Contents

SAFETY PRECAUTIONS
CONDITIONS OF USE FOR THE PRODUCT
REVISIONS
INTRODUCTION
CONTENTS
USING THIS MANUAL
COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES
GENERIC TERMS AND ABBREVIATIONS
COMPONENT LIST
SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING
- CHAPTER 1 PRODUCT OUTLINE
  - 1.1 Positioning control
    - 1.1.1 Features of QD70D
    - 1.1.2 Mechanism of positioning control
    - 1.1.3 Outline design of positioning control system
    - 1.1.4 Communicating signals between QD70D and each module
  - 1.2 Positioning control
    - 1.2.1 Outline of starting
    - 1.2.2 Outline of stopping
- CHAPTER 2 SYSTEM CONFIGURATION
  - 2.1 General image of system
  - 2.2 Component list
  - 2.3 Applicable systems
  - 2.4 Using QD70D with Redundant CPUs
  - 2.5 About Use of the QD70D on the MELSECNET/H Remote I/O Station
  - 2.6 Checking Function Version, Serial Number and Software Version
- CHAPTER 3 SPECIFICATIONS AND FUNCTIONS
  - 3.1 Performance specifications
  - 3.2 List of functions
  - 3.3 Specifications of input/output signal with Programmable Controller CPU
    - 3.3.1 List of input/output signals with programmable controller CPU
    - 3.3.2 Details of input signal (QD70D -> Programmable controller CPU)
    - 3.3.3 Details of output signals (Programmable controller CPU -> QD70D)
  - 3.4 Specifications of input/output interfaces with external device
    - 3.4.1 Electrical specifications of input/output signals
    - 3.4.2 Signal layout for external device connection connector
    - 3.4.3 List of input/output signal details
    - 3.4.4 Input/output interface internal circuit
- CHAPTER 4 DATA USED FOR POSITIONING CONTROL
  - 4.1 Type of data
    - 4.1.1 Parameters and data required for control
    - 4.1.2 Setting items for parameters
    - 4.1.3 Setting items for OPR data
    - 4.1.4 Setting items for JOG data
    - 4.1.5 Setting items for positioning data
    - 4.1.6 Type and roles of monitor data
    - 4.1.7 Type and roles of control data
  - 4.2 List of parameters
  - 4.3 List of OPR data
  - 4.4 List of JOG data
  - 4.5 List of positioning data
  - 4.6 List of monitor data
    - 4.6.1 Axis monitor data
    - 4.6.2 Module information monitor data
  - 4.7 List of control data
    - 4.7.1 Axis control data
- CHAPTER 5 SETUP AND PROCEDURES BEFORE OPERATION
  - 5.1 Handling precautions
  - 5.2 Procedures before operation
  - 5.3 Part Names
  - 5.4 Wiring
    - 5.4.1 Wiring precautions
  - 5.5 Confirming the wiring
    - 5.5.1 Confirmation items at completion of wiring
  - 5.6 Switch setting for intelligent function module
  - 5.7 Simple reciprocating operation
- CHAPTER 6 UTILITY PACKAGE (GX Configurator-PT)
  - 6.1 Utility package functions
  - 6.2 Installing and Uninstalling the Utility Package
    - 6.2.1 Handling precautions
    - 6.2.2 Operating environment
  - 6.3 Utility Package Operation
    - 6.3.1 Common utility package operations
    - 6.3.2 Operation overview
    - 6.3.3 Starting the Intelligent function module utility
  - 6.4 Initial setting
  - 6.5 Auto refresh setting
  - 6.6 Monitoring/Test
    - 6.6.1 Monitoring/Test screen
