SAFETY INSTRUCTIONS

(Always read these instructions before using this equipment.)

Before using this product, please read this manual and the relevant manuals introduced in this manual
carefully and pay full attention to safety to handle the product correctly.
The instructions given in this manual are concerned with this product. For the safety instructions of the
programmable logic controller system, please read the CPU module User's Manual.
In this manual, the safety instructions are ranked as "DANGER" and "CAUTION".

Indicates that incorrect handling may cause hazardous conditions,

! DANGER resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

! CAUTION resulting in medium or slight personal injury or physical damage.

Note that the ! CAUTION level may lead to a serious consequence according to the circumstances.
Always follow the instructions of both levels because they are important to personal safety.

Please save this manual to make it accessible when required and always forward it to the end user.

[Design Instructions]
! DANGER
Provide a safety circuit outside the programmable logic controller so that the entire system will
operate safely even when an external power supply error or PLC fault occurs.
Failure to observe this could lead to accidents for incorrect outputs or malfunctioning.
(1) Configure an emergency stop circuit and interlock circuit such as a positioning upper
limit/lower limit to prevent mechanical damage outside the PLC.
(2) The machine OPR operation is controlled by the OPR direction and OPR speed data.
Deceleration starts when the near-point dog turns ON. Thus, if the OPR direction is
incorrectly set, deceleration will not start and the machine will continue to travel. Configure
an interlock circuit to prevent mechanical damage outside the PLC.
(3) When the module detects an error, normally deceleration stop or sudden stop will take
place according to the parameter stop group settings.
Set the parameters to the positioning system specifications.
Make sure that the OPR parameter and positioning data are within the parameter setting
values.

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[Design Instructions]
! CAUTION
Do not bundle or adjacently lay the control wire or communication cable with the main circuit or
power wire.
Separate these by 100mm (3.94in.) or more.
Failure to observe this could lead to malfunctioning caused by noise.

[Mounting Instructions]
! CAUTION
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
While pressing the installation lever located at the bottom of module, insert the module fixing
tab into the fixing hole in the base unit until it stops. Then, securely mount the module with the
fixing hole as a supporting point.
Incorrect loading of the module can cause a malfunction, failure or drop.
When using the PLC in the environment of much vibration, tighten the module with a screw.
Tighten the screw in the specified torque range.
Undertightening can cause a drop, short circuit or malfunction.
Overtightening can cause a drop, short circuit or malfunction due to damage to the screw or
module.
Completely turn off the externally supplied power used in the system before mounting or
removing the module.
Not doing so may damage the product.

[Wiring Instructions]
! DANGER
Always confirm the terminal layout before connecting the wires to the module.

[Startup/Maintenance Instructions]
! DANGER
Completely turn off the externally supplied power used in the system before cleaning or
tightening the screws.
Failure to turn all phases OFF could lead to electric shocks.

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[Startup/Maintenance Instructions]
! CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Completely turn off the externally supplied power used in the system before installing or
removing the module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
Do not install/remove the module to/from the base unit, or the terminal block to/from the module
more than 50 times after the first use of the product. (IEC 61131-2 compliant)
Failure to do so may cause malfunction.
Before starting test operation, set the parameter speed limit value to the slowest value, and
make sure that operation can be stopped immediately if a hazardous state occurs.
Always make sure to touch the grounded metal to discharge the electricity charged in the body,
etc., before touching the module.
Failure to do so may cause a failure or malfunctions of the module.

[Precautions for use]

! CAUTION
Note that when the reference axis speed is designated for interpolation operation, the speed of
the partner axis (2nd axis, 3rd axis and 4th axis) may be larger than the set speed (larger than
the speed limit value).

[Disposal Instructions]
! CAUTION
When disposing of the product, handle it as industrial waste.

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REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Dec., 1999 SH (NA)-080058-A First edition
Oct., 2000 SH (NA)-080058-B Addition of function version B
(Overall revisions based on the Japanese Manual Version
SH-080047-E)
Jun., 2001 SH (NA)-080058-C The software package names (GPP function software package,
QD75 software package) have been replaced by the product names
(GX Developer, GX Configurator-QP) for standardization.
Partial corrections and additions
CONTENTS, About Manuals, Generic Terms and Abbreviations,
Section 1.4, Section 2.2, Section 2.3, Section 3.2.2 to Section 3.2.4,
Section 3.3.2, Section 3.3.3, Section 3.4.1, Section 3.4.3, Section
3.4.4, Section 4.1.2, Section 4.3, Section 5.1.2, Section 5.1.3, Section
5.2.3, Section 5.2.5, Section 5.6.2, Section 5.7.1, Section 6.2 to
Section 6.4, Section 6.5.3, Section 7.2, Section 8.2.2, Section 8.2.5,
Section 8.2.6, Section 9.1.2, Section 9.2.1, Section 9.2.16, Section
9.2.17, Section 10.3.2, Section 10.6.2, Section 11.2.3, Section 11.3.3,
Section 11.3.4, Section 11.4.3, Section 12.1.1, Section 12.5 to Section
12.7, Section 13.1, Section 13.3, Section 13.4, Section 14.2 to Section
14.7, Section 15.1, Section 15.2, Section 15.4, Appendix 1, Appendix
9.2, Appendix 11, INDEX
Apr., 2003 SH (NA)-080058-D Partial corrections and additions
SAFETY INSTRUCTIONS, CONTENTS, Component List,
Section 1.2.3, Section 1.4, Section 2.3, Section 2.4, Section 3.1,
Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 3.4.1, Section
3.4.4, Section 4.1.2, Section 4.3.1, Section 4.3.2, Section 5.1.1,
Section 5.1.7, Section 5.1.8, Section 5.2.1, Section 5.2.4, Section
5.6.2, Section 5.7.1, Section 6.4, Section 6.5.4, Section 6.5.6, Section
8.2.3 to Section 8.2.8, Section 9.2.17, Section 9.2.19, Section 11.2.1,
Section 11.3.1, Section 11.4.1, Section 12.1.1, Section 12.5.1, Section
12.5.2, Section 12.7.3, Section 12.7.5, Section 12.7.9, Section 14.4,
Section 15.2, Appendix 1.1, Appendix 4.1 to Appendix 4.3, Appendix
7.1, Appendix 9.2, Appendix 10 to Appendix 13, INDEX
Oct., 2003 SH (NA)-080058-E Partial corrections and additions
CONTENTS, Section 1.1.1, Section 1.4, Section 2.2, Section 2.4,
Section 3.2.1, Section 3.2.3, Section 3.2.4, Section 3.3.2, Section
3.4.3, Section 3.4.4, Section 5.1.1, Section 5.1.8, Section 5.7.1,
Section 6.5.3, Section 6.5.6, Section 7.1.2, Section 9.1.2, Section
9.2.3 to Section 9.2.9, Section 11.2.1, Section 11.3.1, Section 11.4.1,
Section 12.2.1, Section 12.7.10, Appendix 9.2, Appendix 12, INDEX

A-4
REVISIONS
The manual number is given on the bottom left of the back cover.
Print Date Manual Number Revision
Feb., 2004 SH (NA)-080058-F Partial corrections and additions
CONTENTS, Section 3.4.1, Section 3.4.3, Section 3.4.4,
Section 5.2.1, Section 5.4, Section 5.5, Section 5.6.2, Section 8.2.6,
Section 10.1.2, Section 10.3.3, Section 10.3.5, Section 10.3.7,
Appendix 9.2, Appendix 12
Nov., 2004 SH (NA)-080058-G Partial corrections and additions
SAFETY INSTRUCTIONS, Section 1.4, Section 2.3, Section 2.4,
Section 4.2.1, Section 4.3.1, Section 4.5.1, Section 5.1.7,
Section 5.2.1, Section 5.2.6, Section 5.6.2, Section 6.1,
Section 9.2.19, Section 12.2.1, Section 12.4.4, Section 12.7.4,
Appendix 1.1, Appendix 9.1
Jun., 2005 SH (NA)-080058-H Partial corrections and additions
Section 5.1.2, Section 9.1.2, Section 9.2.10, Section 9.2.21,
Section 10.3.8, Section 11.4.1, Section 12.5.2, Section 12.7.1,
Section 12.7.6, Section 15.1, Section 15.2

Aug., 2006 SH (NA)-080058-I Partial corrections and additions

Section 3.4.4, Section 5.2.1, Section 14.5 to 14.7, Appendix 6.1,
INDEX
Jul., 2008 SH (NA)-080058-J Partial corrections and additions
SAFETY INSTRUCTIONS, ABOUT MANUALS, Compliance with the
EMC and Low Voltage Directives, Section 1.3, Section 2.3, 2.4,
Section 3.1, 3.4.1, Section 4.1.2, 4.2.1, 4.3.1, Section 5.1.2, 5.2.1,
5.2.4, 5.2.5, Section 6.2, Section 6.4, Section 9.2.16, 9.2.17,
Section 12.6, Section 12.7.2, Section 14.3 to14.7, Appendix 12,13

Japanese Manual Version SH-080047-P

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which
may occur as a result of using the contents noted in this manual.
© 1999 MITSUBISHI ELECTRIC CORPORATION
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 INTRODUCTION

Thank you for purchasing the Mitsubishi general-purpose programmable logic controller MELSEC-Q Series.
Always read through this manual, and fully comprehend the functions and performance of the Q Series PLC
before starting use to ensure correct usage of this product.

CONTENTS

SAFETY INSTRUCTIONS.............................................................................................................................A- 1
REVISIONS ....................................................................................................................................................A- 4
INTRODUCTION ...........................................................................................................................................A- 6
CONTENTS....................................................................................................................................................A- 6
About Manuals ..............................................................................................................................................A- 13
Using This Manual.........................................................................................................................................A- 13
Compliance with the EMC and Low Voltage Directives...............................................................................A- 14
Generic Terms and Abbreviations ................................................................................................................A- 15
Component List .............................................................................................................................................A- 16

Section 1 Product Specifications and Handling

1. Product Outline 1- 1 to 1- 22

1.1 Positioning control.................................................................................................................................... 1- 2

1.1.1 Features of QD75.............................................................................................................................. 1- 2
1.1.2 Purpose and applications of positioning control............................................................................... 1- 5
1.1.3 Mechanism of positioning control ..................................................................................................... 1- 7
1.1.4 Outline design of positioning system ................................................................................................ 1- 9
1.1.5 Communicating signals between QD75 and each module............................................................. 1- 12
1.2 Flow of system operation........................................................................................................................ 1- 15
1.2.1 Flow of all processes........................................................................................................................ 1- 15
1.2.2 Outline of starting ............................................................................................................................. 1- 18
1.2.3 Outline of stopping ........................................................................................................................... 1- 20
1.2.4 Outline of restarting .......................................................................................................................... 1- 21
1.3 Restrictions with a system using a stepping motor................................................................................ 1- 22
1.4 Function additions/modifications according to function version B......................................................... 1- 22

2. System Configuration 2- 1 to 2- 10

2.1 General image of system......................................................................................................................... 2- 2

2.2 Configuration list....................................................................................................................................... 2- 4
2.3 Applicable system .................................................................................................................................... 2- 5
2.4 How to check the function version and SERIAL No. ............................................................................. 2- 8

A-6
3. Specifications and Functions 3- 1 to 3- 24

3.1 Performance specifications...................................................................................................................... 3- 2

3.2 List of functions ....................................................................................................................................... 3- 4
3.2.1 QD75 control functions...................................................................................................................... 3- 4
3.2.2 QD75 main functions......................................................................................................................... 3- 6
3.2.3 QD75 sub functions and common functions .................................................................................... 3- 8
3.2.4 Combination of QD75 main functions and sub functions................................................................ 3- 12
3.3 Specifications of input/output signals with PLC CPU ............................................................................ 3- 14
3.3.1 List of input/output signals with PLC CPU....................................................................................... 3- 14
3.3.2 Details of input signals (QD75 PLC CPU) .................................................................................. 3- 15
3.3.3 Details of output signals (PLC CPU QD75) ................................................................................ 3- 16
3.4 Specifications of input/output interfaces with external devices ............................................................. 3- 17
3.4.1 Electrical specifications of input/output signals ............................................................................... 3- 17
3.4.2 Signal layout for external device connection connector.................................................................. 3- 19
3.4.3 List of input/output signal details...................................................................................................... 3- 20
3.4.4 Input/output interface internal circuit................................................................................................ 3- 22

4. Installation, Wiring and Maintenance of the Product 4- 1 to 4- 16

4.1 Outline of installation, wiring and maintenance....................................................................................... 4- 2

4.1.1 Installation, wiring and maintenance procedures............................................................................. 4- 2
4.1.2 Names of each part........................................................................................................................... 4- 3
4.1.3 Handling precautions ........................................................................................................................ 4- 5
4.2 Installation ................................................................................................................................................ 4- 7
4.2.1 Precautions for installation................................................................................................................ 4- 7
4.3 Wiring........................................................................................................................................................ 4- 8
4.3.1 Precautions for wiring........................................................................................................................ 4- 8
4.3.2 Wiring of the differential driver common terminal............................................................................ 4- 13
4.4 Confirming the installation and wiring..................................................................................................... 4- 14
4.4.1 Items to confirm when installation and wiring are completed ......................................................... 4- 14
4.5 Maintenance............................................................................................................................................ 4- 15
4.5.1 Precautions for maintenance ........................................................................................................... 4- 15
4.5.2 Disposal instructions ........................................................................................................................ 4- 15

5. Data Used for Positioning Control (List of buffer memory addresses) 5- 1 to 5-132

5.1 Types of data............................................................................................................................................ 5- 2

5.1.1 Parameters and data required for control......................................................................................... 5- 2
5.1.2 Setting items for positioning parameters .......................................................................................... 5- 4
5.1.3 Setting items for OPR parameters.................................................................................................... 5- 6
5.1.4 Setting items for positioning data...................................................................................................... 5- 7
5.1.5 Setting items for block start data ..................................................................................................... 5- 10
5.1.6 Setting items for condition data ....................................................................................................... 5- 11
5.1.7 Types and roles of monitor data ...................................................................................................... 5- 12
5.1.8 Types and roles of control data ....................................................................................................... 5- 16

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 5.2 List of parameters ................................................................................................................................... 5- 20
5.2.1 Basic parameters 1 .......................................................................................................................... 5- 20
5.2.2 Basic parameters 2 .......................................................................................................................... 5- 26
5.2.3 Detailed parameters 1...................................................................................................................... 5- 28
5.2.4 Detailed parameters 2...................................................................................................................... 5- 36
5.2.5 OPR basic parameters..................................................................................................................... 5- 46
5.2.6 OPR detailed parameters ................................................................................................................ 5- 54
5.3 List of positioning data ............................................................................................................................ 5- 58
5.4 List of block start data ............................................................................................................................. 5- 74
5.5 List of condition data ............................................................................................................................... 5- 80
5.6 List of monitor data.................................................................................................................................. 5- 86
5.6.1 System monitor data ........................................................................................................................ 5- 86
5.6.2 Axis monitor data.............................................................................................................................. 5- 96
5.7 List of control data.................................................................................................................................. 5-110
5.7.1 System control data ........................................................................................................................ 5-110
5.7.2 Axis control data.............................................................................................................................. 5-112

6. Sequence Program Used for Positioning Control 6- 1 to 6- 44

6.1 Precautions for creating program ............................................................................................................ 6- 2

6.2 List of devices used.................................................................................................................................. 6- 5
6.3 Creating a program ................................................................................................................................. 6- 11
6.3.1 General configuration of program.................................................................................................... 6- 11
6.3.2 Positioning control operation program............................................................................................. 6- 12
6.4 Positioning program examples ............................................................................................................... 6- 15
6.5 Program details ....................................................................................................................................... 6- 24
6.5.1 Initialization program ........................................................................................................................ 6- 24
6.5.2 Start details setting program ............................................................................................................ 6- 25
6.5.3 Start program.................................................................................................................................... 6- 27
6.5.4 Continuous operation interrupt program.......................................................................................... 6- 37
6.5.5 Restart program ............................................................................................................................... 6- 39
6.5.6 Stop program.................................................................................................................................... 6- 42

7. Memory Configuration and Data Process 7- 1 to 7- 12

7.1 Configuration and roles of QD75 memory .............................................................................................. 7- 2

