Contents

SAFETY PRECAUTIONS
CONDITIONS OF USE FOR THE PRODUCT
INTRODUCTION
REVISIONS
CONTENTS
COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES
RELEVANT MANUALS
MANUAL PAGE ORGANIZATION
TERMS
PACKING LIST
Section 1 Product Specifications and Handling
- Chapter 1 Product Outline
  - 1.1 Positioning control
    - 1.1.1 Features of QD77MS
    - 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 QD77MS 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.
  - 2.5 Restrictions by the SERIAL No. and version
- Chapter 3 Specifications and Functions
  - 3.1 Performance specifications
  - 3.2 List of functions
    - 3.2.1 QD77MS control functions
    - 3.2.2 QD77MS main functions
    - 3.2.3 QD77MS sub functions
    - 3.2.4 QD77MS common functions
    - 3.2.5 Combination of QD77MS 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 (QD77MS PLC CPU)
    - 3.3.3 Details of output signals (PLC CPU QD77MS)
  - 3.4 Specifications of interfaces with external devices
    - 3.4.1 Electrical specifications of input signals
    - 3.4.2 Signal layout for external input 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 HPR parameters
    - 5.1.4 Setting items for expansion parameters
    - 5.1.5 Setting items for servo parameters
    - 5.1.6 Setting items for positioning data
    - 5.1.7 Setting items for block start data
    - 5.1.8 Setting items for condition data
    - 5.1.9 Types and roles of monitor data
    - 5.1.10 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 HPR basic parameters
    - 5.2.6 HPR detailed parameters
    - 5.2.7 Expansion parameters
    - 5.2.8 Servo parameters
  - 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 Sequence 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 QD77MS memory
    - 7.1.1 Configuration and roles of QD77MS memory
    - 7.1.2 Buffer memory area configuration
  - 7.2 Data transmission process
Section 2 Control Details and Setting
- Chapter 8 HPR Control
  - 8.1 Outline of HPR control
    - 8.1.1 Two types of HPR control
  - 8.2 Machine HPR
    - 8.2.1 Outline of the machine HPR operation
    - 8.2.2 Machine HPR method
    - 8.2.3 HPR method (1): Proximity dog method
    - 8.2.4 HPR method (2): Count method 1)
    - 8.2.5 HPR method (3): Count method 2)
    - 8.2.6 HPR method (4): Data set method
    - 8.2.7 HPR method (5): Scale origin signal detection method
  - 8.3 Fast HPR
    - 8.3.1 Outline of the fast HPR operation
  - 8.4 Selection of the HPR setting condition
    - 8.4.1 Outline of the HPR 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 Expansion Control
  - 12.1 Speed-torque control
    - 12.1.1 Outline of speed-torque control
    - 12.1.2 Setting the required parameters for speed-torque control
    - 12.1.3 Setting the required data for speed-torque control
    - 12.1.4 Operation of speed-torque control
  - 12.2 Synchronous control
- Chapter 13 Control Sub Functions
  - 13.1 Outline of sub functions
    - 13.1.1 Outline of sub functions
  - 13.2 Sub functions specifically for machine HPR
    - 13.2.1 HPR retry function
    - 13.2.2 HP shift function
  - 13.3 Functions for compensating the control
    - 13.3.1 Backlash compensation function
    - 13.3.2 Electronic gear function
    - 13.3.3 Near pass function
  - 13.4 Functions to limit the control
    - 13.4.1 Speed limit function
    - 13.4.2 Torque limit function
    - 13.4.3 Software stroke limit function
    - 13.4.4 Hardware stroke limit function
    - 13.4.5 Forced stop function
  - 13.5 Functions to change the control details
    - 13.5.1 Speed change function
    - 13.5.2 Override function
    - 13.5.3 Acceleration/deceleration time change function
    - 13.5.4 Torque change function
    - 13.5.5 Target position change function
  - 13.6 Absolute position system
  - 13.7 Other functions
    - 13.7.1 Step function
    - 13.7.2 Skip function
    - 13.7.3 M code output function
    - 13.7.4 Teaching function
    - 13.7.5 Command in-position function
    - 13.7.6 Acceleration/deceleration processing function
    - 13.7.7 Pre-reading start function
    - 13.7.8 Deceleration start flag function
    - 13.7.9 Stop command processing for deceleration stop function
    - 13.7.10 Speed control 10 x multiplier setting for degree axis function
    - 13.7.11 Operation setting for incompletion of HPR function
  - 13.8 Servo ON/OFF
    - 13.8.1 Servo ON/OFF
    - 13.8.2 Follow up function
- Chapter 14 Common Functions
  - 14.1 Outline of common functions
  - 14.2 Parameter initialization function
  - 14.3 Execution data backup function
  - 14.4 External signal selection function
  - 14.5 External I/O signal logic switching function
  - 14.6 History monitor function
  - 14.7 Amplifier-less operation function
  - 14.8 Virtual servo amplifier function
  - 14.9 Driver communication function
  - 14.10 Mark detection function
  - 14.11 Optional data monitor function
  - 14.12 Module error collection function
  - 14.13 Connect/disconnect function of SSCNET communication
  - 14.14 QD75MH initial value setting function
  - 14.15 Hot line forced stop function
- Chapter 15 Dedicated Instructions
  - 15.1 List of dedicated instructions
  - 15.2 Interlock during dedicated instruction is executed
  - 15.3 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4
  - 15.4 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4
  - 15.5 ZP.PFWRT
  - 15.6 ZP.PINIT
- Chapter 16 Troubleshooting
  - 16.1 Checking errors using GX Works2
  - 16.2 Troubleshooting
  - 16.3 Error and warning details
  - 16.4 List of errors
    - 16.4.1 QD77MS detection error
    - 16.4.2 Servo amplifier detection error
  - 16.5 List of warnings
    - 16.5.1 QD77MS detection warning
    - 16.5.2 Servo amplifier detection warning
Appendices
- Appendix 1 List of buffer memory addresses
- Appendix 2 Connection with servo amplifiers
  - Appendix 2.1 SSCNET cables
  - Appendix 2.2 Serial absolute synchronous encoder cable
  - Appendix 2.3 SSCNET cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service
- Appendix 3 Connection with external device
  - Appendix 3.1 Connector
  - Appendix 3.2 External input signal cable
  - Appendix 3.3 Manual pulse generator (MR-HDP01)
- Appendix 4 Comparisons with positioning modules/LD77MH models
  - Appendix 4.1 Differences with QD75MH models
  - Appendix 4.2 Differences with LD77MH models
- Appendix 5 When using GX Works2
- Appendix 6 Compatible devices with SSCNET(/H)
  - Appendix 6.1 Servo driver VCII series/VPH series manufactured by CKD NIKKI DENSO CO., LTD.
  - Appendix 6.2 Inverter FR-A700 series
  - Appendix 6.3 AlphaStep/5-phase stepping motor driver manufactured by ORIENTAL MOTOR Co., Ltd.
  - Appendix 6.4 IAI electric actuator controller manufactured by IAI Corporation
  - Appendix 6.5 Connection with MR-JE-B(F)
  - Appendix 7 External dimension drawing
WARRANTY
TRADEMARKS

