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 QD75MH
    - 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 QD75MH 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 QD75MH control functions
    - 3.2.2 QD75MH main functions
    - 3.2.3 QD75MH sub functions and common functions
    - 3.2.4 Combination of QD75MH 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 (QD75MH --> PLC CPU)
    - 3.3.3 Detail of output signals (PLC CPU --> QD75MH)
  - 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 parameters (Basic setting)
    - 5.2.8 Servo parameters (Gain filter setting)
    - 5.2.9 Servo parameters (Expansion setting)
    - 5.2.10 Servo parameters (Input/output setting)
  - 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 QD75MH memory
    - 7.1.1 Configuration and roles of QD75MH 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
  - 8.4 Selection of the OPR setting condition
    - 8.4.1 Outline of the OPR setting condition
- 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
    - 12.4.5 Forced stop 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
    - 12.7.11 Speed control 10 x multiplier setting for degree axis function
    - 12.7.12 Operation setting for incompletion of OPR function
  - 12.8 Servo ON/OFF
    - 12.8.1 Servo ON/OFF
    - 12.8.2 Follow up function
- Chapter 13 Common Functions
  - 13.1 Outline of common functions
  - 13.2 Parameter initialization function
  - 13.3 Execution data backup function
  - 13.4 External signal selection function
  - 13.5 External I/O signal logic switching 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 QD75MH detection error
    - 15.2.2 MR-J3-B detection error
  - 15.3 List of warnings
    - 15.3.1 QD75MH detection warning
    - 15.3.2 MR-J3-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 QD75MH 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 III cables
  - Appendix 3.2 Wiring of SSCNET III 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 QD75M1/ QD75M2/ QD75M4 models
- Appendix 6 Positioning control troubleshooting
- Appendix 7 List of buffer memory addresses
- Appendix 8 External dimension drawing
INDEX
WARRANTY

Mitsubishi Electric MELSEC Q QD75MH User's Manual

Mitsubishi Electric MELSEC Q QD75MH manual cover

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Mitsubishi Electric MELSEC Q QD75MH Specification

The Mitsubishi Electric MELSEC Q QD75MH is a high-performance motion control module designed for the MELSEC-Q series PLCs. It supports a variety of complex motion tasks, making it ideal for applications requiring precision and high-speed control. The QD75MH module offers multi-axis control, allowing for the simultaneous management of up to four axes. Its compact design integrates seamlessly into the MELSEC-Q PLC system, facilitating efficient space utilization and streamlined installation. The module features advanced functions such as interpolation, positioning, and speed control, which enhance its versatility in various industrial scenarios.

Communication with the main PLC is achieved through a high-speed bus, ensuring rapid data transfer and minimal latency. The QD75MH supports encoder feedback, allowing for closed-loop control that significantly improves accuracy and reliability in motion tasks. It also provides a user-friendly programming environment, compatible with Mitsubishi’s GX Works2 software, enabling efficient setup and configuration. This module is equipped with multiple ports to accommodate different encoder types, enhancing its flexibility for diverse application needs.

Safety and reliability are paramount, and the QD75MH incorporates a range of safety features, including over-travel and deviation error detection. Its robust design ensures operational stability even in demanding industrial environments. The module supports various network communication protocols, facilitating integration with other automation systems and components. Additionally, its ability to execute sophisticated motion profiles and sequences makes it suitable for complex manufacturing processes. Overall, the Mitsubishi Electric MELSEC Q QD75MH module stands out for its precision, flexibility, and ease of integration, making it a valuable component in advanced industrial automation systems.

Mitsubishi Electric MELSEC Q QD75MH F.A.Q.

How do I initialize the QD75MH module in a MELSEC Q series PLC?

To initialize the QD75MH module, first ensure the module is correctly installed in the base unit. Then, use the GX Works2 software to configure the module settings. Navigate to the 'Module Configuration' section, select the QD75MH module, and set the initial parameters such as axis definitions and control modes. Finally, execute the 'Online Write' to apply the settings to the PLC.

What are the common troubleshooting steps if the QD75MH module is not communicating with the PLC?

Check the following: Ensure that the module is properly seated in the rack, verify the power supply, check the wiring and connections, and confirm that the module is configured correctly in the GX Works2 software. Additionally, inspect for any error codes displayed on the module's LED indicators and refer to the manual for specific error resolutions.

How can I perform regular maintenance on the MELSEC Q QD75MH module?

Regular maintenance of the QD75MH module includes inspecting connections and terminals for tightness, cleaning the module and surrounding area to prevent dust buildup, and checking for firmware updates. It is also important to perform diagnostic checks using GX Works2 to ensure the module is functioning correctly.

What should I do if the QD75MH module reports an axis error?

First, check the specific error code on the module's display or in the GX Works2 diagnostics. Refer to the module's manual to understand the error code. Common causes include incorrect parameter settings, misaligned mechanical systems, or faulty wiring. Correct any misconfigurations and ensure all mechanical components are aligned and functioning properly.

Can I use the QD75MH module for multi-axis control applications?

Yes, the QD75MH module is designed for multi-axis control applications. It supports synchronized control of multiple axes, making it suitable for complex motion control tasks. Ensure that each axis is properly configured in the GX Works2 software and that all related mechanical systems are correctly calibrated.

How do I update the firmware on a QD75MH module?

To update the firmware, connect the module to a PC with GX Works2 installed. Access the module settings and check for available firmware updates. Follow the on-screen instructions to download and apply the update. Ensure that the PLC is not in operation during the update process to prevent interruptions.

What is the procedure for configuring the QD75MH module for a new application?

Start by defining the motion profiles and axis parameters in the GX Works2 software. Configure the control modes, speed, acceleration, and other motion parameters. Map the I/O signals and perform a simulation to verify the configuration. Once verified, download the configuration to the PLC and test the setup with the actual hardware.

How do I resolve a communication timeout error with the QD75MH module?

Check the network settings and ensure that the PLC and QD75MH module are on the same network segment. Verify the Ethernet cables and switches for any faults. Review the IP address settings in the GX Works2 software and ensure they match the network configuration. Restart the module and PLC to reset the connection.

What safety precautions should be taken when working with the QD75MH module?

Always power down the PLC system before performing any installation or maintenance tasks. Use appropriate personal protective equipment (PPE) and follow lockout/tagout procedures to ensure safety. Be cautious of moving parts in motion control applications and ensure all safety interlocks are in place and functioning correctly.

How can I optimize the performance of the QD75MH module for high-speed applications?

Optimize performance by fine-tuning the motion parameters such as speed, acceleration, and jerk settings in the GX Works2 software. Use high-quality cables and connectors to minimize communication delays. Implement feedback mechanisms like encoders for precise control and regularly update the firmware to benefit from performance enhancements.