7.1.1 Configuration and roles of QD75 memory........................................................................................ 7- 2
7.1.2 Buffer memory area configuration .................................................................................................... 7- 5
7.2 Data transmission process ...................................................................................................................... 7- 6

A-8
Section 2 Control Details and Setting

8. OPR Control 8- 1 to 8- 22

8.1 Outline of OPR control ............................................................................................................................. 8- 2

8.1.1 Two types of OPR control ................................................................................................................. 8- 2
8.2 Machine OPR ........................................................................................................................................... 8- 4
8.2.1 Outline of the machine OPR operation............................................................................................. 8- 4
8.2.2 Machine OPR method....................................................................................................................... 8- 5
8.2.3 OPR method (1): Near-point dog method ........................................................................................ 8- 6
8.2.4 OPR method (2): Stopper method 1) ............................................................................................... 8- 8
8.2.5 OPR method (3): Stopper method 2) .............................................................................................. 8- 11
8.2.6 OPR method (4): Stopper method 3) .............................................................................................. 8- 14
8.2.7 OPR method (5): Count method 1) ................................................................................................. 8- 16
8.2.8 OPR method (6): Count method 2) ................................................................................................. 8- 18
8.3 Fast OPR................................................................................................................................................. 8- 20
8.3.1 Outline of the fast OPR operation.................................................................................................... 8- 20

9. Major Positioning Control 9- 1 to 9-114

9.1 Outline of major positioning controls ....................................................................................................... 9- 2

9.1.1 Data required for major positioning control ...................................................................................... 9- 4
9.1.2 Operation patterns of major positioning controls ............................................................................. 9- 5
9.1.3 Designating the positioning address................................................................................................ 9- 15
9.1.4 Confirming the current value............................................................................................................ 9- 16
9.1.5 Control unit "degree" handling ......................................................................................................... 9- 18
9.1.6 Interpolation control.......................................................................................................................... 9- 21
9.2 Setting the positioning data ................................................................................................................... 9- 25
9.2.1 Relation between each control and positioning data ...................................................................... 9- 25
9.2.2 1-axis linear control .......................................................................................................................... 9- 27
9.2.3 2-axis linear interpolation control ..................................................................................................... 9- 29
9.2.4 3-axis linear interpolation control ..................................................................................................... 9- 33
9.2.5 4-axis linear interpolation control ..................................................................................................... 9 -39
9.2.6 1-axis fixed-feed control ................................................................................................................... 9- 43
9.2.7 2-axis fixed-feed control (interpolation) ........................................................................................... 9- 45
9.2.8 3-axis fixed-feed control (interpolation) ........................................................................................... 9- 47
9.2.9 4-axis fixed-feed control (interpolation) .......................................................................................... 9- 51
9.2.10 2-axis circular interpolation control with sub point designation .................................................... 9- 53
9.2.11 2-axis circular interpolation control with center point designation ................................................ 9- 59
9.2.12 1-axis speed control ....................................................................................................................... 9- 67
9.2.13 2-axis speed control ....................................................................................................................... 9- 70
9.2.14 3-axis speed control ....................................................................................................................... 9- 73
9.2.15 4-axis speed control ....................................................................................................................... 9- 77
9.2.16 Speed-position switching control (INC mode)............................................................................... 9- 82
9.2.17 Speed-position switching control (ABS mode).............................................................................. 9- 90
9.2.18 Position-speed switching control ................................................................................................... 9- 98
9.2.19 Current value changing................................................................................................................. 9-105
A-9
 9.2.20 NOP instruction ............................................................................................................................. 9-110
9.2.21 JUMP instruction ........................................................................................................................... 9-111
9.2.22 LOOP............................................................................................................................................. 9-113
9.2.23 LEND ............................................................................................................................................. 9-114

10. High-Level Positioning Control 10- 1 to 10- 26

10.1 Outline of high-level positioning control............................................................................................... 10- 2

10.1.1 Data required for high-level positioning control............................................................................ 10- 3
10.1.2 " Block start data" and "condition data" configuration .................................................................. 10- 4
10.2 High-level positioning control execution procedure ........................................................................... 10- 6
10.3 Setting the block start data .................................................................................................................. 10- 7
10.3.1 Relation between various controls and block start data .............................................................. 10- 7
10.3.2 Block start (normal start) .............................................................................................................. 10- 8
10.3.3 Condition start .............................................................................................................................. 10- 10
10.3.4 Wait start....................................................................................................................................... 10- 11
10.3.5 Simultaneous start ...................................................................................................................... 10- 12
10.3.6 Repeated start (FOR loop) ......................................................................................................... 10- 13
10.3.7 Repeated start (FOR condition) .................................................................................................. 10- 14
10.3.8 Restrictions when using the NEXT start...................................................................................... 10- 15
10.4 Setting the condition data ................................................................................................................... 10- 16
10.4.1 Relation between various controls and the condition data ......................................................... 10- 16
10.4.2 Condition data setting examples ................................................................................................. 10- 19
10.5 Multiple axes simultaneous start control ............................................................................................ 10- 20
10.6 Start program for high-level positioning control ................................................................................. 10- 23
10.6.1 Starting high-level positioning control.......................................................................................... 10- 23
10.6.2 Example of a start program for high-level positioning control .................................................... 10- 24

11. Manual Control 11- 1 to 11- 36

11.1 Outline of manual control .................................................................................................................... 11- 2

11.1.1 Three manual control methods..................................................................................................... 11- 2
11.2 JOG operation...................................................................................................................................... 11- 4
11.2.1 Outline of JOG operation .............................................................................................................. 11- 4
11.2.2 JOG operation execution procedure ............................................................................................ 11- 7
11.2.3 Setting the required parameters for JOG operation..................................................................... 11- 8
11.2.4 Creating start programs for JOG operation................................................................................. 11- 10
11.2.5 JOG operation example ............................................................................................................... 11- 13
11.3 Inching operation................................................................................................................................. 11- 17
11.3.1 Outline of inching operation ......................................................................................................... 11- 17
11.3.2 Inching operation execution procedure ....................................................................................... 11- 20
11.3.3 Setting the required parameters for inching operation................................................................ 11- 21
11.3.4 Creating a program to enable/disable the inching operation...................................................... 11- 22
11.3.5 Inching operation example........................................................................................................... 11- 25
11.4 Manual pulse generator operation...................................................................................................... 11- 27
11.4.1 Outline of manual pulse generator operation.............................................................................. 11- 27
11.4.2 Manual pulse generator operation execution procedure ............................................................ 11- 31
11.4.3 Setting the required parameters for manual pulse generator operation .................................... 11- 32

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 11.4.4 Creating a program to enable/disable the manual pulse generator operation .......................... 11- 33

12. Control Sub Functions 12- 1 to 12- 98

12.1 Outline of sub functions ....................................................................................................................... 12- 2

12.1.1 Outline of sub functions ................................................................................................................ 12- 2
12.2 Sub functions specifically for machine OPR ....................................................................................... 12- 4
12.2.1 OPR retry function......................................................................................................................... 12- 4
12.2.2 OP shift function ........................................................................................................................... 12- 8
12.3 Functions for compensating the control ............................................................................................. 12- 11
12.3.1 Backlash compensation function ................................................................................................. 12- 11
12.3.2 Electronic gear function ............................................................................................................... 12- 13
12.3.3 Near pass function ....................................................................................................................... 12- 18
12.4 Functions to limit the control ............................................................................................................... 12- 21
12.4.1 Speed limit function...................................................................................................................... 12- 21
12.4.2 Torque limit function..................................................................................................................... 12- 23
12.4.3 Software stroke limit function....................................................................................................... 12- 26
12.4.4 Hardware stroke limit function ..................................................................................................... 12- 32
12.5 Functions to change the control details.............................................................................................. 12- 34
12.5.1 Speed change function ................................................................................................................ 12- 34
12.5.2 Override function .......................................................................................................................... 12- 41
12.5.3 Acceleration/deceleration time change function ......................................................................... 12- 44
12.5.4 Torque change function ............................................................................................................... 12- 48
12.6 Absolute position restoration function ................................................................................................ 12- 50
12.7 Other functions .................................................................................................................................... 12- 58
12.7.1 Step function................................................................................................................................. 12- 58
12.7.2 Skip function ................................................................................................................................. 12- 63
12.7.3 M code output function................................................................................................................. 12- 66
12.7.4 Teaching function......................................................................................................................... 12- 70
12.7.5 Target position change function .................................................................................................. 12- 77
12.7.6 Command in-position function ..................................................................................................... 12- 81
12.7.7 Acceleration/deceleration processing function............................................................................ 12- 84
12.7.8 Pre-reading start function............................................................................................................. 12- 87
12.7.9 Deceleration start flag function .................................................................................................... 12- 92
12.7.10 Stop command processing for deceleration stop function........................................................ 12- 96

13. Common Functions 13- 1 to 13- 8

13.1 Outline of common functions ............................................................................................................... 13- 2

13.2 Parameter initialization function........................................................................................................... 13- 3
13.3 Execution data backup function .......................................................................................................... 13- 5
13.4 External I/O signal logic switching function ......................................................................................... 13- 7
13.5 External I/O signal monitor function .................................................................................................... 13- 8

14. Dedicated instructions 14- 1 to 14- 22

14.1 List of dedicated instructions ............................................................................................................... 14- 2

14.2 Interlock during dedicated instruction is executed .............................................................................. 14- 2
14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4................................................................................. 14- 3
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 14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4........................................................................ 14- 8
14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4 ..................................................................... 14- 12
14.6 ZP.PFWRT .......................................................................................................................................... 14- 16
14.7 ZP.PINIT.............................................................................................................................................. 14- 20

15. Troubleshooting 15- 1 to 15- 38

15.1 Error and warning details ..................................................................................................................... 15- 2

15.2 List of errors ......................................................................................................................................... 15- 6
15.3 List of warnings ................................................................................................................................... 15- 32
15.4 LED display functions ......................................................................................................................... 15- 38

Appendices Appendix- 1 to Appendix-108

Appendix 1 Version up of the functions............................................................................................Appendix- 2

Appendix 1.1 Comparison of functions according to function versions .......................................Appendix- 2
Appendix 2 Format sheets ................................................................................................................Appendix- 4
Appendix 2.1 Positioning Module operation chart .......................................................................Appendix- 4
Appendix 2.2 Parameter setting value entry table .......................................................................Appendix- 6
Appendix 2.3 Positioning data setting value entry table ............................................................Appendix- 12
Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses...............................Appendix- 13
Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation
.......................................................................................................................................Appendix- 37
Appendix 4.1 Connection example of QD75D and MR-H A (Differential driver) ...............Appendix- 37
Appendix 4.2 Connection example of QD75D and MR-J2/J2S- A (Differential driver) .....Appendix- 38
Appendix 4.3 Connection example of QD75D and MR-C A (Differential driver) ...............Appendix- 39
Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.
.......................................................................................................................................Appendix- 40
Appendix 5.1 Connection example of QD75P and VEXTA UPD (Open collector)................Appendix- 40
Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co.,
Ltd. ................................................................................................................................Appendix- 41
Appendix 6.1 Connection example of QD75D and MINAS-A series (Differential driver)......Appendix- 41
Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.
.......................................................................................................................................Appendix- 42
Appendix 7.1 Connection example of QD75D and PYO series (Differential driver)..............Appendix- 42
Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation
.......................................................................................................................................Appendix- 43
Appendix 8.1 Connection example of QD75D and Σ- series (Differential driver) .................Appendix- 43
Appendix 9 Comparisons with conventional positioning modules..................................................Appendix- 44
Appendix 9.1 Comparisons with A1SD71S2 model....................................................................Appendix- 44
Appendix 9.2 Comparisons with A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3 models.........Appendix- 45
Appendix 10 MELSEC Explanation of positioning terms................................................................Appendix- 68
Appendix 11 Positioning control troubleshooting ............................................................................Appendix- 92
Appendix 12 List of buffer memory addresses.................................................................................Appendix-98
Appendix 13 External dimension drawing ......................................................................................Appendix-107

A - 12
About Manuals

The following manuals are also related to this product.

In necessary, order them by quoting the details in the tables below.

Related Manuals

Manual Number
Manual Name
(Model Code)
GX Configurator-QP Operating Manual
Describes how to use GX Configurator-QP for the following and other purposes: creating data SH-080172
(parameters, positioning data, etc.), sending the data to the module, monitoring the positioning (13JU19)
operations, and testing. (The manual is supplied with the software.)

Using This Manual

The symbols used in this manual are shown below.

Pr. ........ Symbol indicating positioning parameter and OPR parameter item.
Da. ....... Symbol indicating positioning data, block start data and condition
data item.
Md. ....... Symbol indicating monitor data item.
Cd. ....... Symbol indicating control data item.

(A serial No. is inserted in the mark.)

Representation of numerical values used in this manual.

Buffer memory addresses, error codes and warning codes are represented in
decimal.
X/Y devices are represented in hexadecimal.
Setting data and monitor data are represented in decimal or hexadecimal. Data
ended by "H" are represented in hexadecimal.
(Example) 10.........Decimal
10H ......Hexadecimal

A - 13
Compliance with the EMC and Low Voltage Directives

(1) For programmable controller system

To configure a system meeting the requirements of the EMC and Low Voltage
Directives when incorporating the Mitsubishi programmable controller (EMC and
Low Voltage Directives compliant) into other machinery or equipment, refer to
Chapter 9 "EMC AND LOW VOLTAGE DIRECTIVES" of the QCPU User's
Manual (Hardware Design, Maintenance and Inspection).
The CE mark, indicating compliance with the EMC and Low Voltage Directives, is
printed on the rating plate of the programmable controller.

(2) For the product

For the compliance of this product with the EMC and Low Voltage Directives,
refer to Section 4.3.1 "Precautions for wiring".

A - 14
Generic Terms and Abbreviations

Unless specially noted, the following generic terms and abbreviations are used in this
manual.

Generic term/abbreviation Details of generic term/abbreviation

PLC CPU Generic term for PLC CPU on which QD75 can be mounted.
QD75 Generic term for positioning module QD75P1, QD75P2, QD75P4, QD75D1, QD75D2, and
QD75D4.
The module type is described to indicate a specific module.
Peripheral device Generic term for DOS/V personal computer that can run the following "GX Developer" and "GX
Configurator-QP".
GX Configurator-QP Abbreviation for GX Configurator-QP (SW2D5C-QD75P-E or later).
GX Developer Abbreviation for GX Developer (SW4D5C-GPPW-E or later).
Drive unit (servo amplifier) Abbreviation for pulse input compatible drive unit (servo amplifier).
Manual pulse generator Abbreviation for manual pulse generator (prepared by user).
®
DOS/V personal computer IBM PC/AT and compatible DOS/V compliant personal computer.
Personal computer Generic term for DOS/V personal computer.
Workpiece Generic term for moving body such as workpiece and tool, and for various control targets.
Axis 1, axis 2, axis 3, Indicates each axis connected to QD75.
axis 4
1-axis, 2-axis, 3-axis, Indicates the number of axes. (Example: 2-axis = Indicates two axes such as axis 1 and axis 2,
4-axis axis 2 and axis 3, and axis 3 and axis 1.)

A - 15
Component List

The table below shows the component included in respective positioning modules:

Module name Description Quantity

QD75P1 QD75P1 Positioning Module(1-axis open collector output system) 1
QD75P2 QD75P2 Positioning Module(2-axes open collector output system) 1
QD75P4 QD75P4 Positioning Module(4-axes open collector output system) 1
QD75D1 Positioning Module(1-axis differential driver output system) 1
QD75D1
Differential driver common terminal 1
QD75D2 Positioning Module(2-axes differential driver output system) 1
QD75D2
Differential driver common terminal 1
QD75D4 Positioning Module(4-axes differential driver output system) 1
QD75D4
Differential driver common terminal 1

A - 16
 Section 1 Product Specifications and Handling

Section 1
Section 1 is configured for the following purposes (1) to (5).

(1) To understand the outline of positioning control, and the QD75 specifications
and functions
(2) To carry out actual work such as installation and wiring
(3) To set parameters and data required for positioning control
(4) To create a sequence program required for positioning control
(5) To understand the memory configuration and data transmission process
Read Section 2 for details on each control.

