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 QD75M User's Manual

Mitsubishi QD75M Positioning Module manual cover

Pages 858

Year 2005

Language(s)

of 858

Mitsubishi QD75M Positioning Module Specification

The Mitsubishi QD75M Positioning Module is a high-precision control device designed for advanced automation systems, typically used in conjunction with Mitsubishi's Q Series PLCs. This module offers a sophisticated solution for multi-axis positioning control, supporting up to four axes per module, thereby enhancing flexibility and scalability in industrial applications. It supports various types of motors, including AC servos and stepper motors, ensuring compatibility with a wide range of machinery.

The QD75M module operates on a high-speed bus system, enabling rapid and reliable data communication with other system components. It features a pulse output of up to 200 kpps, providing precise control over positioning tasks. The module allows for easy integration with existing systems through its comprehensive set of I/O ports. Users can configure positioning parameters such as speed, acceleration, and deceleration directly via the user-friendly software interface, which is compatible with Mitsubishi's GX Works2 programming environment.

Advanced functionality includes linear and circular interpolation, facilitating complex motion profiles required in sophisticated manufacturing processes. The module also supports functions like speed control, positioning control, and torque control, which can be adjusted dynamically to suit varying operational demands. Safety features are embedded in the design, with stop and limit functions to prevent mechanical damage under abnormal conditions.

Furthermore, the QD75M is equipped with diagnostic and monitoring capabilities, allowing users to perform real-time status checks and troubleshoot potential issues efficiently. Its compact design ensures easy installation in constrained spaces, while robust construction guarantees durability in industrial environments. Overall, the Mitsubishi QD75M Positioning Module is a reliable and versatile solution for precise motion control applications.

Mitsubishi QD75M Positioning Module F.A.Q.

How do I configure the basic settings for the Mitsubishi QD75M Positioning Module?

To configure basic settings, use the GX Works2 software. Connect the module to your PC, open GX Works2, and navigate to the module configuration settings. Set parameters such as axis type, communication settings, and initial position.

What steps should I take to troubleshoot communication errors between the QD75M and the PLC?

First, check all cable connections. Ensure the baud rate and communication settings match between devices. Verify that the PLC program correctly configures the communication parameters. Use diagnostic tools in GX Works2 for detailed error information.

How can I perform a factory reset on the QD75M module?

A factory reset can be done via the GX Works2 software by accessing the module utility functions. Select the 'Reset to Factory Defaults' option and follow the on-screen instructions. Ensure to back up any necessary data before performing the reset.

What maintenance practices are recommended for the QD75M module?

Regularly inspect cable connections and ensure the module is free from dust and debris. Monitor the module's temperature and ensure adequate ventilation. Update firmware periodically and check for any software updates.

How do I update the firmware on the QD75M module?

Download the latest firmware from Mitsubishi's official website. Connect the module to your PC, and use GX Works2 to upload the firmware to the module. Follow the instructions provided in the firmware update guide.

What should I do if the QD75M module is not starting up properly?

Check the power supply and ensure the module is receiving the correct voltage. Inspect for any visible damage or loose connections. If problems persist, perform a diagnostic check using GX Works2 to identify any error codes.

How can I extend the life of the QD75M module?

Ensure the module operates within its specified environmental conditions such as temperature and humidity. Regularly update the software and maintain the hardware. Avoid overloading the module beyond its operational capacity.

Can I use the QD75M module with different types of motors?

Yes, the QD75M module is compatible with various motors, including servo and stepper motors. Ensure that the motor specifications are within the module's operational range and configure the settings accordingly in GX Works2.

What are the common error codes on the QD75M and their meanings?

Common error codes include E0 (communication error), E1 (overload), and E2 (positioning error). Refer to the module's manual for a complete list of error codes and their troubleshooting steps.

How do I set up a multi-axis system using the QD75M module?

To set up a multi-axis system, connect each motor to a separate axis on the QD75M. Configure each axis separately in GX Works2, setting parameters like velocity, acceleration, and positioning data. Ensure proper synchronization between axes if required.