Contents

SAFETY INSTRUCTIONS
REVISIONS
INTRODUCTION
CONTENTS
About Manuals
Using This Manual
Conformation to the EMC Directive
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 QD75
    - 1.1.2 Purpose and applications of positioning control
    - 1.1.3 Mechanism of positioning control
    - 1.1.4 Overview of positioning control functions
    - 1.1.5 Outline design of positioning system
    - 1.1.6 Communicating signals between QD75 and each module
  - 1.2 Flow of system operation
    - 1.2.1 Flow of all processes
    - 1.2.2 Outline of starting
    - 1.2.3 Outline of stopping
    - 1.2.4 Outline for restarting
- Chapter 2 System Configuration
  - 2.1 General image of system
  - 2.2 Component list
  - 2.3 Applicable system
  - 2.4 How to check the function version and SERIAL No.
- Chapter 3 Specifications and Functions
  - 3.1 Performance specifications
  - 3.2 List of functions
    - 3.2.1 QD75 control functions
    - 3.2.2 QD75 main functions
    - 3.2.3 QD75 sub functions and common functions
    - 3.2.4 Combination of QD75 main functions and sub functions
  - 3.3 Specifications of input/output signals with PLC CPU
    - 3.3.1 List of input/output signals with PLC CPU
    - 3.3.2 Details of input signals (QD75 -> PLC CPU)
    - 3.3.3 Detail of output signals (PLC CPU -> QD75)
  - 3.4 Specifications of interfaces with external devices
    - 3.4.1 Electrical specifications of input signals
    - 3.4.2 Signal layout for external device connection connector
    - 3.4.3 List of input signal details
    - 3.4.4 Interface internal circuit
  - 3.5 External circuit design
- Chapter 4 Installation, Wiring and Maintenance of the Product
  - 4.1 Outline of installation, wiring and maintenance
    - 4.1.1 Installation, wiring and maintenance procedures
    - 4.1.2 Names of each part
    - 4.1.3 Handling precautions
  - 4.2 Installation
    - 4.2.1 Precautions for installation
  - 4.3 Wiring
    - 4.3.1 Precautions for wiring
  - 4.4 Confirming the installation and wiring
    - 4.4.1 Items to confirm when installation and wiring are completed
  - 4.5 Maintenance
    - 4.5.1 Precautions for maintenance
    - 4.5.2 Disposal instructions
- Chapter 5 Data Used for Positioning Control
  - 5.1 Types of data
    - 5.1.1 Parameters and data required for control
    - 5.1.2 Setting items for positioning parameters
    - 5.1.3 Setting items for OPR parameters
    - 5.1.4 Setting items for servo parameters
    - 5.1.5 Setting items for positioning data
    - 5.1.6 Setting items for block start data
    - 5.1.7 Setting items for condition data
    - 5.1.8 Types and roles of monitor data
    - 5.1.9 Types and roles of control data
  - 5.2 List of parameters
    - 5.2.1 Basic parameters 1
    - 5.2.2 Basic parameters 2
    - 5.2.3 Detailed parameters 1
    - 5.2.4 Detailed parameters 2
    - 5.2.5 OPR basic parameters
    - 5.2.6 OPR detailed parameters
    - 5.2.7 Servo basic parameters
    - 5.2.8 Servo adjustment parameters
    - 5.2.9 Servo expansion parameters
    - 5.2.10 Servo expansion parameters 2
  - 5.3 List of positioning data
  - 5.4 List of block start data
  - 5.5 List of condition data
  - 5.6 List of monitor data
    - 5.6.1 System monitor data
    - 5.6.2 Axis monitor data
  - 5.7 List of control data
    - 5.7.1 System control data
    - 5.7.2 Axis control data
- Chapter 6 PLC Program Used for Positioning Control
  - 6.1 Precautions for creating program
  - 6.2 List of devices used
  - 6.3 Creating a program
    - 6.3.1 General configuration of program
    - 6.3.2 Positioning control operation program
  - 6.4 Positioning program examples
  - 6.5 Program details
    - 6.5.1 Initialization program