Chapter 1 Product outline .............................................................................................. 1- 1 to 1- 22

Chapter 2 System configuration .................................................................................... 2- 1 to 2- 10
Chapter 3 Specifications and Functions........................................................................ 3- 1 to 3- 24
Chapter 4 Installation, Wiring and Maintenance of the Product ................................... 4- 1 to 4- 16
Chapter 5 Data Used for Positioning Control ................................................................ 5- 1 to 5-132
Chapter 6 Sequence Program Used for Positioning Control........................................ 6- 1 to 6- 44
Chapter 7 Memory Configuration and Data Process .................................................... 7- 1 to 7- 12
MEMO
 1

Chapter 1 Product Outline

The purpose and outline of positioning control using QD75 are explained in this chapter.
Reading this chapter will help you understand what can be done using the positioning
system and which procedure to use for a specific purpose.

By understanding "What can be done", and "Which procedure to use" beforehand, the
positioning system can be structured smoothly.

1.1 Positioning control ........................................................................................................1- 2

1.1.1 Features of QD75 ...........................................................................................1- 2
1.1.2 Purpose and applications of positioning control ............................................1- 5
1.1.3 Mechanism of positioning control...................................................................1- 7
1.1.4 Outline design of positioning system .............................................................1- 9
1.1.5 Communicating signals between QD75 and each module ..........................1- 12
1.2 Flow of system operation ............................................................................................1- 15
1.2.1 Flow of all processes .....................................................................................1- 15
1.2.2 Outline of starting...........................................................................................1- 18
1.2.3 Outline of stopping .........................................................................................1- 20
1.2.4 Outline of restarting........................................................................................1- 21
1.3 Restrictions with a system using a stepping motor ....................................................1- 22
1.4 Function additions/modifications according to function version B .............................1- 22

1-1
1 PRODUCT OUTLINE
MELSEC-Q

1.1 Positioning control

1.1.1 Features of QD75

The features of the QD75 are shown below.

(1) Availability of one, two, and four axis modules

(a) One, two and four axis modules are available for both the open collector
system pulse output (QD75P1, QD75P2, and QD75P4) and differential
driver system pulse output (QD75D1, QD75D2, and QD75D4), comprising
six different models.
A model is determined by the drive unit type and number of axes. (Refer to
Section 2.2.)

(b) For connecting any of the QD75 modules to the base unit, a single slot and
32 dedicated I/O channels are required.
Within the limit imposed by the maximum number of inputs and outputs
supported by the PLC CPU, up to 64 modules can be used. (Refer to
Section 3.1.)

(2) Wide variety of positioning control functions

(a) A wide variety of positioning control functions essential to any positioning
system are supported: positioning to an arbitrary position, fixed-feed
control, equal-speed control, and so on. (Refer to Section 5.3 and 9.2.)
1) Up to 600 positioning data items, including such information as
positioning addresses, control systems, and operation patterns, can be
prepared for each axis.
Using the prepared positioning data, the positioning control is
performed independently for each axis. (In addition, such controls as
interpolation involving two to four axes and simultaneous startup of
multiple axes are possible.)
2) Independent control of each axis can be achieved in linear control
mode (executable simultaneously over four axes).
Such control can either be the independent positioning control using a
single positioning data or the continuous positioning control enabled by
the continuous processing of multiple positioning data.
3) Coordinated control over multiple axes can take the form of either the
linear interpolation through the speed or position control of two to four
axes or the circular interpolation involving two axes.
Such control can either be the independent positioning control using a
single positioning data or the continuous positioning control enabled by
the continuous processing of multiple positioning data.
(b) For each positioning data, the user can specify any of the following control
systems: position control, speed control, speed-position switching control,
position-speed switching control, and so on. (Refer to Section 5.3 and 9.2.)

1-2
1 PRODUCT OUTLINE
MELSEC-Q

(c) Continuous positioning control using multiple positioning data can be

executed in accordance with the operation patterns the user assigned to
the positioning data. (Refer to Section 5.3 and 9.1.2)
Continuous positioning control can be executed over multiple blocks, where
each block consists of multiple positioning data. (Refer to Section 10.3.2.)

(d) OPR control is given additional features (Refer to Section 8.2.)

1) Six different machine OPR methods are provided: near point dog
method (one method), stopper methods (three methods), and count
methods (two methods).
2) OPR retry function facilitates the machine OPR control from an
arbitrary position.
(The machine OP a premier reference position for positioning control.
The machine is set to the machine OP through one of the machine
OPR methods mentioned in 1) above.)

(e) Two acceleration/deceleration control methods are provided: automatic

trapezoidal acceleration/deceleration and S-curve
acceleration/deceleration. (Refer to Section 12.7.7.)
(The S-curve acceleration/deceleration control is disabled if stepping
motors are used. Refer to Section 1.3.)

(3) Quick startup (Refer to Section 3.1.)

A positioning operation starts up quickly taking as little as 6 ms to 7 ms.
When operation using simultaneous start function or interpolation operation is
executed, the axes start without delay.
(Example) Axis 1 and Axis 3 are started by the : No delay in Axis 1 and
simultaneous start function Axis 3 start
Axis 2 and Axis 4 are started by the : No delay in Axis 2 and
interpolation operation Axis 4 start

(4) Faster pulse output and allowance of longer distance to drive unit
(Refer to Section 3.1.)
The modules with a differential driver (QD75D1, QD75D2, and QD75D4)
incorporate the improvements in pulse output speed and maximum distance to
the drive unit.
• QD75D1/QD75D2/QD75D4: 1 Mpulse/s, 10 m max.
• QD75P1/QD75P2/QD75P4: 200 kpulse/s, 2 m max.

(5) Easy maintenance

Each QD75 positioning module incorporates the following improvements in
maintainability:
(a) Data such as the positioning data and parameters can be stored on a flash
ROM inside the QD75, eliminating the need of a battery for retaining data.
(Refer to Section 7.1.1.)
(b) Error messages are classified in more detail to facilitate the initial
troubleshooting procedure. (Refer to Section 15.1.)
(c) The module retains 16 error messages and 16 warning messages recently
output, offering more complete error and warning histories.
(Refer to Section 5.6.1.)

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1 PRODUCT OUTLINE
MELSEC-Q

(6) Support of intelligent function module dedicated instructions

Dedicated instructions such as the absolute position restoration instruction,
positioning start instruction, and teaching instruction are provided.
The use of such dedicated instruction simplifies sequence programs.(Refer to
Chapter 14.)

(7) Setups, monitoring, and testing through GX Configurator-QP

Using GX Configurator-QP, the user can control the QD75 parameters and
positioning data without having to be conscious of the buffer memory addresses.
Moreover, GX Configurator-QP has a test function which allows the user to check
the wiring before creating a sequence program for positioning control, or test
operation the QD75 using created parameters and positioning data for checking
their integrity.
The control monitor function of GX Configurator-QP allows the user to debug
programs efficiently.

1-4
1 PRODUCT OUTLINE
MELSEC-Q

1.1.2 Purpose and applications of positioning control

"Positioning" refers to moving a moving body, such as a workpiece or tool (hereinafter,

generically called "workpiece") at a designated speed, and accurately stopping it at the
target position. The main application examples are shown below.

Punch press (X, Y feed positioning)

Gear and ball screw 15m/min • To punch insulation material or leather, etc.,
320mm 160mm (2000r/min)
Y axis X axis
servomotor
Y axis as the same shape at a high yield, positioning
Y axis is carried out with the X axis and Y axis
Press 15m/min servos.
punching (1875r/min)
12 s • After positioning the table with the X axis
Press head servo, the press head is positioned with the Y
X axis
Gear and rack & pinion axis servo, and is then punched with the
X axis
PLC
press.
Servo servomotor
amplifier MELSEC-Q • When the material type or shape changes, the
QD75
AD75
press head die is changed, and the positioning
Servo pattern is changed.
amplifier
X axis
Y axis

Palletizer
Conveyor control • Using the servo for one axis, the palletizer is
Conveyor positioned at a high accuracy.
Servomotor • The amount to lower the palletizer according to
(with brakes)
the material thickness is saved.
Position detector
G
Reduction
Servo amplifier gears Palletizer
Ball screw Unloader control
(From QD75)

PLC
MELSEC-Q
Teaching unit
QD75
AD75TU

AD75

Compact machining center (ATC magazine positioning)

• The ATC tool magazine for a compact
Servomotor
machining center is positioned.
Coupling Reduction • The relation of the magazine's current value
gears
ATC tool and target value is calculated, and positioning
magazine
is carried out with forward run or reverse run to
Servo achieve the shortest access time.
amplifier
Positioning
pin Tool
QD75
(12 pcs., 20 pcs.)
Rotation direction Rotation direction
for calling for calling
PLC 11, 12, 1, 2 or 3 17 to 20, 1 to 5
MELSEC-Q
Current Current
AD75 value value
retrieval retrieval
position position
Rotation direction Rotation direction
for calling 5, 6, 7, 8, 9 or 10 for calling 7 to 16

<No. of tools: 12> <No. of tools: 20>

1-5
1 PRODUCT OUTLINE
MELSEC-Q

Lifter (Storage of Braun tubes onto aging rack)

Unloader • During the aging process of braun tubes,
Loader/unloader storage onto the rack is carried out by
positioning with the AC servo.
B conveyor • The up/down positioning of the lifter is carried
Aging rack
out with the 1-axis servo, and the horizontal
Lifter C position of the aging rack is positioned with the
conveyor
Counter- A conveyor Servo amplifier
2-axis servo.
weight
G2
Reduction
gears Loader Positioning module
G1 Servomotor QD75
Servomotor
(with brakes)
Servo amplifier PLC MELSEC-Q

Index table (High-accuracy indexing of angle)

• The index table is positioned at a high accuracy
AD75
QD75
PLC using the 1-axis servo.
MELSEC-Q

Digital switch
Servo
amplifier

Index table

Detector
Worm gears Servomotor

Inner surface grinder

Servomotor • The grinding of the workpiece's inner surface
Motor
1M Workpiece is controlled with the servo and inverter.
G Grinding stone
Inverter Motor • The rotation of the workpiece is controlled with
G 1M the 1-axis inverter, and the rotation of the
Servo grinding stone is controlled with the 2-axis
amplifier Inverter inverter. The workpiece is fed and ground with
Fix the grinding the 3-axis servo.
220VAC stone, feed the
60Hz workpiece, and grind.
PLC Operation panel
MELSEC-Q a. Total feed d. Rough grind-
a d amount (mm) ing speed (mm/s)
b. Finishing e. Fine grinding
b e feed amount (mm) speed (mm/s)
c c. Compensation
amount (mm)
QD75

1-6
1 PRODUCT OUTLINE
MELSEC-Q

1.1.3 Mechanism of positioning control

Positioning control using the QD75 is carried out with "pulse signals". (The QD75 is a
module that generates pulses). In the positioning system using the QD75, various
software and devices are used for the following roles. The QD75 realizes complicated
positioning control when it reads in various signals, parameters and data and is
controlled with the PLC CPU.

Stores the created program.

The QD75 outputs the start signal and
Creates control order and stop signal following the stored program.
conditions as a sequence
program. QD75 errors, etc., are detected.

GX Developer PLC CPU

Outputs signals such as the start
signal, stop signal, limit signal and
control changeover signal to the QD75.

External signal Issues commands by

GX transmitting pulses.
QD75 positioning
Configurator
module Manual pulse
-QP
generator

Sets the parameters and

positioning data for control. Stores the parameter and data.
Outputs the start command for Outputs pulses to the servo according to the
JOG operation, etc., during test instructions from the PLC CPU, GX Configurator-QP,
operation with the test mode. external signals and manual pulse generator.
Servo
Monitors the positioning operation. amplifier
Receives pulse commands from QD75, and
drives the motor.
Outputs the drive unit READY signal and
zero signal to the QD75.

Motor

Carries out the actual work according to commands

from the servo.

Workpiece

1-7
1 PRODUCT OUTLINE
MELSEC-Q

The principle of "position control" and "speed control" operation is shown below.

Position control
The total No. of pulses required to move the designated distance is obtained in the
following manner.

Total No. of pulses Designated distance No. of pulses

required to move = Movement amount of machine (load) required for motor to
designated distance side when motor rotates once rotate once

The No. of pulses required for the motor to rotate once is the "encoder resolution"
described in the motor catalog specification list.

When this total No. of pulses is issued from the QD75 to the servo amplifier, control to
move the designated distance can be executed.
The machine side movement amount when one pulse is issued to the servo amplifier is
called the "movement amount per pulse". This value is the min. value for the workpiece
to move, and is also the electrical positioning precision.

Speed control
The "Total No. of pulses" mentioned above is invariably required for controlling the
distance. For positioning or speed control, the speed must be controlled as well.
The speed is determined by the frequency of pulses sent from the QD75 to the drive
unit.

Pulse frequency
[pps] This area is the total
No. of commanded
pulses.
Positioning Servo Servo A
module amplifier motor
Detector
(Pulse
encoder)

Speed = Pulses frequency Feedback pulses ta td (s)

Movement amount = No.of pulses
Feedback pulses = 0.4 1.2 0.4
Pulses generated by detector
Movement amount t = 2

Fig. 1.1 Relationship between position control and speed control

POINT
The QD75 controls the position with the "total No. of pulses", and the speed with
the "pulse frequency".

1-8
1 PRODUCT OUTLINE
MELSEC-Q

1.1.4 Outline design of positioning system

The outline of the positioning system operation and design, using the QD75, is shown
below.

(1) Positioning system using QD75

PLC CPU Positioning module Drive unit Servomotor

QD75 Forward run
pulse train Speed
command
Devia- D/A Servo M
Read, write, etc. tion converter amplifier
Program
Reverse run counter
pulse train
Setting data
Interface
Peripheral
devices Read, write, etc.
interface PLG
Feedback pulse

Read, write, etc.

GX Configurator-QP

Fig. 1.2 Outline of the operation of positioning system using QD75

(a) Positioning operation by the QD75

1) The QD75 output is a pulse train.
The pulse train output by the QD75 is counted by and stored in the
deviation counter in the drive unit.
The D/A converter outputs an analog DC current proportionate to the
count maintained by the deviation counter (called "pulse droop"). The
analog DC current serves as the servomotor speed control signal.
2) The motor rotation is controlled by the speed control signal from the
drive unit.
As the motor rotates, the pulse encoder (PLG) attached to the motor
generates feedback pulses, the frequency of which is proportionate to
the rotation speed.
The feedback pulses are fed back to the drive unit and decrements the
pulse droop, the pulse count maintained by the deviation counter.
The motor keeps on rotating as the pulse droop is maintained at a
certain level.
3) When the QD75 terminates the output of a pulse train, the motor
decelerates as the pulse droop decreases and stops when the count
drops to zero.
Thus, the motor rotation speed is proportionate to the pulse frequency,
while the overall motor rotation angle is proportionate to the total
number of pulses output by the QD75.
Therefore, when a movement amount per pulse is given, the overall
movement amount can be determined by the number of pulses in the
pulse train.
The pulse frequency, on the other hand, determines the motor rotation
speed (feed speed).

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1 PRODUCT OUTLINE
MELSEC-Q

(b) Pulse train output from the QD75

1) As shown in Fig. 1.3, the pulse frequency increases as the motor
accelerates. The pulses are sparse when the motor starts and more
frequent when the motor speed comes close to the target speed.
2) The pulse frequency stabilizes when the motor speed equals the target
speed.
3) The QD75 decreases the pulse frequency (sparser pulses) to
decelerate the motor before it finally stops the output.
There will be a little difference in timing between the decrease in the
pulse frequency and the actual deceleration and stopping of the motor.
This difference, called "the stop settling time", is required for gaining a
stopping accuracy.

