User ManualTable of ContentsSAFETY PRECAUTIONS2CONDITIONS OF USE FOR THE PRODUCT12INTRODUCTION13REVISIONS14CONTENTS15COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES23RELEVANT MANUALS23MANUAL PAGE ORGANIZATION25TERMS26PACKING LIST27Section 1 Product Specifications and Handling28Chapter 1 Product Outline301.1 Positioning control311.1.1 Features of QD77MS311.1.2 Purpose and applications of positioning control351.1.3 Mechanism of positioning control371.1.4 Overview of positioning control functions381.1.5 Outline design of positioning system481.1.6 Communicating signals between QD77MS and each module491.2 Flow of system operation531.2.1 Flow of all processes531.2.2 Outline of starting551.2.3 Outline of stopping571.2.4 Outline for restarting59Chapter 2 System Configuration602.1 General image of system612.2 Component list632.3 Applicable system672.4 How to check the function version and SERIAL No.692.5 Restrictions by the SERIAL No. and version70Chapter 3 Specifications and Functions723.1 Performance specifications733.2 List of functions753.2.1 QD77MS control functions753.2.2 QD77MS main functions783.2.3 QD77MS sub functions803.2.4 QD77MS common functions823.2.5 Combination of QD77MS main functions and sub functions853.3 Specifications of input/output signals with PLC CPU873.3.1 List of input/output signals with PLC CPU873.3.2 Details of input signals (QD77MS → PLC CPU)903.3.3 Details of output signals (PLC CPU → QD77MS)923.4 Specifications of interfaces with external devices943.4.1 Electrical specifications of input signals943.4.2 Signal layout for external input connection connector963.4.3 List of input signal details983.4.4 Interface internal circuit1013.5 External circuit design105Chapter 4 Installation, Wiring and Maintenance of the Product1204.1 Outline of installation, wiring and maintenance1214.1.1 Installation, wiring and maintenance procedures1214.1.2 Names of each part1224.1.3 Handling precautions1244.2 Installation1264.2.1 Precautions for installation1264.3 Wiring1274.3.1 Precautions for wiring1274.4 Confirming the installation and wiring1384.4.1 Items to confirm when installation and wiring are completed1384.5 Maintenance1394.5.1 Precautions for maintenance1394.5.2 Disposal instructions139Chapter 5 Data Used for Positioning Control1405.1 Types of data1415.1.1 Parameters and data required for control1415.1.2 Setting items for positioning parameters1445.1.3 Setting items for OPR parameters1465.1.4 Setting items for expansion parameters1475.1.5 Setting items for servo parameters1475.1.6 Setting items for positioning data1485.1.7 Setting items for block start data1505.1.8 Setting items for condition data1515.1.9 Types and roles of monitor data1525.1.10 Types and roles of control data1575.2 List of parameters1615.2.1 Basic parameters 11615.2.2 Basic parameters 21675.2.3 Detailed parameters 11685.2.4 Detailed parameters 21795.2.5 OPR basic parameters1915.2.6 OPR detailed parameters1995.2.7 Expansion parameters2045.2.8 Servo parameters2095.3 List of positioning data2225.4 List of block start data2385.5 List of condition data2445.6 List of monitor data2555.6.1 System monitor data2555.6.2 Axis monitor data2695.7 List of control data2975.7.1 System control data2975.7.2 Axis control data3055.7.3 Expansion axis control data339Chapter 6 Sequence Program Used for Positioning Control3426.1 Precautions for creating program3436.2 List of devices used3476.3 Creating a program3576.3.1 General configuration of program3576.3.2 Positioning control operation program3586.4 Positioning program examples3626.5 Program details3946.5.1 Initialization program3946.5.2 Start details setting program3956.5.3 Start program3976.5.4 Continuous operation interrupt program4096.5.5 Restart program4116.5.6 Stop program414Chapter 7 Memory Configuration and Data Process4187.1 Configuration and roles of QD77MS memory4197.1.1 Configuration and roles