    - 6.5.2 Start details setting program
    - 6.5.3 Start program
    - 6.5.4 Continuous operation interrupt program
    - 6.5.5 Restart program
    - 6.5.6 Stop program
- Chapter 7 Memory Configuration and Data Process
  - 7.1 Configuration and roles of QD75 memory
    - 7.1.1 Configuration and roles of QD75 memory
    - 7.1.2 Buffer memory area configuration
  - 7.2 Data transmission process
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
    - 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): Count method 1)
    - 8.2.5 OPR method (3): Count method 2)
    - 8.2.6 OPR method (4): Data set method
  - 8.3 Fast OPR
    - 8.3.1 Outline of the fast OPR operation
- Chapter 9 Major Positioning Control
  - 9.1 Outline of major positioning controls
    - 9.1.1 Data required for major positioning control
    - 9.1.2 Operation patterns of major positioning controls
    - 9.1.3 Designating the positioning address
    - 9.1.4 Confirming the current value
    - 9.1.5 Control unit "degree" handling
    - 9.1.6 Interpolation control
  - 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 2-axis linear interpolation control
    - 9.2.4 3-axis linear interpolation control
    - 9.2.5 4-axis linear interpolation control
    - 9.2.6 1-axis fixed-feed control
    - 9.2.7 2-axis fixed-feed control (interpolation)
    - 9.2.8 3-axis fixed-feed control (interpolation)
    - 9.2.9 4-axis fixed-feed control (interpolation)
    - 9.2.10 2-axis circular interpolation control with sub point designation
    - 9.2.11 2-axis circular interpolation control with center point designation
    - 9.2.12 1-axis speed control
    - 9.2.13 2-axis speed control
    - 9.2.14 3-axis speed control
    - 9.2.15 4-axis speed control
    - 9.2.16 Speed-position switching control (INC mode)
    - 9.2.17 Speed-position switching control (ABS mode)
    - 9.2.18 Position-speed switching control
    - 9.2.19 Current value changing
    - 9.2.20 NOP instruction
    - 9.2.21 JUMP instruction
    - 9.2.22 LOOP
    - 9.2.23 LEND
- Chapter 10 High-Level Positioning Control
  - 10.1 Outline of high-level positioning control
    - 10.1.1 Data required for high-level positioning control
    - 10.1.2 "Block start data" and "condition data" configuration
  - 10.2 High-level positioning control execution procedure
  - 10.3 Setting the block start data
    - 10.3.1 Relation between various controls and block start data
    - 10.3.2 Block start (normal start)
    - 10.3.3 Condition start
    - 10.3.4 Wait start
    - 10.3.5 Simultaneous start
    - 10.3.6 Repeated start (FOR loop)
    - 10.3.7 Repeated start (FOR condition)
    - 10.3.8 Restrictions when using the NEXT start
  - 10.4 Setting the condition data
    - 10.4.1 Relation between various controls and the condition data
    - 10.4.2 Condition data setting examples
  - 10.5 Multiple axes simultaneous start control
  - 10.6 Start program for high-level positioning control
    - 10.6.1 Starting high-level positioning control
    - 10.6.2 Example of a start program for high-level positioning control
- Chapter 11 Manual Control
  - 11.1 Outline of manual control
    - 11.1.1 Three manual control methods
  - 11.2 JOG operation
    - 11.2.1 Outline of JOG operation
    - 11.2.2 JOG operation execution procedure
    - 11.2.3 Setting the required parameters for JOG operation
    - 11.2.4 Creating start programs for JOG operation
    - 11.2.5 JOG operation example
  - 11.3 Inching operation
    - 11.3.1 Outline of inching operation
    - 11.3.2 Inching operation execution procedure
    - 11.3.3 Setting the required parameters for inching operation
    - 11.3.4 Creating a program to enable/disable the inching operation