Servomotor
speed
Speed V Pulse droop
amount Pulse
distribution

Accel- Decel- Time t

eration eration

Stop
settling time

Pulse train Rough Dense Rough

Fig. 1.3 QD75 output pulses

(2) Movement amount and speed in a system using worm gears

A : Movement amount per pulse (mm/pulse)

Vs : Command pulse frequency (pulse/s)
V n : Pulse encoder resolution (pulse/rev)
Workpiece L : Worm gear lead (mm/rev)
Pulse encoder Worm gear
(PLG) R : Deceleration ratio
Table V : Movable section speed (mm/s)
R
L N : Motor speed (r/min)
K : Position loop gain (1/s)
Servomotor
P
P0 ε : Deviation counter droop pulse amount
P0 : OP (pulse)
P : Address (pulse)
Fig. 1.4 System using worm gears

1 - 10
1 PRODUCT OUTLINE
MELSEC-Q

(a) In the system shown in Fig. 1.4, the movement amount per pulse,
command pulse frequency, and the deviation counter droop pulse amount
are determined as follows:
1) Movement amount per pulse
The movement amount per pulse is determined by the worm gear lead,
deceleration ratio, and the pulse encoder resolution.
The movement amount, therefore, is given as follows: (Number of
pulses output) × (Movement amount per pulse).
L
A= [mm/pulse]
R× n

2) Command pulse frequency

The command pulse frequency is determined by the speed of the
moving part and movement amount per pulse:
V
Vs = [pulse/s]
A

3) Deviation counter droop pulse amount.

The deviation counter droop pulse amount is determined by the
command pulse frequency and position loop gain.
Vs
ε= [pulse]
K

(b) The QD75 allows the user to select from the following four units as the unit
used by positioning commands to any of the axes (1 to 4, if the module
supports four axes): mm, inch, degree, and pulse.
The unit selected for one axis may differ from the unit selected for another
axis.
When such data as the movement amount per pulse,
acceleration/deceleration time, positioning speed, and positioning address
are correctly set in consideration of the chosen unit, the QD75 can calculate
the number of pulses required for a movement amount to the target
positioning address and execute the positioning by outputting a pulse train
that includes the calculated number of pulses.

1 - 11
1 PRODUCT OUTLINE
MELSEC-Q

1.1.5 Communicating signals between QD75 and each module

The outline of the signal communication between the QD75 and PLC CPU, peripheral
device and drive unit, etc., is shown below.
(A peripheral device communicates with the QD75 via the PLC CPU to which it is
connected)
PLC QD75
CPU
Y0
PLC READY signal Drive unit READY signal
QD75 READY signal Upper/lower limit signal
X0 External
Syncronization flag Near-point dog signal signal
X1
Forward run JOG start signal Zero signal
Y8,YA,YC,YE
Reverse run JOG start signal Drive
Y9,YB,YD,YF unit
Execution prohibition flag
Y14,Y15,Y16,Y17
Deviation counter clear
External
Pulse train
interface

Positioning start signal Manual pulse generator A-phase

Y10,Y11,Y12,Y13 Manual pulse
Positioning complete signal Manual pulse generator B-phase generator
X14,X15,X16,X17

XC,XD,XE,XF BUSY signal Stop signal External

Start complete signal External command signal
X10,X11,X12,X13 signal
Axis stop signal
Y4,Y5,Y6,Y7

M code ON signal
X4,X5,X6,X7

Interface
with
PLC
X8,X9,XA,XB Error detection signal CPU

Data write/read

Parameter write/read
Positioning data write/read
Block start data write/read

OPR operation (test)

Peripheral JOG/Inching operation
device Positioning operation (test)
interface

Operation monitor

Peripheral
device

1 - 12
1 PRODUCT OUTLINE
MELSEC-Q

QD75 PLC CPU

The QD75 and PLC CPU communicate the following data via the base unit.
Direction
QD75 PLC CPU PLC CPU QD75
Communication
Signal related to commands such as PLC
Signal indicating QD75 state, such as
Control signal READY signal, various start signals, stop
QD75 READY signal, BUSY signal.
signals
• Parameter
• Parameter
• Positioning data
• Positioning data
Data (read/write) • Block start data
• Block start data
• Control data
• Control data
• Monitor data
Refer to Section 3.3 "Specifications of input/output signals with PLC CPU" for details.

QD75 Peripheral device

The QD75 and peripheral device communicate the following data via the PLC CPU:
Direction
QD75 Peripheral device Peripheral device QD75
Communication
• Parameter • Parameter
Data (read/write) • Positioning data • Positioning data
• Block start data • Block start data
• OPR control start command
• Positioning control start command
• JOG/Inching operation start command
Test operation –
• Teaching start command
• Manual pulse generator operation
enable/disable command
Operation monitor • Monitor data –

QD75 Drive unit

The QD75 and drive unit communicate the following data via the external device
connection connector.
Direction
QD75 Drive unit Drive unit QD75
Communication
Signals related to commands such as Signals indicating drive unit state such as
Control signal
deviation counter clear signal drive unit READY signal
Pulse train • Pulse train output –

QD75 Manual pulse generator

The QD75 and manual pulse generator communicate the following data via the
external device connection connector.
(The manual pulse generator should be connected to an external device connection
connector for axis 1 or for axes 1 and 2.)
Direction
QD75 Manual pulse generator Manual pulse generator QD75
Communication
Manual pulse generator A-phase, manual
Pulse signal –
pulse generator B-phase

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1 PRODUCT OUTLINE
MELSEC-Q

QD75 External signal

The QD75 and external signal communicate the following data via the external
device connection connector.
Direction
QD75 External signal External signal QD75
Communication
• Signals from detector such as near-point
dog signal, upper/lower limit signal, zero
Control signal – signal
• Control signals from external device such
as stop signal, external command signal

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1 PRODUCT OUTLINE
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1.2 Flow of system operation

1.2.1 Flow of all processes
The positioning control processes, using the QD75, are shown below.

GX Configurator-QP QD75 Servo, etc. PLC CPU GX Developer

1)
Design Understand the functions and performance, and determine the positioning operation method
(system design)

2)
Installation, wiring

3) 4)
Setting of the:
· Parameters Creation of sequence
· Positioning data program for operation
· Block start data
· Condition data Refer to (Note)
Preparation

5) 6)
Writing of setting data Writing of program

7) 8)
Connection confirmation
Monitoring with Monitoring and
test operation, debugging of
and debugging operation
of setting data Test operation program

9)
Operation Monitor Actual operation Monitor

(Note)
When not using
GX Configurator
-QP, carry out
10) Maintenance setting, monitoring
and debugging of
Maintenance the data in 3) with
GX Developer.

11) Disposal

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1 PRODUCT OUTLINE
MELSEC-Q

The following work is carried out with the processes shown on the previous page.
Details Reference
• Chapter 1
Understand the product functions and usage methods, the configuration devices • Chapter 2
1)
and specifications required for positioning control, and design the system. • Chapter 3
• Chapter 8 to Chapter 13
Install the QD75 onto the base unit, wire the QD75 and external connection devices
2) • Chapter 4
(drive unit, etc.).
• Chapter 5
Using GX Configurator-QP, set the parameters, positioning data, block start data • Chapter 8 to Chapter 13
3)
and condition data required for the positioning control to be executed. • GX Configurator-QP
Operating Manual
Using GX Developer, create the sequence program required for positioning • Chapter 6
4) operation. (When not using GX Configurator-QP, also create the sequence program • GX Developer Operating
for setting data.) Manual
• Chapter 7
Write the parameters and positioning data, etc., created with GX Configurator-QP
5) • GX Configurator-QP
into the QD75.
Operating Manual
Using GX Developer, write the created sequence program into the PLC CPU. • Chapter 7
6) (When not using GX Configurator-QP, also write in the sequence program for • GX Developer Operating
setting data.) Manual
• GX Configurator-QP
Carry out test operation and adjustments in the test mode to check the connection Operating Manual
with the QD75 and external connection device, and to confirm that the designated
7) • Chapter 13
positioning operation is executed correctly. (Debug the set "parameters" and
"positioning data", etc.) • GX Developer Operating
Manual
Carry out test operation and adjustment to confirm that the designated positioning
• GX Developer Operating
8) operation is executed correctly. (Debug the created sequence program. When not
using GX Configurator-QP, also debug the set data. Manual

• Chapter 5
• Chapter 15
Actually operate the positioning operation. At this time, monitor the operation state • GX Configurator-QP
9)
as required. If an error or warning occurs, remedy. Operating Manual
• GX Developer Operating
Manual
10) Service the QD75 as required. • Chapter 4
11) Dispose of the QD75. • Chapter 4

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MEMO

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1 PRODUCT OUTLINE
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1.2.2 Outline of starting

The outline for starting each control is shown with the following flowchart.
It is assumed that each module is installed, and the required system configuration,
etc., has been prepared.

Flow of starting

Installation and connection of module

Preparation
Setting of hardware

Major position-
Control High-level positioning
ing control control OPR control Manual control
functions ·Position control
·Speed control ·Block start (Normal start) ·JOG operation
·Speed-position ·Condition start ·Machine OPR control
switching control ·Wait start
·Position-speed ·Inching operation
·Simultaneous start ·Fast OPR control
switching control ·Repeated start
·Other control ·Manual pulse generator operation

Positioning
Set the positioning parameters. )
Pr.1 to Pr.42 , Pr.150 )
parameters

Set the OPR parameters.

OPR parameters
Pr.43 to Pr.57 )
)

Positioning Set the positioning data.

data )
Da.1 to Da.10 )

Set the block start

Block start data data.
Da.11 to Da.19 )
)

Set the JOG speed Set the manual pulse

Control data Set the positioning start No. )
Cd.3 )
generator enable flag to "1".
Cd.17 )
)
Cd.21 )
)
Set the positioning
starting point No. Set the inching
Cd.4 ) movement amount
)

to other than 0.
Cd.16 )
)

Set the inching

movement Set the manual pulse generator
amount to 0. 1 pulse input magnification.
Cd.16 ) Cd.20 )
) )

Input the start signal.

Method (1) Turn ON the QD75 start signal from the Operate the
PLC CPU Turn the QD75 JOG start signal
Start signal ON from the PLC CPU
manual pulse
Method (2) Issue the Z.PSTRT instruction from the PLC CPU.
generator
Method (3) Turn the QD75 external start signal ON

Control start
Operation

Control end
Stop

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1 PRODUCT OUTLINE
MELSEC-Q

Setting method

: Indicates the sequence program that must be created.

<GX Configurator-QP>

Set with GX Configurator-QP

Write
Set the parameter and data for executing main function,
and the sub functions that need to be set beforehand. QD75
<GX Developer>
Create sequence program Write
PLC CPU Write
for setting data

When set with "GX Configurator-QP",

this does not need to be created.

<GX Developer>
Create sequence program for
executing main function

Create sequence program for

outputting control signals, such
as start signal, to QD75.

Write
Operation sequence program PLC CPU

<GX Developer>

· Speed change Create a sequence

· Current value changing program for the
· Torque limit sub functions.
· Restart, etc.

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1 PRODUCT OUTLINE
MELSEC-Q

1.2.3 Outline of stopping

Each control is stopped in the following cases.

(1) When each control is completed normally.

(2) When the drive unit READY signal is turned OFF.
(3) When a PLC CPU error occurs
(4) When the PLC READY signal is turned OFF.
(5) When an error occurs in the QD75.
(6) When control is intentionally stopped (Stop signal from PLC CPU turned ON, stop
signal from an external device, etc.)

The outline for the stopping process in these cases is shown below. (Excluding (1) for
normal stopping.)
Axis Stop process
operation OPR control Manual control
M code status
Stop Major High-level
Stop cause ON signal after Manual
axis Machine Fast positioning positioning JOG/
after stop stopping pulse
OPR OPR control control Inching
generator
( Md.26 ) control control operation
operation
Drive unit
Each No During Deceleration
Forced stop READY Immediate stop
axis change error stop
signal OFF
Hardware
Deceleration stop/sudden stop
stroke limit Deceleration
Fatal stop Each No During
upper/lower (Select with “ Pr.37 Sudden stop group1
(Stop group 1) axis change error stop
limit error
sudden stop selection” )
occurrence
PLC CPU
No
error
change Deceleration stop/sudden stop
Emergency occurrence
All During Deceleration
stop PLC READY Turns (Select with “ Pr.38 Sudden stop group2
axes error stop
(Stop group 2) signal OFF OFF sudden stop selection” )
Error in test No
mode change
Axis error
detection
(Error other
Relatively safe than stop
stop group 1 or 2) Each No During
axis change error
(Stop group 3) “Stop signal”
from
peripheral Deceleration stop/sudden stop
Deceleration
device (Select with “ Pr.39 Sudden stop group3
stop
"Stop signal" sudden stop selection”)
ON from
external When
Intentional stop source Each No stopped
(Stop group 3) "Axis stop axis change (While
signal" ON waiting)
from PLC
CPU

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1 PRODUCT OUTLINE
MELSEC-Q

1.2.4 Outline of restarting

When a stop cause has occurred during operation with position control causing the
axis to stop, positioning to the end point of the positioning data can be restarted from
the stopped position by using the " Cd.6 Restart command".
If issued during a continuous positioning or continuous path control operation, the
restart command will cause the positioning to be re-executed using the
current position (pointed by the positioning data No. associated with the
moment when the movement was interrupted) as the start point.

When " Cd.6 Restart command" is ON

(1) If the " Md.26 Axis operation status" is stopped, positioning to the end point of
the positioning data will be restarted from the stopped position regardless of
the absolute system or incremental system.
(2) When " Md.26 Axis operation status" is not stopped, the warning "Restart not
possible" (warning code: 104) will be applied, and the restart command will be
ignored.

[Example for incremental system]

(a) The restart operation when the axis 1 movement amount is 300, and the
axis 2 movement amount is 600 is shown below.
Axis 1 Axis 1

Stop position due to stop cause Stop position due to stop cause
400 Designated end 400 Stop position
Start point Restart
point position after restart
address
200 200 Operation during
100 100 restart

Axis 2 Axis 2
100 300 700 100 300 700

Reference
If the positioning start signal [Y10 to Y13]/external command signal is turned ON
while the " Md.26 Axis operation status" is waiting or stopped, positioning will be
restarted from the start of the positioning start data regardless of the absolute
system or incremental system. ( : When the external command signal is set to
"External positioning start")
(Same as normal positioning.)

[Example for incremental system]

(a) The positioning start operation when the axis 1 movement amount is 300
and the axis 2 movement amount is 600 is shown below.
Axis 1 Axis 1
Stop position due to stop cause
Stop position due to stop cause 500 Stop position
Designated end Positioning after restart
400
Start point point position start
address
200 200 Operation during
100 100 positioning start

Axis 2 Axis 2
100 300 700 100 300 900

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1 PRODUCT OUTLINE
MELSEC-Q

1.3 Restrictions with a system using a stepping motor

Note the following restrictions applicable to a system that uses a stepping motor:

(1) For the system that uses a stepping motor, executing the S-curve
acceleration/deceleration may cause step-out.
Before using the S-curve acceleration/deceleration, confirm that step-out does
not occur.

(2) Although setting the bias speed at start is required by the characteristics of the
stepping motor, the setting of the bias speed at start is disabled for circular
interpolation control.

1.4 Function additions/modifications according to function version B

POINT
When it is desired to check the following items, refer to the corresponding
explanation sections.
How to check the function version and SERIAL No. (Refer to Section 2.4)

The following function additions/modifications according to the function version B of the

QD75:
Function Outline Reference
Multiple PLC compatible function Refer to QCPU User's Manual (Multiple CPU System).
Function which starts the axis under speed control,
switches to position control at the external command
Speed-position switching control (ABS mode) Section 9.2.17
signal input, then positions the axis to a stop at the
designated address.
Pre-reading start function Function which shortens virtual start time. Section 12.7.8
Function which monitors the external I/O signal monitor
information in the module's detailed information which
External I/O signal monitor function Section 13.5
can be displayed on the system monitor of GX
Developer 1.
Function that turns ON the flag when the constant
speed status or acceleration status switches to the
Deceleration start flag function 2 Section 12.7.9
deceleration status during position control whose
operation pattern is "Positioning complete".
Function that selects a deceleration curve when a stop
Stop command processing for deceleration stop
cause occurs during deceleration stop processing to Section 12.7.10
function 3
speed 0.
1: Usable on GX Developer (SW6D5C-GPPW-E or later). For details, refer to GX Developer Operating Manual.
2: Usable with the module whose first five digits of SERIAL No. are "03042" or later.
3: Usable with the module whose first five digits of SERIAL No. are "05072" or later.