of QD77MS memory4197.1.2 Buffer memory area configuration4227.2 Data transmission process424Section 2 Control Details and Setting438Chapter 8 OPR Control4408.1 Outline of OPR control4418.1.1 Two types of OPR control4418.2 Machine OPR4448.2.1 Outline of the machine OPR operation4448.2.2 Machine OPR method4458.2.3 OPR method (1): Near-point dog method4468.2.4 OPR method (2): Count method 1)4488.2.5 OPR method (3): Count method 2)4508.2.6 OPR method (4): Data set method4528.2.7 OPR method (5): Scale origin signal detection method4538.3 Fast OPR4568.3.1 Outline of the fast OPR operation4568.4 Selection of the OPR setting condition4588.4.1 Outline of the OPR setting condition458Chapter 9 Major Positioning Control4609.1 Outline of major positioning controls4619.1.1 Data required for major positioning control4639.1.2 Operation patterns of major positioning controls4649.1.3 Designating the positioning address4749.1.4 Confirming the current value4759.1.5 Control unit "degree" handling4779.1.6 Interpolation control4809.2 Setting the positioning data4859.2.1 Relation between each control and positioning data4859.2.2 1-axis linear control4879.2.3 2-axis linear interpolation control4919.2.4 3-axis linear interpolation control4979.2.5 4-axis linear interpolation control5039.2.6 1-axis fixed-feed control5089.2.7 2-axis fixed-feed control (interpolation)5119.2.8 3-axis fixed-feed control (interpolation)5139.2.9 4-axis fixed-feed control (interpolation)5189.2.10 2-axis circular interpolation control with sub point designation5219.2.11 2-axis circular interpolation control with center point designation5279.2.12 1-axis speed control5359.2.13 2-axis speed control5389.2.14 3-axis speed control5429.2.15 4-axis speed control5469.2.16 Speed-position switching control (INC mode)5519.2.17 Speed-position switching control (ABS mode)5629.2.18 Position-speed switching control5719.2.19 Current value changing5819.2.20 NOP instruction5869.2.21 JUMP instruction5879.2.22 LOOP5899.2.23 LEND591Chapter 10 High-Level Positioning Control59410.1 Outline of high-level positioning control59510.1.1 Data required for high-level positioning control59610.1.2 "Block start data" and "condition data" configuration59710.2 High-level positioning control execution procedure59910.3 Setting the block start data60010.3.1 Relation between various controls and block start data60010.3.2 Block start (normal start)60110.3.3 Condition start60310.3.4 Wait start60410.3.5 Simultaneous start60510.3.6 Repeated start (FOR loop)60610.3.7 Repeated start (FOR condition)60710.3.8 Restrictions when using the NEXT start60810.4 Setting the condition data60910.4.1 Relation between various controls and the condition data60910.4.2 Condition data setting examples61210.5 Multiple axes simultaneous start control61410.6 Start program for high-level positioning control61910.6.1 Starting high-level positioning control61910.6.2 Example of a start program for high-level positioning control620Chapter 11 Manual Control62411.1 Outline of manual control62511.1.1 Three manual control methods62511.2 JOG operation62711.2.1 Outline of JOG operation62711.2.2 JOG operation execution procedure63011.2.3 Setting the required parameters for JOG operation63111.2.4 Creating start programs for JOG operation63311.2.5 JOG operation example63511.3 Inching operation63811.3.1 Outline of inching operation63811.3.2 Inching operation execution procedure64111.3.3 Setting the required parameters for inching operation64211.3.4 Creating a program to enable/disable the inching operation64311.3.5 Inching operation example64511.4 Manual pulse generator operation64711.4.1 Outline of manual pulse generator operation64711.4.2 Manual pulse generator operation execution procedure65111.4.3 Setting the required parameters for manual pulse generator operation65211.4.4 Creating a program to enable/disable the manual pulse generator