    - 11.3.5 Inching operation example
  - 11.4 Manual pulse generator operation
    - 11.4.1 Outline of manual pulse generator operation
    - 11.4.2 Manual pulse generator operation execution procedure
    - 11.4.3 Setting the required parameters for manual pulse generator operation
    - 11.4.4 Creating a program to enable/disable the manual pulse generator operation
- Chapter 12 Control Sub Functions
  - 12.1 Outline of sub functions
    - 12.1.1 Outline of sub functions
  - 12.2 Sub functions specifically for machine OPR
    - 12.2.1 OPR retry function
    - 12.2.2 OP shift function
  - 12.3 Functions for compensating the control
    - 12.3.1 Backlash compensation function
    - 12.3.2 Electronic gear function
    - 12.3.3 Near pass function
  - 12.4 Functions to limit the control
    - 12.4.1 Speed limit function
    - 12.4.2 Torque limit function
    - 12.4.3 Software stroke limit function
    - 12.4.4 Hardware stroke limit function
  - 12.5 Functions to change the control details
    - 12.5.1 Speed change function
    - 12.5.2 Override function
    - 12.5.3 Acceleration/deceleration time change function
    - 12.5.4 Torque change function
  - 12.6 Absolute position system
  - 12.7 Other functions
    - 12.7.1 Step function
    - 12.7.2 Skip function
    - 12.7.3 M code output function
    - 12.7.4 Teaching function
    - 12.7.5 Target position change function
    - 12.7.6 Command in-position function
    - 12.7.7 Acceleration/deceleration processing function
    - 12.7.8 Pre-reading start function
    - 12.7.9 Deceleration start flag function
    - 12.7.10 Stop command processing for deceleration stop function
  - 12.8 Servo ON/OFF
    - 12.8.1 Servo ON/OFF
    - 12.8.2 Follow up function
  - 12.9 Precautions for MR-J2M-B connection
- Chapter 13 Common Functions
  - 13.1 Outline of common functions
  - 13.2 Parameter initialization function
  - 13.3 Execution data backup function
  - 13.4 External I/O signal logic switching function
  - 13.5 External I/O signal monitor function
- Chapter 14 Dedicated Instructions
  - 14.1 List of dedicated instructions
  - 14.2 Interlock during dedicated instruction is executed
  - 14.3 PSTRT1, PSTRT2, PSTRT3, PSTRT4
  - 14.4 TEACH1, TEACH2, TEACH3, TEACH4
  - 14.5 PFWRT
  - 14.6 PINIT
- Chapter 15 Troubleshooting
  - 15.1 Error and warning details
  - 15.2 List of errors
    - 15.2.1 QD75 detection error
    - 15.2.2 MR-H-BN detection error
    - 15.2.3 MR-J2-B detection error
    - 15.2.4 MR-J2S-B detection error
    - 15.2.5 MR-J2-Jr detection error
    - 15.2.6 MR-J2M-B detection error
  - 15.3 List of warnings
    - 15.3.1 QD75 detection warning
    - 15.3.2 MR-H-BN detection warning
    - 15.3.3 MR-J2-B detection warning
    - 15.3.4 MR-J2S-B detection warning
    - 15.3.5 MR-J2-Jr detection warning
    - 15.3.6 MR-J2M-B detection warning
  - 15.4 LED display functions
Appendices
- Appendix 1 Functions
  - Appendix 1.1 Multiple CPU correspond function
  - Appendix 1.2 The combination of software package for QD75 and QCPU
- Appendix 2 Positioning data (No.1 to 600) List of buffer memory addresses
- Appendix 3 Connection with servo amplifiers
  - Appendix 3.1 Connection of SSCNET cables
  - Appendix 3.2 Wiring of SSCNET cables
- Appendix 4 Connection with external device connector
  - Appendix 4.1 Connector
  - Appendix4.2 Wiring of manual pulse generator cable
- Appendix 5 Comparisons with conventional positioning modules
  - Appendix 5.1 Comparisons with QD75P model
  - Appendix 5.2 Comparisons with A1SD75M1/ A1SD75M2/ A1SD75M3 models
- Appendix 6 Positioning control troubleshooting
- Appendix 7 List of buffer memory addresses
- Appendix 8 External dimension drawing
INDEX
WARRANTY

