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 QD77GF
    - 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 QD77GF 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 QD77GF control functions
    - 3.2.2 QD77GF main functions
    - 3.2.3 QD77GF sub functions
    - 3.2.4 QD77GF common functions
    - 3.2.5 Combination of QD77GF 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 (Simple Motion module PLC CPU)
    - 3.3.3 Details of output signals (PLC CPU Simple Motion module)
  - 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 [RJ010 mode]
  - 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 QD77GF memory
    - 7.1.1 Configuration and roles of QD77GF 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 [RJ010 mode]
    - 8.2.4 HPR method (2): Count method 1) [RJ010 mode]
    - 8.2.5 HPR method (3): Count method 2) [RJ010 mode]
    - 8.2.6 HPR method (4): Data set method [RJ010 mode]
    - 8.2.7 HPR method (5): Scale origin signal detection method [RJ010 mode]
    - 8.2.8 HPR method (6): Driver HPR method [CiA402 mode]
  - 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 [RJ010 mode]
    - 13.2.2 HP shift function [RJ010 mode]
  - 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 Virtual servo amplifier function
  - 14.8 Mark detection function
  - 14.9 Module error collection function
- Chapter 15 Dedicated Instructions
  - 15.1 List of dedicated instructions
- Chapter 16 Troubleshooting
  - 16.1 Checking errors using GX Works2
  - 16.2 Troubleshooting
  - 16.3 Error and warning details
  - 16.4 List of errors
  - 16.5 List of warnings
Appendices
- Appendix 1 List of buffer memory addresses
- Appendix 2 Connection with servo amplifiers
- 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 When using GX Works2
- Appendix 5 External dimension drawing
WARRANTY
TRADEMARKS

Mitsubishi Electric QD77GF4 QD77GF8 QD77GF16 User's Manual

Mitsubishi Electric QD77GF4 QD77GF8 QD77GF16 manual cover

Pages 834

Year 2013

Language(s)

of 834

Mitsubishi Electric QD77GF4 QD77GF8 QD77GF16 Specification

The Mitsubishi Electric QD77GF series, comprising the QD77GF4, QD77GF8, and QD77GF16 modules, is designed for high-performance motion control applications. These modules are part of the MELSEC-Q series, renowned for their reliability and precision in industrial automation. The QD77GF series specifically focuses on addressing complex motion control requirements with seamless integration into existing systems.

The QD77GF4 module supports up to four axes, the QD77GF8 supports up to eight axes, and the QD77GF16 supports up to sixteen axes, providing scalable solutions for varied application needs. These modules utilize a high-speed, highly accurate control method capable of executing complex motion profiles with precision. They support a wide range of motion control functions including positioning, speed, and torque control, making them suitable for diverse applications such as assembly machinery, robotics, and CNC equipment.

The modules are equipped with a built-in Ethernet interface, allowing for easy communication and data exchange with other system components, facilitating integration into larger networks. They also feature a user-friendly setup and configuration process through Mitsubishi’s intuitive software tools, ensuring quick deployment and minimal downtime. Safety is a priority, with features like error detection and diagnostic capabilities to ensure system reliability and reduce maintenance needs.

In summary, the QD77GF series offers a robust solution for motion control, providing flexibility, precision, and ease of integration. These modules exemplify Mitsubishi Electric's commitment to advancing industrial automation technologies, enabling efficient and reliable operation in a wide range of industrial applications.

Mitsubishi Electric QD77GF4 QD77GF8 QD77GF16 F.A.Q.

How do I initialize the QD77GF4 module for the first time?

To initialize the QD77GF4 module, ensure that it is properly installed in the PLC rack. Connect to the PLC using Mitsubishi's GX Works2 software, and navigate to the module settings to configure the basic parameters such as communication settings and axis configuration.

What are the common troubleshooting steps if the QD77GF8 module is not communicating with the servo motor?

Check the cabling between the QD77GF8 module and the servo motor. Ensure the module is securely seated in the PLC rack. Verify the configuration settings in GX Works2, and check for any error codes on the module's LED display.

How can I perform a firmware update on the QD77GF16 module?

Download the latest firmware from the Mitsubishi Electric website. Connect to the module using GX Works2, and follow the instructions in the software to upload the new firmware to the QD77GF16 module.

What is the recommended maintenance schedule for the QD77 series modules?

Inspect the modules every 6 months for dust accumulation and clean if necessary. Check the module connections and ensure they are secure. Perform a system test annually to verify operational integrity.

How do I reset the QD77GF4 module to factory settings?

Use the GX Works2 software to connect to the module. Navigate to the maintenance settings and select the 'Reset to Factory Settings' option. Ensure all necessary data is backed up before performing this operation.

Can the QD77GF8 module be used in a networked PLC system?

Yes, the QD77GF8 module can be used in a networked PLC system. Ensure that the proper communication settings are configured in GX Works2 and that the module is properly integrated into the network architecture.

What should I do if the QD77GF16 module shows a continuous red LED?

A continuous red LED indicates a critical fault. Check the error code displayed on the module or in GX Works2, consult the manual for troubleshooting steps, and verify all connections and configurations.

How can I optimize the performance of the QD77GF4 module?

Ensure that the module's firmware is up-to-date. Configure the module settings to match the specific requirements of your application, and regularly check for and resolve any error codes or warnings.

Is it possible to expand the I/O capabilities of the QD77GF8 module?

While the QD77GF8 module itself cannot be expanded, you can integrate additional I/O modules into the PLC system to increase overall I/O capacity. Ensure compatibility and proper configuration in GX Works2.

What are the environmental considerations for installing the QD77GF16 module?

Ensure the installation environment is within the temperature and humidity range specified in the manual. Avoid areas with excessive vibration, dust, or moisture, and provide adequate ventilation to prevent overheating.