operation653Chapter 12 Expansion Control65612.1 Speed-torque control65712.1.1 Outline of speed-torque control65712.1.2 Setting the required parameters for speed-torque control65912.1.3 Setting the required data for speed-torque control66012.1.4 Operation of speed-torque control66212.2 Synchronous control689Chapter 13 Control Sub Functions69013.1 Outline of sub functions69113.1.1 Outline of sub functions69113.2 Sub functions specifically for machine OPR69313.2.1 OPR retry function69313.2.2 OP shift function69713.3 Functions for compensating the control70013.3.1 Backlash compensation function70013.3.2 Electronic gear function70213.3.3 Near pass function70913.4 Functions to limit the control71113.4.1 Speed limit function71113.4.2 Torque limit function71313.4.3 Software stroke limit function71713.4.4 Hardware stroke limit function72413.4.5 Forced stop function72813.5 Functions to change the control details73113.5.1 Speed change function73113.5.2 Override function73813.5.3 Acceleration/deceleration time change function74113.5.4 Torque change function74613.5.5 Target position change function75013.6 Absolute position system75413.7 Other functions75613.7.1 Step function75613.7.2 Skip function76113.7.3 M code output function76413.7.4 Teaching function76813.7.5 Command in-position function77413.7.6 Acceleration/deceleration processing function77713.7.7 Pre-reading start function78013.7.8 Deceleration start flag function78313.7.9 Stop command processing for deceleration stop function78613.7.10 Speed control 10 x multiplier setting for degree axis function78913.7.11 Operation setting for incompletion of OPR function79213.8 Servo ON/OFF79413.8.1 Servo ON/OFF79413.8.2 Follow up function796Chapter 14 Common Functions79814.1 Outline of common functions79914.2 Parameter initialization function80114.3 Execution data backup function80314.4 External signal selection function80514.5 External I/O signal logic switching function81114.6 History monitor function81314.7 Amplifier-less operation function81714.8 Virtual servo amplifier function82414.9 Driver communication function82814.10 Mark detection function83614.11 Optional data monitor function84914.12 Module error collection function85314.13 Connect/disconnect function of SSCNET communication85414.14 QD75MH initial value setting function86014.15 Hot line forced stop function862Chapter 15 Dedicated Instructions86415.1 List of dedicated instructions86515.2 Interlock during dedicated instruction is executed86515.3 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT486615.4 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH487015.5 ZP.PFWRT87415.6 ZP.PINIT878Chapter 16 Troubleshooting88216.1 Checking errors using GX Works288316.2 Troubleshooting88616.3 Error and warning details89016.4 List of errors89716.4.1 QD77MS detection error89716.4.2 Servo amplifier detection error93316.5 List of warnings93516.5.1 QD77MS detection warning93516.5.2 Servo amplifier detection warning947Appendices948Appendix 1 List of buffer memory addresses949Appendix 2 Connection with servo amplifiers975Appendix 2.1 SSCNETⅢ cables976Appendix 2.2 Serial absolute synchronous encoder cable980Appendix 2.3 SSCNETⅢ cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service983Appendix 3 Connection with external device984Appendix 3.1 Connector984Appendix 3.2 External input signal cable986Appendix 3.3 Manual pulse generator (MR-HDP01)991Appendix 4 Comparisons with positioning modules /LD77MH models992Appendix 4.1 Differences with QD75MH models992Appendix 4.2 Differences with LD77MH models1005Appendix 5 When using GX Works21010Appendix 6 Compatible devices with SSCNETⅢ1011Appendix 6.1 Servo driver VCII series manufactured by Nikki Denso Co., Ltd.1011Appendix 6.2 Inverter FR-A700 series1022Appendix 6.3 Connection with MR-JE-B1032Appendix 7 External dimension drawing1033WARRANTY1036Size: 6.88 MBPages: 1038Language: EnglishOpen manual