- CHAPTER 7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
  - 7.1 Precautions for creating program
  - 7.2 List of devices used
  - 7.3 Creating a program
    - 7.3.1 General configuration of program
    - 7.3.2 Positioning control operation program
  - 7.4 Positioning control program examples
  - 7.5 Program details
    - 7.5.1 Initialization program
    - 7.5.2 Start method setting program
    - 7.5.3 Start program
    - 7.5.4 Sub program
SECTION 2 CONTROL DETAILS AND SETTING
- CHAPTER 8 OPR CONTROL
  - 8.1 Outline of OPR control
    - 8.1.1 Two types of OPR control
  - 8.2 Machine OPR control
    - 8.2.1 Outline of the machine OPR operation
    - 8.2.2 Machine OPR method
    - 8.2.3 OPR method (1): Near-point dog method
    - 8.2.4 OPR method (2): Stopper 1
    - 8.2.5 OPR method (3): Stopper 2
    - 8.2.6 OPR method (4): Stopper 3
    - 8.2.7 OPR method (5): Count 1
    - 8.2.8 OPR method (6): Count 2
  - 8.3 Fast OPR control
    - 8.3.1 Outline of the fast OPR control operation
  - 8.4 OPR retry function
- CHAPTER 9 POSITIONING CONTROL
  - 9.1 Outline of positioning controls
    - 9.1.1 Data required for positioning control
    - 9.1.2 Operation patterns of positioning controls
    - 9.1.3 Designating the positioning address
    - 9.1.4 Confirming the current value
  - 9.2 Setting the positioning data
    - 9.2.1 Relation between each control and positioning data
    - 9.2.2 1-axis linear control
    - 9.2.3 Speed-position switching control
    - 9.2.4 Current value changing
  - 9.3 Multiple axes simultaneous start control
- CHAPTER 10 JOG OPERATION
  - 10.1 Outline of JOG operation
  - 10.2 JOG operation execution procedure
  - 10.3 JOG operation example
- CHAPTER 11 SUB FUNCTIONS
  - 11.1 Outline of sub functions
  - 11.2 Speed limit function
  - 11.3 Speed change function
  - 11.4 Software stroke limit function
  - 11.5 Target position change function
  - 11.6 Acceleration/deceleration processing function
  - 11.7 Restart function
- CHAPTER 12 COMMON FUNCTIONS
  - 12.1 Outline of common functions
  - 12.2 External I/O signal switching function
  - 12.3 External I/O signal monitor function
- CHAPTER 13 TROUBLESHOOTING
  - 13.1 Error and warning details
  - 13.2 List of errors
  - 13.3 List of warnings
  - 13.4 Error check by LED indication
  - 13.5 Confirming the error definitions using system monitor of GX Developer
APPENDICES
- Appendix 1 External dimension drawing
- Appendix 2 Operation timing and processing time in each control
- Appendix 3 Connection examples with servo amplifiers manufactured by Mitsubishi Electric Corporation
  - Appendix 3.1 Connection example of QD70D and MR-J3-[ ]A
  - Appendix 3.2 Connection example of QD70D and MR-J2/J2S-[ ]A
  - Appendix 3.3 Connection example of QD70D and MR-H[ ]A
  - Appendix 3.4 Connection example of QD70D and MR-C[ ]A
- Appendix 4 Comparisons with conventional positioning module
  - Appendix 4.1 Comparisons with type QD70P positioning module
  - Appendix 4.2 Comparisons with type QD75 positioning module
- Appendix 5 List of buffer memory addresses
INDEX
WARRANTY