1 - 22
 2
Chapter 2 System Configuration

In this chapter, the general image of the system configuration of the positioning control
using QD75, the configuration devices, applicable CPU and the precautions of configuring
the system are explained.
Prepare the required configuration devices to match the positioning control system.

2.1 General image of system .............................................................................................2- 2

2.2 Configuration list...........................................................................................................2- 4
2.3 Applicable system.........................................................................................................2- 5
2.4 How to check the function version and SERIAL No....................................................2- 8

2-1
2 SYSTEM CONFIGURATION
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2.1 General image of system

The general image of the system, including the QD75, PLC CPU and peripheral
devices is shown below.
(The Nos. in the illustration refer to the "No." in Section 2.2 "Component list".

Extension Main base unit 2

cable

Positioning
module
1

CPU I/O
module 1 module

USB cable
Extension 5
system

RS-232 cable
4

REMARK
1 Refer to Section 2.3 "Applicable system" for the CPU modules that can be used.
2 Refer to the CPU module User's Manual for the base units that can be used.

2-2
2 SYSTEM CONFIGURATION
MELSEC-Q

Drive
Motor
unit

Manual pulse generator

7

Cable Machine system inputs (switches)

8
Near point dog
Limit switch
External command
signal
Stop signal

Peripheral device

GX Configurator
2 -QP
Personal 3
computer

SWnD5C
-QD75P-E

(For details, refer to GX Configurator

-QP Operating Manual.)

2-3
2 SYSTEM CONFIGURATION
MELSEC-Q

2.2 Configuration list

The positioning system using the QD75 is configured of the following devices.
No. Part name Type Remarks
QD75P1
QD75P2 QD75
QD75P4 No. of control axes
1 Positioning module
QD75D1 P: Open collector output system
QD75D2 D: Differential driver output system
QD75D4
SW D5C-
2 GX Configurator-QP Refer to GX Configurator-QP Operating Manual for details.
QD75P-E
DOS/V personal (Prepared by user)
3 Personal computer
computer Refer to GX Configurator-QP Operating Manual for details.
(Prepared by user)
4 RS-232 cable QC30R2 An RS-232 cable is needed for connecting the CPU module with a
personal computer (DOS/V).
For details, refer to GX Configurator-QP Operating Manual.
(Prepared by user)
A USB cable is needed for connecting the CPU module with a personal
5 USB cable –
computer (DOS/V).
For details, refer to GX Configurator-QP Operating Manual.
6 Drive unit – (Prepared by user)
Manual pulse (Prepared by user)
7 –
generator Recommended: MR-HDP01 (Mitsubishi Electric)
(Prepared by user)
Connection cable
Cables are needed to connect the QD75 with the drive unit, manual pulse
(For connecting
8 – generator, and input devices in the machine system.
between the QD75
and the drive unit) (Prepare them referring to the manuals for the connected devices and
information given in 3.4.2 of this manual.)

Specifications of recommended manual pulse generator

Item Specifications
Model name MR-HDP01
Pulse resolution 25pulse/rev (100 pulse/rev after magnification by 4)
Voltage-output (power supply voltage -1V or more),
Output method
Output current Max. 20mA
Power supply voltage 4.5 to 13.2VDC
Current consumption 60mA
Life time 100 revolutions (at 200r/min)
Radial load: Max. 19.6N
Permitted axial loads
Thrust load: Max. 9.8N
Operation temperature -10 to 60 (14 to 140 )
Weight 0.4 (0.88) [kg(lb)]
Number of max. revolution Instantaneous Max. 600r/min. normal 200r/min
Pulse signal status 2 signals: A phase, B phase, 90 phase difference
Friction torque 0.1N/m (at 20 (68 ))

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2 SYSTEM CONFIGURATION
MELSEC-Q

2.3 Applicable system

The QD75 can be used in the following system.

(1) Applicable modules and base units, and No. of modules

(a) When mounted with a CPU module
The table below shows the CPU modules and base units applicable to the
QD75 and quantities for each CPU model.
Depending on the combination with other modules or the number of
mounted modules, power supply capacity may be insufficient.
Pay attention to the power supply capacity before mounting modules, and if
the power supply capacity is insufficient, change the combination of the
modules.
*2
Applicable CPU module *1 Base unit
No. of modules
CPU type CPU model Main base unit Extension base unit
Q00JCPU Up to 8
Basic model
Q00CPU
QCPU Up to 24
Q01CPU
Q02CPU
High Q02HCPU
Performance Q06HCPU Up to 64
model QCPU Q12HCPU
Q25HCPU
Q12PHCPU
Process CPU Up to 64
Q25PHCPU
Q12PRHCPU
Redundant CPU Up to 53
Programmable Q25PRHCPU
controller CPU Q02UCPU Up to 36
Q03UDCPU
Q04UDHCPU
Q06UDHCPU
Q13UDHCPU
Universal model
Q26UDHCPU
QCPU Up to 64
Q03UDECPU
Q04UDEHCPU
Q06UDEHCPU
Q13UDEHCPU
Q26UDEHCPU
Safety CPU QS001CPU N/A
Q06CCPU-V-H01
*3
C Controller module Q06CCPU-V Up to 64
Q06CCPU-V-B
: Applicable, : N/A
1: Limited within the range of I/O points for the CPU module.
2: Can be installed to any I/O slot of a base unit.
3: Use the QD75 of function version B or later.

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2 SYSTEM CONFIGURATION
MELSEC-Q

(b) Mounting to a MELSECNET/H remote I/O station

The table below shows the network modules and base units applicable to
the QD75 and quantities for each network module model.
Depending on the combination with other modules or the number of
mounted modules, power supply capacity may be insufficient.
Pay attention to the power supply capacity before mounting modules, and if
the power supply capacity is insufficient, change the combination of the
modules.
*2
Base unit
Applicable network No. of modules
*1
Main base unit of Extension base unit of
module
remote I/O station remote I/O station
QJ72LP25-25
QJ72LP25G
Up to 64
QJ72LP25GE
QJ72BR15
: Applicable, : N/A
1: Limited within the range of I/O points for the CPU module.
2: Can be installed to any I/O slot of a base unit.

(2) Compatibility with multiple PLC system

When using the QD75 in a multiple PLC system, first refer to the QCPU (Q mode)
User's Manual (Function Explanation, Program Fundamentals).

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2 SYSTEM CONFIGURATION
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(3) Supported software packages

The following table lists the compatibility between the systems using the QD75 and
the software packages. GX Developer is required for use of the QD75.
Software version
GX Developer GX Configurator-QP
Single PLC
Version 7 or more
system
Q00J/Q00/Q01CPU
Multiple PLC
Version 8 or more
system
Version 2.10L or more
Single PLC
Version 4 or more
Q02/Q02H/Q06H/ system
Q12H/Q25HCPU Multiple PLC
Version 6 or more
system
Single PLC
system
Q02PH/Q06PHCPU Version 8.68W or more Version 2.29F or more
Multiple PLC
system
Single PLC
system
Q12PH/Q25PHCPU Version 7.10L or more Version 2.13P or more
Multiple PLC
system
Single PLC
Q02UCPU/Q03UDC
system
PU/Q04UDHCPU/ Version 8.48A or more Version 2.25B or more
Q06UDHCPU Multiple PLC
system
Q13UDH/Q26UDH/ Single PLC
Q03UDE/Q04UDEH/ system
Version 8.68W or more Version 2.29F or more
Q06UDEH/Q13UDE Multiple PLC
H/Q26UDEHCPU system
For use on MELSECNET/H remote
Version 6 or more Version 2.10L or more
I/O station

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MELSEC-Q

2.4 How to check the function version and SERIAL No.

(1) Confirming the serial number on the rating plate

The rating plate is situated on the side face of the QD75.

SERIAL No. (The first six digits)

Function version
100113

Standard symbol for conformance

is discribed

(2) Checking on the front of the module

The serial No. on the rating plate is also indicated on the front of the module
(lower part).

100113000000000-B

SERIAL No.

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2 SYSTEM CONFIGURATION
MELSEC-Q

REMARK
The serial number is displayed on the front of the module from January 2008
production. Products manufactured during switching period may not have the
serial number on the front of the module.

(3) Confirming the serial number on the system monitor (Product

Information List)
Check the function version and SERIAL No. in "Product information"
displayed on System monitor "Module's Detailed Information" of GX
*1
Developer or on "OS information" of GX Configurator-QP

<GX Developer display screen>

<GX Configurator-QP display screen>

100113000000000

SERIAL No.
Function version

1: For details, refer to GX Configurator-QP Operating Manual.

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MEMO

2 - 10
Chapter 3 Specifications and Functions
3

The various specifications of the QD75 are explained in this chapter.

The "General specifications", "Performance specifications", "List of functions",

"Specifications of input/output signals with PLC CPU", and the "Specifications of
input/output interfaces with external devices", etc., are described as information required
when designing the positioning system.
Confirm each specification before designing the positioning system.

3.1 Performance specifications ..........................................................................................3- 2

3.2 List of functions ............................................................................................................3- 4
3.2.1 QD75 control functions ...................................................................................3- 4
3.2.2 QD75 main functions ......................................................................................3- 6
3.2.3 QD75 sub functions and common functions..................................................3- 8
3.2.4 Combination of QD75 main functions and sub functions .............................3- 12
3.3 Specifications of input/output signals with PLC CPU.................................................3- 14
3.3.1 List of input/output signals with PLC CPU ....................................................3- 14
3.3.2 Details of input signals (QD75 PLC CPU) ................................................3- 15
3.3.3 Details of output signals (PLC CPU QD75)..............................................3- 16
3.4 Specifications of input/output interfaces with external devices..................................3- 17
3.4.1 Electrical specifications of input/output signals.............................................3- 17
3.4.2 Signal layout for external device connection connector ...............................3- 19
3.4.3 List of input/output signal details ...................................................................3- 20
3.4.4 Input/output interface internal circuit .............................................................3- 22

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3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q

3.1 Performance specifications

Model QD75P1 1 QD75P2 1 QD75P4 1

Item QD75D1 QD75D2 QD75D4
No. of control axes 1 axis 2 axes 4 axes
2-, 3-, or 4-axis linear
2-axis linear interpolation
Interpolation function None interpolation
2-axis circular interpolation
2-axis circular interpolation
PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speed-
Control system
position switching control, position-speed switching control
Control unit mm, inch, degree, pulse
600 data (positioning data Nos. 1 to 600)/axis
Positioning data
(Can be set with peripheral device or sequence program.)
Parameters, positioning data, and block start data can be saved on flash ROM
Backup
(battery-less backup)
PTP control: Incremental system/absolute system
Speed-position switching control: Incremental system/absolute system 2
Positioning system
Position-speed switching control: Incremental system
Path control: Incremental system/absolute system
In absolute system
• –214748364.8 to 214748364.7 (µm)
• –21474.83648 to 21474.83647 (inch)
• 0 to 359.99999 (degree)
• –2147483648 to 2147483647 (pulse)
In incremental system
• –214748364.8 to 214748364.7 (µm)
• –21474.83648 to 21474.83647 (inch)
Positioning range • –21474.83648 to 21474.83647 (degree)
• –2147483648 to 2147483647 (pulse)
In speed-position switching control (INC mode) / position-speed switching control
Positioning • 0 to 214748364.7 (µm)
• 0 to 21474.83647 (inch)
• 0 to 21474.83647 (degree)
• 0 to 2147483647 (pulse)
In speed-position switching control (ABS mode)
• 0 to 359.99999 (degree)
0.01 to 20000000.00 (mm/min)
0.001 to 2000000.000 (inch/min)
Speed command
0.001 to 2000000.000 (degree/min)
1 to 1000000 (pulse/s)
Acceleration/
Automatic trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
deceleration process
Acceleration/ 1 to 8388608 (ms)
deceleration time Four patterns can be set for each of acceleration time and deceleration time
Sudden stop
1 to 8388608 (ms)
deceleration time
1: QD75P represents the open collector output system, and QD75D represents the differential driver output system.
2: In speed-position switching control (ABS mode), the control unit available is "degree" only. (For details, refer to Section 9.2.17 "Speed-
position switching control (ABS mode)".

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3 SPECIFICATIONS AND FUNCTIONS
MELSEC-Q

Model QD75P1 1 QD75P2 1 QD75P4 1

Item QD75D1 QD75D2 QD75D4
1-axis linear control 6 Factors in starting time extension
1-axis speed control 6 The following times will be added to
2-axis linear interpolation control (Composite speed) 7 the starting time in the described
2-axis linear interpolation control (Reference axis speed) 7 conditions:
2-axis circular interpolation control 7 • S-curve acceleration/
2-axis speed control 6 deceleration is selected: 0.5
Starting time (ms) 3
• Other axis is in
3-axis linear interpolation control (Composite speed) 7
operation: 1.5
3-axis linear interpolation control (Reference axis speed) 7
• During continuous
3-axis speed control 6
positioning control: 0.2
4-axis linear interpolation control 7 • During continuous path
4-axis speed control 7 control: 1.0
External wiring connection system 40-pin connector
Applicable wire size 0.3 mm2 (AWG#22)or less (for A6CON1 or A6CON4), AWG #24 (for A6CON2)
Applicable connector for external
A6CON1, A6CON2, A6CON4 (sold separately)
device
QD75P1, QD75P2, QD75P4 : 200kpps
Max. output pulse
QD75D1, QD75D2, QD75D4 : 1Mpps
Max. connection distance between QD75P1, QD75P2, QD75P4 : 2m
servos QD75D1, QD75D2, QD75D4 : 10m
Internal current consumption QD75P1 : 0.40A QD75P2 : 0.46A QD75P4 : 0.58A
(5VDC) QD75D1 : 0.52A QD75D2 : 0.56A QD75D4 : 0.82A
Flash ROM write count Max. 100000 times
No. of occupied I/O points 32 points (I/O assignment: 32 points for intelligent function module)
Outline dimensions 98 (H) × 27.4 (W) × 90 (D) mm
Weight 0.15 kg 0.15 kg 0.16 kg
1: QD75P represents the open collector output system, and QD75D represents the differential driver output system.
3: Using the "Pre-reading start function", the virtual start time can be shortened. (For details, refer to Section 12.7.8 "Pre-reading start
function".

Differential driver common terminal specifications(QD75D1, QD75D2,

QD75D4 only)
Applicable wire size 12AWG
2
Rated multiple wire Solid wire: 0.2 to 0.8 mm 2 pcs.
connection size Stranded wire: 0.2 to 0.8 mm
2
2 pcs.
Screw tightening torque 0.5N • m

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3.2 List of functions

3.2.1 QD75 control functions

The QD75 has several functions. In this manual, the QD75 functions are categorized
and explained as follows.

Main functions
(1) OPR control
"OPR control" is a function that established the start point for carrying out
positioning control, and carries out positioning toward that start point. This is
used to return a workpiece, located at a position other than the OP when the
power is turned ON or after positioning stop, to the OP. The "OPR control" is
preregistered in the QD75 as the "Positioning start data No. 9001 (Machine
OPR)", and "Positioning start data No. 9002 (Fast OPR). (Refer to Chapter 8
"OPR Control".)
(2) Major positioning control
This control is carried out using the "Positioning data" stored in the QD75.
Positioning control, such as position control and speed control, is executed by
setting the required items in this "positioning data" and starting that positioning
data. An "operation pattern" can be set in this "positioning data", and with this
whether to carry out control with continuous positioning data (ex.: positioning
data No. 1, No. 2, No. 3, ...) can be set. (Refer to Chapter 9 "Major Positioning
Control".)
(3) High-level positioning control
This control executes the "positioning data" stored in the QD75 using the
"block start data". The following types of applied positioning control can be
carried out.
• Random blocks, handling several continuing positioning data items as
"blocks", can be executed in the designated order.
• "Condition judgment" can be added to position control and speed control.
• The operation of the designated positioning data No. that is set for multiple
axes can be started simultaneously. (Pulses are output simultaneously to
multiple servos.)
• The designated positioning data can be executed repeatedly, etc.,
(Refer to Chapter 10 "High-level Positioning Control".)
(4) Manual control
By inputting a signal into the QD75 from an external source, the QD75 will
output a random pulse train and carry out control. Use this manual control to
move the workpiece to a random position (JOG operation), and to finely adjust
the positioning (inching operation, manual pulse generator operation), etc.
(Refer to Chapter 11 "Manual Control".)