Mitsubishi Electric MELSEC Q QD77MS User's Manual

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Mitsubishi Electric MELSEC Q QD77MS Specification

The Mitsubishi Electric MELSEC Q QD77MS is a high-performance motion control module designed to integrate seamlessly with the MELSEC-Q series PLCs, providing advanced control for complex automation systems. This module supports multi-axis control, accommodating up to 32 axes, making it suitable for applications requiring precise synchronization and coordination of movements, such as robotics, CNC machines, and automated assembly lines.

The QD77MS module is equipped with a high-speed communication interface, enabling rapid data exchange with the PLC and other connected devices, which ensures minimal latency and high responsiveness in dynamic environments. It utilizes a powerful CPU to process complex motion algorithms and offers a wide range of control modes, including position, speed, and torque control, to cater to diverse application needs. The module supports various feedback devices like encoders and resolvers, ensuring accurate and real-time monitoring of motion parameters.

Configuration and programming of the QD77MS are facilitated through Mitsubishi’s GX Works2 software, which provides an intuitive interface for setting parameters, programming motion sequences, and troubleshooting. The software supports both ladder logic and structured text programming, allowing flexibility for engineers with different programming preferences. Additionally, the module is compatible with Mitsubishi's CC-Link network, supporting seamless integration into larger industrial networks for centralized control and monitoring.

The QD77MS module is designed with safety and reliability in mind, featuring built-in diagnostic functions to monitor system health and prevent unexpected downtimes. Its robust construction and compliance with international standards make it suitable for diverse industrial environments. Overall, the Mitsubishi Electric MELSEC Q QD77MS offers a comprehensive solution for sophisticated motion control applications, ensuring precision, efficiency, and adaptability in industrial automation.

Mitsubishi Electric MELSEC Q QD77MS F.A.Q.

How do I initialize the MELSEC QD77MS module?

To initialize the MELSEC QD77MS module, first ensure that the module is installed correctly in the PLC rack. Then, use the GX Works2 software to configure the module parameters, set the station number, and download the settings to the PLC.

What should I check if the QD77MS module is not communicating with other devices?

Verify that all cable connections are secure and that the communication settings, such as baud rate and station number, match those of the other devices. Additionally, check for any error codes on the module's LED display and refer to the manual for troubleshooting guidance.

How can I perform a firmware update on the QD77MS module?

To update the firmware, download the latest firmware version from the Mitsubishi Electric website. Connect to the module using a compatible interface, such as USB or Ethernet, and follow the instructions provided with the firmware to complete the update process.

What maintenance procedures are recommended for the QD77MS module?

Regularly inspect the module for dust and debris, and clean with compressed air if necessary. Check all connections for looseness and inspect cables for wear or damage. Ensure that the operating environment meets the specified temperature and humidity conditions.

How do I configure the QD77MS module for multi-axis control?

Use the GX Works2 software to configure multi-axis settings. Define the number of axes, set the control modes for each axis, and assign the appropriate parameters such as speed, acceleration, and deceleration for each motion axis.

What is the procedure for backing up the QD77MS module's configuration?

Connect to the module using GX Works2. Navigate to the project containing the module configuration and use the software's backup feature to save the current settings to a secure location on your computer or an external storage device.

How can I diagnose and resolve a QD77MS module fault indicated by an error LED?

Consult the module's manual to identify the specific error code indicated by the LED. Follow the troubleshooting steps provided, which may include resetting the module, checking connections, or reconfiguring settings to resolve the fault.

What are the steps to replace a QD77MS module in a PLC system?

First, power down the PLC system and ensure it is fully de-energized. Carefully remove the existing module from the rack. Insert the new module, ensuring proper alignment and secure fit. Reapply power and download the saved configuration to the new module using GX Works2.

Can the QD77MS module be used with different PLC series?

The QD77MS module is designed specifically for the Mitsubishi Electric MELSEC Q series PLCs. Ensure compatibility with your PLC model before installation and consult the manufacturer's documentation for any exceptions or specific requirements.

How do I set up motion control programs on the QD77MS module?

Use GX Works2 to create motion control programs. Define the motion paths, specify the axis parameters, and program the desired motion sequences. Download the completed program to the QD77MS module and test to ensure proper operation.