitting diode
Slit disk A
not required B
Z
Phototransistor Zero signal slit

Rotating axis 1 pitch

1
A
4 pitch
B 1 pulse per axis rotation

Zero signal

INTERLOCK
In this condition, the machine is blocked from
moving to the next operation until the operation in
progress is complete. This function is used to
prevent devices from being damaged and
overrunning.
Y1
Y0 Forward run

Y0
Y1 Reverse run
M The current position in machine coordinates determined by a
MACHINE FEED VALUE machine having an OP address as a reference is stored.
The OP address at completion of machine OPR is Even if the current value is changed, this value will not change.
stored.
MANUAL PULSE GENERATOR P
The handle of this device is manually rotated to PLC READY
generate pulses. This device is used when This signal is output when the PLC CPU is in a
manually carrying out accurate positioning. READY state.
Positioning can be started only in this state.

POSITION CONTROL
Control that is performed mainly over position and
dimension, such as in fixed-feed, positioning,
numerical control, etc. This is always controlled
Made by Mitsubishi Electric Corp. with feed pulses.
(model: MR-HDP01)

MASTER AXIS POSITIONING

When carrying out interpolation operations, this is Accurately moving the machine from a point to a
the side on which the positioning data is executed determined point. The distance, direction, speed,
in priority. For example, when positioning with the etc., for that movement are designated by users.
X axis and Y axis, the side with the largest Positioning is used in operations such as cutting
movement distance will become the master axis, sheets, drilling holes in plates, mounting parts on a
and the speed will follow that axis. The slave axis PCB, and welding. Positioning is also used with
speed will be ignored. robots.

O POSITIONING DATA
OVERRIDE FUNCTION Data for users to carry out positioning. The No. of
With this function, the speed during positioning points to which positioning is carried out (the No.
operations (current speed) can be varied between of addresses) is designated by users. In the QD75,
1 and 300%. these are 600 points. Writing (changing) data by
The speed can also be changed by the same the program during positioning is also possible.
variable rate for continuous positioning carried out POSITIONING PARAMETER
at different designated speeds. Basic data for carrying out positioning control.
Types of data include control unit, movement
amount per rotation, speed limit value, upper and
lower stroke limit values, acceleration/deceleration
time, positioning system, etc.
Parameters have an initial value, which can be
changed to match the control conditions.
R This device detects the angle by resolving the two voltages of
REFERENCE AXIS SPEED an analog input. Also called a 2-phase synchro. For a 1-phase
The speed of the reference axis during voltage input, the axis rotation angle is converted into a
interpolation operations. perpendicular 2-phase voltage (analog voltage) and output.
Movement distance for one resolver rotation

Y axis speed
(interpolation axis)

X axis speed (reference axis)

Toothed gear

Reference axis speed Position detection value

REGENERATIVE BRAKE OPTION Resolver(addresses 0 to 4095,converted Motor to

digital)
This function is an option. It is used when carrying
out highly repetitive acceleration/deceleration. S
SERVO ON
RESOLVER
 A servo unit will not operate if the drive unit is in SPEED CONTROL
an abnormal state and this servo ON signal is Normally, speed control is for controlling the speed
OFF. of a servomotor. For example, it controls
grindstone rotation, welding speed, feedrate, etc.
Unlike position control, in speed control the current
position (address) is not controlled.

SPEED INTEGRAL COMPENSATION

One of the servo parameters of the positioning
data, and is used to raise the frequency response
during speed control to improve transient
characteristics.
When adjusting the speed loop gain, raising this
value is effective if the overshooting during
acceleration/deceleration remains large.
This compensation is set in the units of ms.

SPEED LIMIT VALUE

The max. speed for positioning. Even if other data
is mistakenly set to a higher speed than this, the
positioning will be carried out at this speed limit
value when it is set in the parameters. The
acceleration time is the time to accelerate from a
stopped state to the speed limit value, and the
deceleration time is the time to decelerate from
the speed limit value to a stopped state.