Sub functions
When executing the main functions, control compensation, limits and functions can
be added. (Refer to Chapter 12 "Control Sub Functions".)

Common functions
Common control using the QD75 for "parameter initialization" or "backup of
execution data" can be carried out. (Refer to Chapter 13 "Common Functions".)

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Main functions Sub functions

OPR control Control registered in QD75

(Functions characteristic to
[Positioning start No.] machine OPR)
OPR retry function
[9001] Machine OPR
OP shift function
[9002] Fast OPR
<Functions that compensate
control>
Backlash compensation function
Electronic gear function
Major positioning control Control using "Positioning data"
Near pass function
<Control system> <Operation
pattern> <Functions that limit control>
·1-axis linear control
·2-, 3-, or 4-axis linear Speed limit function
interpolation control Independent
·1-axis fixed-feed positioning control Torque limit function
Position control control (Positioning complete) Software stroke limit function
·2-, 3-, or 4-axis fixed-feed
control Continuous Hardware stroke limit function
·2-axis circular interpolation positioning control
control <Functions that change
·1-axis linear control Continuous path
·2-axis linear interpolation control
control details>
Speed control control
·3-axis linear interpolation control Speed change function
·4-axis linear interpolation control
Speed-position switching control
Override function
Position-speed switching control Acceleration/deceleration
·Current value changing,
time change function
Other control
NOP instruction Torque change function
·JUMP instruction,
LOOP to LEND
<Absolute position restoration
function>

Control using "positioning data" <Other functions>

High-level positioning control + "Block start data" Step function
Block start (Normal start) Skip function
Condition start Continuous operation
Wait start interrupt function
Simultaneous start
Major positioning M code output function
[Block start data] Repeated start
control (FOR loop) Teaching function
[Positioning start No.] Repeated start Target position change
(FOR condition)
[9004] Multiple axes function
simultaneous start Command in-position
control
function
Acceleration/deceleration
processing function
Manual control Control with signals input from external source
Pre-reading start function
[Positioning start signal] Deceleration start flag
function
JOG start signal ON JOG operation, Inching operation
Stop command processing
Pulse input from manual for deceleration stop function
Manual pulse generator
pulse generator operation

Common functions

Parameter initialization function Execution data backup function External I/O logic switching function
External I/O signal monitor function

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3.2.2 QD75 main functions

The outline of the main functions for positioning control with the QD75 is described
below. (Refer to Section 2 for details on each function.)
Reference
Main functions Details
section
Mechanically establishes the positioning start point using
Machine OPR control 8.2
OPR control

a near-point dog or stopper. (Positioning start No. 9001)

Positions a target to the OP address ( Md.21 Machine
Fast OPR control feed value) stored in the QD75 using machine OPR. 8.3
(Positioning start No. 9002)
Linear control
9.2.2
(1-axis linear control) Positions a target using a linear path to the address set in 9.2.3
(2-axis linear interpolation control) the positioning data or to the position designated with the
movement amount. 9.2.4
(3-axis linear interpolation control)
9.2.5
(4-axis linear interpolation control)
Positions a target by the movement amount designated
Fixed-feed control with the amount set in the positioning data.
Position 9.2.6
control (1-axis fixed-feed control) (With fixed-feed control, the " Md.20 Current feed value" 9.2.7
(2-axis fixed-feed control)
is set to "0" when the control is started. With 9.2.8
(3-axis fixed-feed control)
2-, 3-, or 4-axis fixed-feed control, the fixed-feed is fed 9.2.9
(4-axis fixed-feed control)
along a linear path obtained by interpolation.)
Positions a target using an arc path to the address set in 9.2.10
2-axis circular interpolation control the positioning data, or to the position designated with the
movement amount, sub point or center point. 9.2.11
Linear control
9.2.12
(1-axis linear control)
Speed Continuously outputs the pulses corresponding to the 9.2.13
(2-axis linear interpolation control)
control command speed set in the positioning data. 9.2.14
Major positioning control

(3-axis linear interpolation control)

9.2.15
(4-axis linear interpolation control)
First, carries out speed control, and then carries out
position control (positioning with designated address or 9.2.16
Speed-position switching control
movement amount) by turning the "speed-position 9.2.17
switching signal" ON.
First, carries out position control, and then carries out
speed control (continuous output of the pulses
Position-speed switching control 9.2.18
corresponding to the designated command speed) by
turning the "position-speed switching signal" ON.
Changes the Current feed value ( Md.20 ) to the address
set in the positioning data.
The following two methods can be used.
Current value changing (The machine feed value cannot be changed.) 9.2.19
• Current value changing using positioning data
• Current value changing using current value changing
Other start No. (No. 9003)
control No execution control system. When NOP instruction is
NOP instruction set, this instruction is not executed and the operation of 9.2.20
the next data is started.
Unconditionally or conditionally jumps to designated
JUMP instruction 9.2.21
positioning data No.
LOOP Carries out loop control with repeated LOOP to LEND. 9.2.22
Returns to the beginning of the loop control with repeated
LEND 9.2.23
LOOP to LEND.

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Reference
Main functions Details
section
With one start, executes the positioning data in a random block
Block start (Normal start) 10.3.2
with the set order.
Carries out condition judgment set in the "condition data" for
the designated positioning data, and then executes the "block
start data".
Condition start 10.3.3
When the condition is established, the "block start data" is
executed. When not established, that "block start data" is
ignored, and the next point's "block start data" is executed.
Carries out condition judgment set in the "condition data" for
High-level positioning control

the designated positioning data, and then executes the "block

start data".
Wait start 10.3.4
When the condition is established, the "block start data" is
executed. When not established, stops the control until the
condition is established. (Waits.)
Simultaneously executes the positioning data having the No.
Simultaneous start for the axis designated with the "condition data". (Outputs 10.3.5
pulses at the same timing.)
Repeats the program from the block start data set with the
Repeated start (FOR loop) "FOR loop" to the block start data set in "NEXT" for the 10.3.6
designated No. of times.
Repeats the program from the block start data set with the
Repeated start (FOR condition) "FOR condition" to the block start data set in "NEXT" until the 10.3.7
conditions set in the "condition data" are established.
Starts the operation of multiple axes simultaneously according
Multiple axes simultaneous start to the pulse output level.
10.5
control (Positioning start No. 9004, same as the "simultaneous start"
above)
JOG operation Outputs a pulse to drive unit while the JOG start signal is ON. 11.2
Manual control

Outputs pulses corresponding to minute movement amount by

Inching operation manual operation to drive unit. 11.3
(Performs fine adjustment with the JOG start signal.)
Outputs pulses commanded with the manual pulse generator to
Manual pulse generator operation 11.4
drive unit. (Carry out fine adjustment, etc., at the pulse level.)

With the "major positioning control" ("high-level positioning control"), whether or not to
continuously execute the positioning data can be set with the "operation pattern".
Outlines of the "operation patterns" are given below.

Da.1 Operation pattern Reference

Details
section
When "independent positioning control" is set for the operation
Independent positioning control pattern of the started positioning data, only the designated
(Positioning complete) positioning data will be executed, and then the positioning will
end.
When "continuous positioning control" is set for the operation
pattern of the started positioning data, after the designated 9.1.2
Continuous positioning control
positioning data is executed, the program will stop once, and
then the next following positioning data will be executed.
When "continuous path control" is set for the operation pattern
of the started positioning data, the designated positioning data
Continuous path control
will be executed, and then without decelerating, the next
following positioning data will be executed.

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3.2.3 QD75 sub functions and common functions

Sub functions
The functions that assist positioning control using the QD75 are described below.
(Refer to Section 2 for details on each function.
Reference
Sub function Details
section
This function retries the machine OPR with the upper/lower
limit switches during machine OPR. This allows machine OPR
Functions OPR retry function 12.2.1
to be carried out even if the axis is not returned to before the
characteristic
near-point dog with JOG operation, etc.
to machine
OPR After returning to the machine OP, this function compensates
OP shift function the position by the designated distance from the machine OP 12.2.2
position and sets that position as the OP address.
This function compensates the mechanical backlash. Feed
Backlash compensation
pulses equivalent to the set backlash amount are output each 12.3.1
function
time the movement direction changes.
By setting the movement amount per pulse, this function can
freely change the machine movement amount per commanded
Functions that
pulse.
compensate Electronic gear function 12.3.2
When the movement amount per pulse is set, a flexible
control
positioning system that matches the machine system can be
structured.
This function suppresses the machine vibration when the
Near pass function 1 speed changes during continuous path control in the 12.3.3
interpolation control.
If the command speed exceeds " Pr.8 Speed limit value"
Speed limit function during control, this function limits the commanded speed to 12.4.1
within the " Pr.8 Speed limit value" setting range.
If the torque generated by the servomotor exceeds " Pr.17
Torque limit setting value" during control, this function limits the
Functions that Torque limit function 2 12.4.2
limit control generated torque to within the " Pr.17 Torque limit setting
value" setting range.
If a command outside of the upper/lower limit stroke limit
Software stroke limit
setting range, set in the parameters, is issued, this function will 12.4.3
function
not execute positioning for that command.
Hardware stroke limit This function carries out deceleration stop with the limit switch
12.4.4
function connected to the QD75 external device connector.
This function changes the speed during positioning.
Set the new speed in the speed change buffer memory
Speed change function ( Cd.14 New speed value), and change the speed with the 12.5.1

Speed change request ( Cd.15 ).

Functions that
change control This function changes the speed within a percentage of 1 to
details Override function 300% during positioning. This is executed using " Cd.13 12.5.2
Positioning operation speed override".
Acceleration/deceleration This function changes the acceleration/deceleration time during
12.5.3
time change function speed change.
Torque change function This function changes the "torque limit value" during control. 12.5.4
Absolute position restoration function 3 This function restores the absolute position of designated axis. 12.6
1: The near pass function is featured as standard and is valid only for position control. It cannot be set to be invalid with parameters.
2: Using "Torque limit function" requires a "D/A conversion module" and a "drive unit capable of torque limit command with analog voltage".
3: Using "Absolute position restoration function" requires a "16-point input module", a "16-point output module", and a "drive unit that can
construct absolute position detection system".

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Reference
Sub function Details
section
This function temporarily stops the operation to confirm the
positioning operation during debugging, etc.
Step function 12.7.1
The operation can be stopped at each "automatic deceleration"
or "positioning data".
This function stops (decelerates to a stop) the positioning being
Skip function executed when the skip signal is input, and carries out the next 12.7.2
positioning.
This function issues a command for a sub work (clamp or drill
M code output function stop, tool change, etc.) corresponding to the M code No. 12.7.3
(0 to 65535) that can be set for each positioning data.
This function stores the address positioned with manual control
Teaching function into the positioning address having the designated positioning 12.7.4
data No. ( Cd.39 ).
Target position change This function changes the target position during positioning.
12.7.5
function Position and speed can be changed simultaneously.
At each automatic deceleration, this function calculates the
Other functions remaining distance for the QD75 to reach the positioning stop
Command in-position position. When the value is less than the set value, the
12.7.6
function "command in-position flag" is set to "1".
When using another auxiliary work before ending the control,
use this function as a trigger for the sub work.
Acceleration/deceleration
This function adjusts the control acceleration/deceleration. 12.7.7
process function
This function interrupts continuous operation. When this
Continuous operation
request is accepted, the operation stops when the execution of 6.5.4
interrupt function
the current positioning data is completed.
Pre-reading start function This function shortens the virtual start time. 12.7.8
Function that turns ON the flag when the constant speed status
Deceleration start flag or acceleration status switches to the deceleration status during
12.7.9
function position control, whose operation pattern is "Positioning
complete", to make the stop timing known.
Stop command processing
Function that selects a deceleration curve when a stop cause
for deceleration stop 12.7.10
occurs during deceleration stop processing to speed 0.
function

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Common functions
The outline of the functions executed as necessary are described below.
(Refer to Section 2 for details on each function.)
Reference
Common functions Details
section
This function returns the "parameters" stored in the QD75
buffer memory and flash ROM to the default values.
Parameter initialization function The following two methods can be used. 13.2
1) Method using sequence program
2) Method using GX Configurator-QP
This functions stores the "setting data", currently being
executed, into the flash ROM.
Execution data backup function 13.3
1) Method using sequence program
2) Method using GX Configurator-QP
This function switches I/O signal logic according to externally
connected devices.
External I/O signal logic switching function This function enables the use of the system that does not use b 13.4
(N.C.)-contact signals, such as Drive unit READY or
Upper/lower limit signal, by setting parameters to positive logic.
This function monitors the external I/O signal monitor
External I/O signal monitor function information in the module's detailed information which can be 13.5
displayed on the system monitor of GX Developer*4.
4: Usable on GX Developer (SW6D5C-GPPW-E or later).

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MEMO

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3.2.4 Combination of QD75 main functions and sub functions

With positioning control using the QD75, the main functions and sub functions can be
combined and used as necessary. A list of the main function and sub function
combinations is given below.

Functions characteristic
Sub functions
to machine OPR

OPR retry function

OP shift function
Combination with operation
Main functions
pattern. 1

Machine OPR control

OPR control
Fast OPR control
1-axis linear control
2-, 3-, or 4-axis linear
interpolation control
1-axis fixed-feed (Continuous path control
control cannot be set)
Position control
2-, 3-, or 4-axis fixed-
(Continuous path control
feed control
cannot be set)
(interpolation)
2-axis circular
interpolation control
Major positioning
control (Only independent positioning
Speed control (1- to 4-axis)
control can be set)
(Continuous path control
Speed-position switching control
cannot be set)
(Only independent positioning
Position-speed switching control
control can be set)
(Continuous path control
Current value changing
cannot be set)
Other control NOP instruction
JUMP instruction
LOOP to LEND
JOG operation, inching operation
Manual control
Manual pulse generator operation

: Always combine, : Combination possible, : Combination limited, : Combination not possible

1 The operation pattern is one of the "positioning data" setting items.
2 The near pass function is featured as standard and is valid only for setting continuous path control for position control.
3 Invalid during creep speed.
4 Invalid during continuous path control.
5 Inching operation does not perform acceleration/deceleration processing.
6 Valid for the reference axis only.
7 Valid for only the case where a deceleration start is made during position control.
8 Disabled for a start of positioning start No. 9003.

3 - 12
 Backlash compensation
function

Electronic gear function

control
compensate
Functions that
Near pass function

2
Speed limit function

Torque limit function

Software stroke limit

control
function
Hardware stroke limit
Functions that limit

function

REMARK
Speed change function

with the control.)

Override function

3
3 SPECIFICATIONS AND FUNCTIONS

Acceleration/ deceleration
time change function
control details

Torque change function

Functions that change

3 - 13
positioning control" and sub functions.
Step function

Skip function

M code output function

8
Teaching function
Target position change
function
4

Command in-position
function
Other functions

Acceleration/deceleration
process function

5
Pre-reading start function

Deceleration start flag

7
6
6

function

control". For combinations with the sub functions, refer to the combinations of the "major
• The "common functions" are functions executed as necessary. (These are not combined

• "High-level positioning control" is a control used in combination with the "major positioning
Stop command processing
MELSEC-Q

for deceleration stop

function
3 SPECIFICATIONS AND FUNCTIONS
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3.3 Specifications of input/output signals with PLC CPU

3.3.1 List of input/output signals with PLC CPU

The QD75 uses 32 input points and 32 output points for exchanging data with the PLC
CPU.
The input/output signals when the QD75 is mounted in slot No. 0 of the main base unit
are shown below.
Device X refers to the signals input from the QD75 to the PLC CPU, and device Y
refers to the signals output from the PLC CPU to the QD75.
Signal direction: QD75 PLC CPU Signal direction: PLC CPU QD75
Device No. Signal name Device No. Signal name
X0 QD75 READY Y0 PLC READY
X1 Synchronization flag Y1
X2 Y2 Use prohibited
Use prohibited
X3 Y3
X4 Axis 1 Y4 Axis 1
X5 Axis 2 Y5 Axis 2
M code ON Axis stop
X6 Axis 3 Y6 Axis 3
X7 Axis 4 Y7 Axis 4
X8 Axis 1 Y8 Axis 1 Forward run JOG start
X9 Axis 2 Y9 Axis 1 Reverse run JOG start
Error detection
XA Axis 3 YA Axis 2 Forward run JOG start
XB Axis 4 YB Axis 2 Reverse run JOG start
XC Axis 1 YC Axis 3 Forward run JOG start
XD Axis 2 YD Axis 3 Reverse run JOG start
BUSY
XE Axis 3 YE Axis 4 Forward run JOG start
XF Axis 4 YF Axis 4 Reverse run JOG start
X10 Axis 1 Y10 Axis 1
X11 Axis 2 Y11 Axis 2
Start complete Positioning start
X12 Axis 3 Y12 Axis 3
X13 Axis 4 Y13 Axis 4
X14 Axis 1 Y14 Axis 1
X15 Axis 2 Y15 Axis 2
Positioning complete Execution prohibition flag
X16 Axis 3 Y16 Axis 3
X17 Axis 4 Y17 Axis 4
X18 Y18
X19 Y19
X1A Y1A
X1B Y1B
Use prohibited Use prohibited
X1C Y1C
X1D Y1D
X1E Y1E
X1F Y1F

Important
[Y1 to Y3], [Y18 to Y1F], [X2, X3], and [X18 to X1F] are used by the system, and cannot be
used by the user.
If these devices are used, the operation of the QD75 will not be guaranteed.