Mitsubishi Electric MELSEC Q QD70D User's Manual

Mitsubishi Electric MELSEC Q QD70D manual cover

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Mitsubishi Electric MELSEC Q QD70D Specification

The Mitsubishi Electric MELSEC Q QD70D is a sophisticated positioning module designed for integration with the MELSEC-Q series PLCs, targeting applications that require precise motion control. It features advanced technology to handle complex positioning tasks with high accuracy and reliability. The module supports 2-axis control, allowing for efficient management of multi-axis systems. It operates with a pulse train output method, making it compatible with a wide range of servo and stepping motors.

The QD70D module is equipped with a high-speed counter, capable of handling input frequencies up to 200 kHz, providing rapid response times necessary for dynamic industrial environments. Its built-in functions include positioning, speed control, and torque control, which are crucial for applications such as robotics, CNC machinery, and automated assembly lines. With a resolution of 1 pulse per revolution, the module ensures precise control over motor movements.

In terms of connectivity, the QD70D supports various communication protocols, ensuring seamless integration into existing systems. It also features a user-friendly interface for easy configuration and monitoring, reducing setup time and facilitating quick diagnostics. The module is designed to be robust, capable of operating in demanding industrial conditions with high levels of electromagnetic interference.

Safety is a key consideration in the QD70D, with features such as limit switch inputs and emergency stop functions to protect both machinery and operators. The module's compact design allows for efficient use of space within control panels, and its compatibility with the MELSEC-Q series enhances system scalability and flexibility. Overall, the Mitsubishi Electric MELSEC Q QD70D positioning module offers a reliable and efficient solution for precision motion control in industrial automation applications.

Mitsubishi Electric MELSEC Q QD70D F.A.Q.

How do I configure the MELSEC Q QD70D module for basic operation?

To configure the MELSEC Q QD70D module, start by setting up the hardware connections. Connect the module to the PLC base unit and ensure power supply is correct. Use GX Works2 or GX Developer software to assign I/O addresses and configure the parameters for your specific application needs. Finally, download the configuration to the PLC.

What steps should I follow to troubleshoot communication issues with the QD70D module?

First, check all physical connections and ensure cables are secure. Verify that the correct communication parameters are set in the software. Use diagnostic tools within GX Works2 to check for errors or conflicts. If issues persist, consult the module's error codes in the manual for specific troubleshooting guidance.

How can I perform regular maintenance on the QD70D module to ensure optimal performance?

Perform regular visual inspections to check for dust or debris on the module and connectors, and clean as necessary. Verify that all firmware is up-to-date and review system logs for any irregularities. Schedule periodic testing to ensure all I/O functions are operating correctly.

What precautions should be taken when installing the QD70D module in a control panel?

Ensure the module is installed in a clean, dry environment with adequate ventilation. Avoid areas with excessive vibration or temperature extremes. Follow all electrical standards and guidelines to ensure safe and compliant installation. Ensure proper grounding to prevent electrical interference.

How can I update the firmware on my QD70D module?

To update the firmware, connect the module to your PC using the appropriate cable. Open the Mitsubishi Electric update tool and select the firmware file provided by Mitsubishi. Follow the on-screen instructions to complete the firmware update process, ensuring uninterrupted power supply during the update.

What are the common error codes for the QD70D module and their meanings?

Common error codes include E0 for module failure, E1 for communication errors, and E2 for power supply issues. Refer to the module's manual for a comprehensive list of error codes and detailed troubleshooting steps for each.

How do I reset the QD70D module to factory settings?

To reset the module to factory settings, power down the system and locate the reset switch on the module. Hold the reset switch while powering the system back on. Release the switch after a few seconds, and the module will reset to its default factory configuration.

Is it possible to integrate the QD70D module with other third-party devices?

Yes, the QD70D module can be integrated with third-party devices using compatible communication protocols. Ensure that the third-party device supports the same protocols and configure the communication settings accordingly in the GX Works2 software.

Can I use the QD70D module for real-time data monitoring and logging?

Yes, the QD70D module supports real-time data monitoring and logging. Use GX Works2 to set up data logging tasks and configure the module to send real-time data to a connected PC or data logging device for analysis and monitoring.

What are the recommended environmental conditions for the QD70D module?

The recommended environmental conditions for the QD70D module include an operating temperature of 0 to 55°C and a relative humidity of 10% to 90% (non-condensing). Ensure the installation site is free from corrosive gases and excessive dust to maintain optimal performance.