SPEED LOOP GAIN

One of the servo parameters of the positioning
data. It represents the speed of the control
response during speed control. When the load
inertia moment ratio increases, the control system
speed response decreases and the operation may
become unstable. If this happens, the operation
can be improved by raising this setting value.
The overshoot will become larger if the speed loop
gain is raised too far, and motor vibration noise will
occur during operation and when stopped.
Positioning READY Drive unit STEP FUNCTION
module Servo ON
When the operation is designed so that several
positioning data Nos. are consecutively started,
this function can be used to carry out test
Motor PLG Encoder operation for 1 data item at a time.

SKIP FUNCTION
When the SKIP signal is input, the positioning
being executed is interrupted, the motor is
decelerated to stop, and the next positioning is
automatically carried out.
STROKE LIMIT (Movement outside this range is possible in JOG.) For
The range in which a positioning operation is operations using a worm gear, the stroke limit is determined by
possible, or the range in which the machine can the length of the screw. For operations using a fixed-feed, it is
be moved without damage occurring. determined by the max. dimension to be cut.
 The upper and lower limits are set in the TURNTABLE
parameters, however a separate limit switch A table that rotates with power.
should be established and an emergency stop One rotation is 360° and this is divided into angles
circuit outside the PLC should be installed. suitable for the work.
Limit switch for
emergency stop The positioning control unit is "degree".

30°

Rotated by the motor

U
UNIT SETTING
0 Upper limit
Lower limit 3m (9.84feet) Refers to setting a unit of the target address of
positioning, or of the movement amount.
Positioning possible in a 3m (9.84feet) range By using the units of mm, inch, degree and pulse
T appropriately, the initial value in the fixed
TEACHING parameters becomes a pulse unit.
When the positioning address is uncertain, or X
gauging is required, users may need to search for XY TABLE
the positions by themselves. This function is used A device that moves a table in the X (latitudinal)
in such case to teach the obtained position to the and Y (longitudinal) directions so that positioning
machine. can be carried out easily.
For example, complex addresses, such as There are also commercially available XY tables.
addresses of a drawing, can be taught by tracing a Y table Ball screw
model, and the positioning operation can be
X table
reproduced.

TORQUE CONTROL servo motor

Base table Y axis
With this function, a limit is established for the
resistance torque applied to a motor used for
positioning. The power is turned OFF if torque
exceeding that value is applied to a motor. servo motor
X axis
When an excessive torque is applied to a motor, it
causes the current to suddenly increase. Due to
this, a motor may be burned or damaged by
stresses, causing the life of the motor to be
shortened.
With this function, the sudden increase in the
torque, which occurs at OPR, can be used as a
command to stop the motor.

TRACKING FUNCTION
With this function, positioning is carried out to a
moving target at relative speed by inputting the
movement amount from an external encoder and
adding it to the servo command value.
 Z
ZERO PHASE SIGNAL
The pulse which is generated one (or two) per
rotation of a pulse generator.
It is used for OPR of positioning. Also called "Z
signal" or "PGO".
Feedback pulse

PG0
One rotation of axis

OP SHIFT FUNCTION
The OP position can be shifted in the positive or
negative direction by executing OPR and
determining the shift amount to the OPR complete
position.
An OP can be set to a position other than the zero
point position or outside of the dog switch.

NEAR-POINT DOG
A switch placed before the OP. When this switch
turns ON, the feedrate is changed to the creep
speed. Because of that, the time that this switch is
ON must be longer than the time that the feedrate
is decelerated to the creep speed.
Feedrate

Creep speed

ON OFF
Time
Near-point dog
Mitsubishi Programmable Logic Controller Training Manual
QD75 Positioning course(Q-series)

MODEL SCHOOL-Q-QD75-E

MODEL 13JW54
CODE

SH(NA)-080621ENG-A(0601)MEE

HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN

When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

Specifications subject to change without notice.