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3.3.2 Details of input signals (QD75 PLC CPU)

The ON/OFF timing and conditions of the input signals are shown below.
Device
Signal name Details
No.
X0 QD75 READY ON: READY • When the PLC READY signal [Y0] turns from OFF to ON, the parameter setting
OFF: Not READY/ range is checked. If no error is found, this signal turns ON.
Watch dog • When the PLC READY signal [Y0] turns OFF, this signal turns OFF.
timer error • When watch dog timer error occurs, this signal turns OFF.
• This signal is used for interlock in a sequence program, etc.
ON
PLC READY signal [Y0] OFF

ON
QD75 READY signal [X0] OFF
X1 Synchronization OFF: Module
• After the PLC is turned ON or the CPU module is reset, this signal turns ON if the
flag access
access from the CPU module to the QD75 is possible.
disabled
• When "Asynchronous" is selected in the module synchronization setting of the CPU
ON: Module
module, this signal can be used as interlock for the access from a sequence program
access
to the QD75.
enabled
X4 Axis 1 M code ON OFF: M code is • In the WITH mode, this signal turns ON when the positioning data operation is
X5 Axis 2 not set started. In the AFTER mode, this signal turns ON when the positioning data
X6 Axis 3 ON: M code is operation is completed.
X7 Axis 4 set • This signal turns OFF with the " Cd.7 M code OFF request".

• When M code is not designated (when " Da.10 M code" is "0"), this signal will
remain OFF.
• With using continuous path control for the positioning operation, the positioning will
continue even when this signal does not turn OFF. However, a warning will occur.
(Warning code: 503)
• When the PLC READY signal [Y0] turns OFF, the M code ON signal will also turn
OFF.
• If operation is started while the M code is ON, an error will occur.
X8 Axis 1 Error OFF: No error • This signal turns ON when an error listed in Section 15.1 occurs, and turns OFF
X9 Axis 2 detection ON: Error when the error is reset on " Cd.5 Axis error rest".
XA Axis 3 occurrence
XB Axis 4
XC Axis 1 BUSY 1 OFF: Not BUSY • This signal turns ON at the start of positioning, OPR or JOG operation. It turns OFF
XD Axis 2 ON: BUSY when the " Da.9 Dwell time" has passed after positioning stops. (This signal
XE Axis 3
remains ON during positioning.) This signal turns OFF when the positioning is
XF Axis 4
stopped with step operation.
• During manual pulse generator operation, this signal turns ON while the " Cd.21
Manual pulse generator enable flag" is ON.
• This signal turns OFF at error completion or positioning stop.
X10 Axis 1 Start OFF: Start • This signal turns ON when the positioning start signal turns ON and the QD75 starts
X11 Axis 2 complete incomplete the positioning process.
X12 Axis 3 ON: Start (The start complete signal also turns ON during OPR control.)
X13 Axis 4 complete ON
Positioning start signal [Y10] OFF

ON
Start complete signal [X10] OFF

X14 Axis 1 Positioning OFF: Positioning • This signal turns ON for the time set in " Pr.40 Positioning complete signal output
X15 Axis 2 complete incomplete
X16 Axis 3 2 ON: Positioning time" from the instant when the positioning control for each positioning data No. is
X17 Axis 4 complete completed.
(It does not turn ON when " Pr.40 Positioning complete signal output time" is "0".)
• If positioning (including OPR), JOG/Inching operation, or manual pulse generator
operation is started while this signal is ON, the signal will turn OFF.
• This signal will not turn ON when speed control or positioning is canceled midway.

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3 SPECIFICATIONS AND FUNCTIONS
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Important
1: The BUSY signal turns ON even when position control of movement amount 0 is
executed. However, since the ON time is short, the ON status may not be detected in the
sequence program.
2: "Positioning complete" of the QD75 refers to the point when the pulse output from QD75 is
completed.
Thus, even if the QD75's positioning complete signal turns ON, the system may continue
operation.

3.3.3 Detail of output signals (PLC CPU QD75)

The ON/OFF timing and conditions of the output signals are shown below.
Device No. Signal name Details
Y0 PLC READY OFF: (a) This signal notifies the QD75 that the PLC CPU is normal.
PLC READY OFF • It is turned ON/OFF with the sequence program.
ON: • The PLC READY signal is turned ON during positioning
PLC READY ON control, OPR control, JOG operation, inching operation, and
manual pulse generator operation, unless the system is in the
peripheral device test mode.
(b) When parameters are changed, the PLC READY signal is turned
OFF depending on the parameter (Refer to Chapter 7.).
(c) The following processes are carried out when the PLC READY
signal turns from OFF to ON.
• The parameter setting range is checked.
• The QD75 READY signal [X0] turns ON.
(d) The following processes are carried out when the PLC READY
signal turns from ON to OFF.
In these cases, the OFF time should be set to 100ms or more.
• The QD75 READY signal [X0] turns OFF.
• The operating axis stops.
• The M code ON signal [X4 to X7] for each axis turns OFF, and
"0" is stored in " Md.25 Valid M code".
(e) When parameters or positioning data (No. 1 to 600) are written
from the peripheral device or PLC CPU to the flash ROM, the
PLC READY signal will turn OFF.
Y4 Axis 1 Axis stop OFF: • When the axis stop signal turns ON, the OPR control, positioning
Y5 Axis 2 Axis stop not control, JOG operation, inching operation and manual pulse
Y6 Axis 3 requested generator operation will stop.
Y7 Axis 4 ON: • By turning the axis stop signal ON during positioning operation, the
Axis stop requested positioning operation will be "stopped".
• Whether to decelerate or suddenly stop can be selected with
" Pr.39 Stop group 3 sudden stop selection".
• During interpolation control of the positioning operation, if the axis
stop signal of any axis turns ON, all axes in the interpolation
control will decelerate and stop.
Y8 Axis 1 Forward run JOG start OFF: • When the JOG start signal is ON, JOG operation will be carried
Y9 Axis 1 Reverse run JOG start JOG not started out at the " Cd.17 JOG speed". When the JOG start signal turns
YA Axis 2 Forward run JOG start ON:
YB Axis 2 Reverse run JOG start JOG started OFF, the operation will decelerate and stop.
YC Axis 3 Forward run JOG start • When inching movement amount is set, the designated movement
YD Axis 3 Reverse run JOG start amount is output for one control cycle and then the operation
YE Axis 4 Forward run JOG start stops.
YF Axis 4 Reverse run JOG start
Y10 Axis 1 Positioning start OFF: • OPR operation or positioning operation is started.
Y11 Axis 2 Positioning start not • The positioning start signal is valid at the rising edge, and the
Y12 Axis 3 requested operation is started.
Y13 Axis 4 ON: • When the positioning start signal turns ON during BUSY, the
Positioning start operation starting warning will occur (warning code: 100).
requested
Y14 Axis 1 Execution prohibition OFF: • If the execution prohibition flag is ON when the positioning start
Y15 Axis 2 flag Not during execution signal turns ON, positioning control does not start until the
Y16 Axis 3 prohibition execution prohibition flag turns OFF. (Pulse output not provided)
Y17 Axis 4 ON: Used with the "Pre-reading start function". (Refer to Section
During execution 12.7.8)
prohibition

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3.4 Specifications of input/output interfaces with external devices

3.4.1 Electrical specifications of input/output signals

Input specifications
Rated input Working ON OFF Input Response
Signal name
voltage/current voltage range voltage/current voltage/current resistance time
Drive unit READY
(READY)
Stop signal (STOP)
19.2 to 17.5VDC or more/ 7VDC or less/
Upper limit signal 24VDC/5mA Approx. 4.7kΩ 4ms or less
26.4VDC 3.5mA or more 1.7mA or less
(FLS)
Lower limit signal
(RLS)
2VDC or more/ 0.5VDC or less/
5VDC/5mA 4.5 to 6.1VDC Approx. 0.3kΩ 1ms or less
2mA or more 0.5mA or less
10VDC or more/ 3VDC or less/
24VDC/5mA 12 to 26.4VDC Approx. 4.7kΩ 1ms or less
3mA or more 0.2mA or less

Zero signal ON
(PG05/PG024) 3 s or less 3 s or less
1ms or more
OFF

Differential receiver equivalent to Am26LS32

(ON/OFF level ON: 1.8V or more, OFF: 0.6V or less)
2.5VDC or more/ 1VDC or less/
5VDC/5mA 4.5 to 6.1VDC Approx. 1.5kΩ 1ms or less
2mA or more 0.1mA or less
1 Pulse width
4ms or more
Manual pulse
generator A phase 2ms
(PULSE or more
GENERATOR A)
2ms or more
Manual pulse
generator B phase (Duty ratio: 50%)
(PULSE 2 Phase difference
GENERATOR B)
A phase When the A phase leads the B phase, the
positioning address (current value) increases.
B phase
1ms or more

Near-point dog signal

(DOG) 19.2 to 17.5VDC or more/ 7VDC or less/
24VDC/5mA Approx. 4.3kΩ 1ms or less
External command 26.4VDC 3.5mA or more 1.7mA or less
signal (CHG)

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Output specifications
Max. load
Rated load Working load Max. voltage Leakage current
Signal name current/rush Response time
voltage voltage range drop at ON at OFF
current
50mA/1 point/
5 to 24VDC 4.75 to 30VDC 200mA 10ms or 0.5VDC (TYP) 0.1mA or less —
less
The table below shows the rising/falling edge time and duty ratio when the QD75P is used.
QD75P
ON
OFF

tr tf

QD75D Differential driver equivalent to Am26C31 (For QD75D )

• Select the CW/CCW type, PULSE/SIGN type and A phase/B phase type using the parameter ( Pr.5 Pulse
output mode) according to the drive unit specifications.
• The relation of the pulse output with the " Pr.5 Pulse output mode" and " Pr.23 Output signal logic
selection" is shown below:
Pr.23 Output signal logic selection (bit 0)
Pr.5 Pulse
Positive logic Negative logic
Pulse output output mode
(CW/PULSE/A phase) Forward run Reverse run Forward run Reverse run
Pulse sign CW
(CCW/SIGN/B phase) CCW

PULSE
SIGN High Low Low High

Aφ
Bφ

Deviation counter clear 0.1A/1 point/0.4A 1VDC (TYP) 2ms or less

5 to 24VDC 4.75 to 30VDC 0.1mA or less
(CLEAR) 10ms or less 2.5VDC (MAX) (resistance load)

: Pulse rising/falling edge time when the QD75P is used (Unit for "tr" and "tf": µs, unit for "Duty": %)
... When ambient temperature is room temperature.
Load voltage (V) 26.4 4.75
Cable length (m) 1 2 1 2
Load Pulse tr tf tr tf tr tf tr tf
current speed (Rising (Falling Duty (Rising (Falling Duty (Rising (Falling Duty (Rising (Falling Duty
(mA) (kpps) edge) edge) edge) edge) edge) edge) edge) edge)
200 2.33 0.08 6.6 2.20 0.08 14.6 0.57 0.07 44.8 0.95 0.07 39.0
2 100 2.42 0.09 34.7 4.44 0.10 12.6 0.57 0.07 47.5 1.01 0.08 45.3
10 2.44 0.09 48.7 4.52 0.10 47.7 0.60 0.07 49.7 1.04 0.08 49.5
200 1.00 0.09 39.8 1.77 0.11 24.5 0.32 0.07 48.4 0.45 0.08 45.8
5 100 1.01 0.09 45.3 1.76 0.10 40.3 0.31 0.07 49.2 0.45 0.08 48.7
10 1.00 0.10 49.6 1.72 0.10 49.2 0.33 0.08 49.9 0.49 0.08 49.8
200 0.27 0.10 50.1 0.44 0.11 48.0 0.15 0.08 50.7 0.15 0.08 51.3
20 100 0.29 0.10 49.8 0.48 0.11 49.1 0.15 0.08 50.4 0.18 0.08 50.4
10 0.30 0.10 49.9 0.48 0.12 49.9 0.17 0.08 50.1 0.18 0.08 49.9
200 0.19 0.11 50.5 0.24 0.12 50.6 0.15 0.10 51.8 0.14 0.11 51.7
50 100 0.19 0.11 50.4 0.24 0.12 50.4 0.14 0.10 50.7 0.15 0.10 50.8
10 0.18 0.12 50.0 0.22 0.13 50.1 0.14 0.10 50.1 0.15 0.12 50.1

The time for H/L width of differential output waveform with the QD75D . (Cable length: 2m, Ambient temperature: room temperature)

Pulse speed H width L width

1Mpps 410ns 456ns
500kpps 936ns 1µs

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3 SPECIFICATIONS AND FUNCTIONS
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3.4.2 Signal layout for external device connection connector

The specifications of the connector section, which is the input/output interface for the
QD75 and external device, are shown below.
The signal layout for the QD75 external device connection connector is shown.

QD75P1 QD75P2 QD75P4

RUN AX1 RUN AX1 RUN AX1
AX2 AX2
AX3
ERR ERR ERR AX4

AX1 AX3 AX1

AX1 AX2 AX4 AX2

Axis 4(AX4) Axis 3(AX3) Axis 2(AX2) Axis 1(AX1)

Pin layout
Pin No. Signal name Pin No. Signal name Pin No. Signal name Pin No. Signal name
2B20 Vacant 2A20 Vacant 1B20 PULSER B– 1A20 PULSER B+
2B19 Vacant 2A19 Vacant 1B19 PULSER A– 1A19 PULSER A+
2B18 PULSE COM 2A18 PULSE COM 1B18 PULSE COM 1A18 PULSE COM
B20 A20 3 PULSE R– 3 PULSE R– 3 PULSE R– 3 PULSE R–
B19 A19
B18 A18 2B17 PULSE R 2A17 PULSE R 1B17 PULSE R 1A17 PULSE R
B17 A17 3 PULSE R+ 3 PULSE R+ 3 PULSE R+ 3 PULSE R+
B16 A16 2B16 PULSE COM 2A16 PULSE COM 1B16 PULSE COM 1A16 PULSE COM
B15 A15
B14 A14 3 PULSE F– 3 PULSE F– 3 PULSE F– 3 PULSE F–
B13 A13 2B15 PULSE F 2A15 PULSE F 1B15 PULSE F 1A15 PULSE F
B12 A12 3 PULSE F+ 3 PULSE F+ 3 PULSE F+ 3 PULSE F+
B11 A11
B10 A10 2B14 CLRCOM 2A14 CLRCOM 1B14 CLRCOM 1A14 CLRCOM
B9 A9 2B13 CLEAR 2A13 CLEAR 1B13 CLEAR 1A13 CLEAR
B8 A8
B7 A7 2B12 RDYCOM 2A12 RDYCOM 1B12 RDYCOM 1A12 RDYCOM
B6 A6 2B11 READY 2A11 READY 1B11 READY 1A11 READY
B5 A5 2B10 PGOCOM 2A10 PGOCOM 1B10 PGOCOM 1A10 PGOCOM
B4 A4
B3 A3 2B9 PG05 2A9 PG05 1B9 PG05 1A9 PG05
B2 A2 2B8 PG024 2A8 PG024 1B8 PG024 1A8 PG024
B1 A1
2B7 COM 2A7 COM 1B7 COM 1A7 COM
2B6 COM 2A6 COM 1B6 COM 1A6 COM
2B5 CHG 2A5 CHG 1B5 CHG 1A5 CHG
Front view of
2B4 STOP 2A4 STOP 1B4 STOP 1A4 STOP
the module
2B3 DOG 2A3 DOG 1B3 DOG 1A3 DOG
2B2 RLS 2A2 RLS 1B2 RLS 1A2 RLS
2B1 FLS 2A1 FLS 1B1 FLS 1A1 FLS
1: Pin No. "1 " indicates the pin No. for the right connector. Pin No. "2 " indicates the pin No. for the left connector.
2: When a 1-axis module is used, pin Nos. 1B1 to 1B18 are "vacant".
3: The upper line indicates the signal name for the QD75P1/QD75P2/QD75P4, and the lower line indicates the signal name for the
QD75D1/QD75D2/QD75D4.