Mitsubishi Electric MELSEC Q QD75M User's Manual

Mitsubishi Electric MELSEC Q QD75M manual cover

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Mitsubishi Electric MELSEC Q QD75M Specification

The Mitsubishi Electric MELSEC Q QD75M is a high-performance positioning module designed for precision control in industrial automation systems. This module is part of the MELSEC-Q Series, renowned for its advanced capabilities and flexibility in meeting complex automation requirements. The QD75M model supports multiple axes, allowing for simultaneous control of up to four axes, making it suitable for applications requiring synchronized motion and high-speed operation.

The QD75M module is equipped with a high-speed pulse output, achieving a maximum output frequency of 200 kHz, which ensures rapid and precise positioning tasks. It supports a variety of pulse train output methods, including CW/CCW, pulse and direction, and AB phase output, providing versatility in interfacing with different types of servo and stepper motors.

The module offers advanced positioning functions such as linear, arc, and helical interpolation, enhancing its capability to perform complex motion profiles. It includes built-in features for speed and torque control, ensuring smooth and efficient operations even under varying load conditions. The QD75M supports absolute and incremental encoders, providing flexibility in feedback systems for precise position detection.

Integration with the MELSEC-Q Series PLCs is seamless, with easy configuration and programming through Mitsubishi's GX Developer or GX Works2 software. This facilitates intuitive setup and monitoring, reducing engineering time and effort. The module also includes diagnostic functions and error detection capabilities, enhancing system reliability and maintenance efficiency.

Overall, the Mitsubishi Electric MELSEC Q QD75M module is designed for high flexibility, precision, and ease of integration, making it an ideal choice for industries requiring advanced motion control solutions.

Mitsubishi Electric MELSEC Q QD75M F.A.Q.

How do I configure the basic settings for the MELSEC Q QD75M module?

To configure the basic settings for the QD75M module, start by connecting to the module using GX Developer or GX Works2 software. Navigate to the 'Module Parameter' settings, where you can set parameters such as axis settings, control loop parameters, and I/O assignments according to your application needs.

What are the steps to perform a factory reset on the QD75M module?

To perform a factory reset on the QD75M module, power off the PLC, then set the initialization switch to 'All Clear'. Power the PLC back on while holding the switch. Once the module initializes, release the switch. This will reset the module to its default factory settings.

How can I troubleshoot communication errors between the QD75M and other devices?

To troubleshoot communication errors, first check all physical connections and ensure that cables are intact. Verify that the communication settings (baud rate, parity, stop bits) match those of the connected devices. Use diagnostic tools in the software to check for error codes and refer to the manual for specific troubleshooting steps.

What maintenance practices are recommended for ensuring the longevity of the QD75M module?

Regularly check for dust and debris around the module, ensuring adequate ventilation. Periodically inspect connections and cables for wear or damage. Also, verify that firmware and software are up-to-date to ensure optimal performance.

How do I update the firmware on the QD75M module?

To update the firmware on the QD75M module, download the latest firmware version from the Mitsubishi Electric website. Connect to the module using GX Works2, navigate to the 'Online' menu, and select 'Firmware Update'. Follow the on-screen instructions to complete the update.

Can the QD75M module be used in a networked system, and if so, how?

Yes, the QD75M module can be used in a networked system. It supports various network protocols such as CC-Link and Ethernet. Configure the module’s network settings using GX Works2 to integrate it into your existing network infrastructure.

What should I do if the QD75M module does not start properly?

If the QD75M module does not start properly, verify that it is correctly installed in the PLC rack and all connections are secure. Check the status LEDs for error indications and consult the manual for error code descriptions. Perform a module reset if necessary.

How can I ensure the QD75M module is properly grounded?

Ensure the QD75M module is properly grounded by connecting its ground terminal to the main ground bus of your control panel. Use a grounding wire with appropriate gauge and length to minimize electrical noise and prevent potential damage.

What are the indicators of potential failure in the QD75M module?

Indicators of potential failure include unexpected module resets, communication loss, and irregular motor control performance. Frequent error codes or abnormal LED indications should also be investigated promptly.

How do I perform a backup of the QD75M module configuration?

To perform a backup of the QD75M module configuration, use GX Works2 to connect to the module. Navigate to the 'Project' menu and select 'Save As' to create a backup of the current project, including all settings and parameters.