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3.4.3 List of input/output signal details

The details of each QD75 external device connection connector are shown below:
Pin No. Signal details
Signal name
AX1 AX2 AX3 AX4 (Negative logic is selected by external I/O signal logic selection)
• Input the pulse signal from the manual pulse generator A phase and B
Manual pulse generator A phase.
phase 1A19 • If the A phase leads the B phase, the positioning address will increase at the
—
Manual pulse generator B 1A20 rising and falling edges of each phase.
phase • If the B phase leads the A phase, the positioning address will decrease at the
rising and falling edges of each phase.
[When increased] [When decreased]

Manual pulse generator A A phase A phase

common 1B19
—
Manual pulse generator B 1B20 B phase B phase
common

Positioning Positioning
address +1+1+1+1+1+1+1+1 address -1 -1 -1 -1 -1 -1 -1 -1

• Input the zero signal for machine OPR.

Zero signal (+24V) 1A8 1B8 2A8 2B8 Use the pulse encoder's zero signal and so on.
• Also use this signal when the machine OPR method is the stopper method
Zero signal (+5V) 1A9 1B9 2A9 2B9 and the OPR complete is input from an external source.
• The zero signal is detected at turning from OFF to ON.
Zero signal common 1A10 1B10 2A10 2B10 • Common for zero signal (+5V) and zero signal (+24V).
Pulse output F (+) <CW+> 1A15 1B15 2A15 2B15
Pulse output F (–) <CW–> 1A16 1B16 2A16 2B16 • Output the positioning pulses and pulse sign for the differential driver output
Pulse output R (+) <CCW+> 1A17 1B17 2A17 2B17 system compatible drive unit.
Pulse output R (–) (QD75D only)
<CCW–> 1A18 1B18 2A18 2B18
Pulse output F 1A15 1B15 2A15 2B15
<CW>
Pulse output F common 1A16 1B16 2A16 2B16
• Output the positioning pulses and pulse sign for the open collector output
<CWCOM>
system compatible drive unit.
Pulse output R 1A17 1B17 2A17 2B17
(QD75P only)
<CCW>
Pulse output R common 1A18 1B18 2A18 2B18
<CCWCOM>
• This signal is input from the limit switch installed at the upper limit position of
the stroke.
Upper limit signal 1A1 1B1 2A1 2B1 • Positioning will stop when this signal turns OFF.
• When OPR retry function is valid, this will be the upper limit for finding the
near-point dog signal.
• This signal is input from the limit switch installed at the lower limit position of
the stroke.
Lower limit signal 1A2 1B2 2A2 2B2 • Positioning will stop when this signal turns OFF.
• When OPR retry function is valid, this will be the lower limit for finding the
near-point dog signal.
• This signal is used for detecting the near-point dog during OPR.
Near-point dog signal 1A3 1B3 2A3 2B3
• The near-point dog signal is detected at turning from OFF to ON.

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3 SPECIFICATIONS AND FUNCTIONS
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Pin No. Signal details

Signal name
AX1 AX2 AX3 AX4 (Negative logic is selected by external I/O signal logic selection)
• Input this signal to stop positioning.
• When this signal turns ON, the QD75 will stop the positioning being
Stop signal 1A4 1B4 2A4 2B4 executed.
After that, even if this signal is turned from ON to OFF, the system will not
start.
• Input a control switching signal during speed-position or position-speed
switching control.
• Use this signal as the input signal of positioning start, speed change request,
External command signal 1A5 1B5 2A5 2B5
and skip request from an external source.
Set the function to use this signal in " Pr.42 External command function
selection".
1A6 1B6 2A6 2B6 • Common for upper/lower limit, near-point dog, stop, and external command
Common
1A7 1B7 2A7 2B7 signals.
• This signal turns ON when the drive unit is normal and can accept the feed
pulse.
• The QD75 checks the drive unit READY signal, and outputs the OPR request
if the system is not in the READY state.
Drive unit READY 1A11 1B11 2A11 2B11 • When the drive unit is inoperable, such as if an error occurs in the drive unit's
control power supply, this signal will turn OFF.
• If this signal is turned OFF during positioning, the system will stop. The
system will not start even if this signal is turned ON again.
• When this signal turns OFF, the OPR complete signal will also turn OFF.
Drive unit READY common 1A12 1B12 2A12 2B12 • Common for drive unit READY signal.
• This signal is output during machine OPR. (Note that it is not output during
the count method 2 .)
(Example) When machine OPR is carried out in the stopper 2 method.
Speed
Pr.46 OPR speed
Stopper

Pr.47 Creep speed

Time

Near-point dog

Deviation counter clear 1A13 1B13 2A13 2B13 Zero signal OFF
ON
Pr.55 Deviation counter
clear signal output time
CLEAR OFF
ON
After feed pulse output stops

• The output time of the deviation counter clear signal is set in " Pr.55
Deviation counter clear signal output time".
• Use the drive unit that can reset the droop pulse amount in the internal
deviation counter when the QD75 turns this signal ON.
(Note) The deviation counter clear is a signal output by the QD75 during
machine OPR. It cannot be output randomly by the user.
Deviation counter clear common 1A14 1B14 2A14 2B14 • Common for deviation counter clear signal

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3 SPECIFICATIONS AND FUNCTIONS
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3.4.4 Input/output interface internal circuit

The outline diagrams of the internal circuits for the QD75P1/QD75D1 external device
connection interface are shown below.

(1) Input (Common to QD75P1 and QD75D1)

Need for wiring
External wiring Pin No. Internal circuit Signal name
1

1A3 Near-point dog signal DOG

When upper limit
switch is not used
1A1 Upper limit signal FLS
When lower limit
switch is not used
1A2 Lower limit signal RLS

1A4 Stop signal STOP

External command
1A5 CHG
signal
2
24VDC 1A6
Common COM
1A7

5V (+)
PULSER A+
1A19
Manual pulse generator
A A phase
(–)
5VDC PULSER A–
1B19
B

(+)
PULSER B+
0V 1A20
Manual pulse generator
Manual pulse
B phase
generator (–)
(MR-HDP01) PULSER B–
1B20

1A11 Drive unit READY READY

Drive unit READY

1A12 RDY COM
common

1A8 PG024
Zero signal
1A9 PG05

1A10 Zero signal common PG0 COM

1: The symbols in Need for wiring column indicate the following meanings:
• : Wiring is necessary for positioning.
• : Wiring is necessary depending on the situation.
2: Either polarity can be connected to the common (COM).

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(a) Input signal ON/OFF status

The input signal ON/OFF status is defied by the external wiring and logic
setting.
This is explained below with the example of near-point dog signal (DOG).
(The other input signals also perform the same operations as the near-point
dog signal (DOG).)
Logic setting ON/OFF status of near-point dog
External wiring 4
3, 4 signal (DOG) as seen from QD75
(Voltage not applied)

DOG
OFF
24VDC
COM

Negative logic
(Initial value) (Voltage applied)

DOG
ON
24VDC
COM

(Voltage not applied)

DOG
ON
24VDC
COM

Positive logic
(Voltage applied)

DOG
OFF
24VDC
COM

3: Set the logic setting using " Pr.22 Input signal logic selection". For details of the settings, refer to
"Section 5.2.3 Detailed parameters 1" and "Section 13.4 External I/O signal logic switching function".
4: When using the upper limit signal (FLS) or lower limit signal (RLS), always wire it as a "b" (normally
closed) contact in the negative logic setting. The signal will turn OFF to stop positioning.

(b) About logic setting and internal circuit

In the QD75, the case where the internal circuit (photocoupler) is OFF in
the negative logic setting is defined as "input signal OFF".
Reversely, the case where the internal circuit (photocoupler) is OFF in the
positive logic setting is defined as "input signal ON".

<Photocoupler ON/OFF status>

When voltage is not applied : Photocoupler OFF
When voltage is applied : Photocoupler ON

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3 SPECIFICATIONS AND FUNCTIONS
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(2) Output (For QD75P1)

Need for wiring
External wiring Pin No. Internal circuit Signal name
1

1A13 Deviation counter clear CLEAR

1A14 Common CLEAR COM

1A15 CW PULSE F
A phase
1A16 PULSE PULSE COM

1A17 CCW PULSE R

B phase
1A18 SIGN PULSE COM

(3) Output (For QD75D1)

Need for wiring
External wiring Pin No. Internal circuit Signal name
1

1A13 Deviation counter clear CLEAR

1A14 Common CLEAR COM

1A15 CW PULSE F+
A phase
1A16 PULSE PULSE F–

1A17 CCW PULSE R+

B phase
1A18 SIGN PULSE R–

2 Differential driver
SG
common terminal
2
1: The symbols in Need for wiring column indicate the following meanings:
• : Wiring is necessary for positioning.
• : Wiring is necessary depending on the situation.
2: A terminal block at the bottom of the module. (Refer to Section 4.1.2)

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Chapter 4 Installation, Wiring and Maintenance
of the Product

The installation, wiring and maintenance of the QD75 are explained in this chapter.

Important information such as precautions to prevent malfunctioning of the QD75,

accidents and injuries as well as the proper work methods are described.
Read this chapter thoroughly before starting installation, wiring or maintenance,
and always following the precautions.

4.1 Outline of installation, wiring and maintenance ...........................................................4- 2

4.1.1 Installation, wiring and maintenance procedures ..........................................4- 2
4.1.2 Names of each part ........................................................................................4- 3
4.1.3 Handling precautions ......................................................................................4- 5
4.2 Installation.....................................................................................................................4- 7
4.2.1 Precautions for installation .............................................................................4- 7
4.3 Wiring .........................................................................................................................4- 8
4.3.1 Precautions for wiring .....................................................................................4- 8
4.3.2 Wiring of the differential driver common terminal .........................................4- 13
4.4 Confirming the installation and wiring .........................................................................4- 14
4.4.1 Items to confirm when installation and wiring are completed.......................4- 14
4.5 Maintenance ................................................................................................................4- 15
4.5.1 Precautions for maintenance.........................................................................4- 15
4.5.2 Disposal instructions......................................................................................4- 15

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.1 Outline of installation, wiring and maintenance

4.1.1 Installation, wiring and maintenance procedures

The outline and procedures for QD75 installation, wiring and maintenance are shown
below.

STEP 1 Understand the "Handling precautions" and

Preparation Refer to "Names of each part" of the module (QD75)
Section 4.1

STEP 2
Installing the Install the module (QD75) on the base unit.
Refer to
module Section 4.2

The cables used to connect the QD75 with the

STEP 3 Wire the external device connection drive unit, with the mechanical system input
Refer to connector pins, and assemble the connector. (each input/output signal), and with the manual
Section 4.3 pulse generator are manufactured by soldering
Wiring the each signal wire onto the "external device
module
STEP 4 connection connector" sold separately.(Refer to
Connect the cable to the module (QD75) "Applicable connector for external wiring" in
Refer to
Section 4.3 Section 3.1 "Performance specifications" for
the optional connector.)
Wire and connect the manufactured cable to QD75
after reading the precautions for wiring.

Confirming the
installation and STEP 5 Check the connection using GX Configurator-QP.
Confirm the connection
wiring Refer to
Section 4.4

Operation of the positioning system.

STEP 6 Carry out maintenance as necessary.

Carry out maintenance
Refer to
Servicing the Section 4.5
module

STEP 7 When the QD75 is no longer necessary,

Dispose of the QD75 dispose of it with the specified methods.
Refer to
Section 4.5

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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4.1.2 Names of each part

(1) The part names of the QD75 are shown below:

(1) (1)

(2) (2)

(3) (3)

(5) (5)

(4)

No. Name Details

(1) RUN indicator LED, ERR indicator LED
Refer to the next page.
(2) Axis display LED (AX1 to AX4)
Connector for connection with the drive unit, mechanical
system input or manual pulse generator. (40-pin connector)
(3) External device connector AX1: Axis 1, AX2: Axis 2, AX3: Axis 3, AX4: Axis 4
For details, refer to Section 3.4.2 "Signal layout for external
device connection connector".
Differential driver common terminal Terminal connected to the differential receiver common of the
(4) (Differential driver output system (QD75D1, drive unit. For details, refer to Section 4.3.2 "Wiring of the
QD75D2, QD75D4) only) differential driver common terminal".
(5) Serial number plate Indicates the serial number of the QD75

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(2) The LED display indicates the following operation statuses of the QD75 and axes.

QD75P4
RUN AX1
AX2
AX3
ERR AX4

Display Attention point Description Display Attention point Description

RUN AX1 RUN AX1 The
Hardware failure, AX2
AX2 AX1 (or other corresponding
RUN is OFF. watch dog timer AX3
AX3 axis) illuminates. axis is in
error
ERR AX4 ERR AX4 operation.
RUN AX1 RUN AX1 An error occurs
The module ERR flashes.
AX2 RUN illuminates. AX2 on the
operates AX1 (or other
AX3 ERR is OFF. AX3 corresponding
normally. axis) flashes.
ERR AX4 ERR AX4 axis.
RUN AX1 RUN AX1
AX2 AX2 All LEDs
AX3 ERR illuminates. System error
AX3 illuminate.
Hardware failure
ERR AX4 ERR AX4
RUN AX1
AX2 AX1 to AX4 are The axes are
stopped or on
AX3 OFF.
standby.
ERR AX4
The symbols in the Display column indicate the following
statuses:
: Turns OFF. : Illuminates. : Flashes.

(3) The interface of each QD75 is as shown below.

QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 QD75D4

QD75P1 QD75P2 QD75P4 QD75D1 QD75D2 QD75D4
RUN AX1 RUN AX1 RUN AX1 RUN AX1 RUN AX1
RUN AX1
AX2 AX2 AX2 AX2
AX3 AX3
ERR ERR AX4 ERR ERR ERR AX4
ERR

AX1 AX3 AX1 AX1 AX3 AX1

AX1 AX2 AX4 AX2 AX1 AX2 AX4 AX2

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4.1.3 Handling precautions

Handle the QD75 and cable while observing the following precautions.

[1] Handling precautions

! CAUTION
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Do not directly touch the conductive section and electronic parts of the module.
Failure to observe this could lead to module malfunctioning or trouble.
Make sure that foreign matter, such as cutting chips or wire scraps, do not enter the module.
Failure to observe this could lead to fires, trouble or malfunctioning.
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.

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4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT
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[2] Other precautions

(1) Main body

• The main body case is made of plastic. Take care not to drop or apply
strong impacts onto the case.
• Do not remove the QD75 PCB from the case. Failure to observe this
could lead to faults.

(2) Cable
• Do not press on the cable with a sharp object.
• Do not twist the cable with force.
• Do not forcibly pull on the cable.
• Do not step on the cable.
• Do not place objects on the cable.
• Do not damage the cable sheath.

(3) Installation environment

Do not install the module in the following type of environment.
• Where the ambient temperature exceeds the 0 to 55°C range.
• Where the ambient humidity exceeds the 5 to 95%RH range.
• Where there is sudden temperature changes, or where dew condenses.
• Where there is corrosive gas or flammable gas.
• Where there are high levels of dust, conductive powder, such as iron
chips, oil mist, salt or organic solvents.
• Where the module will be subject to direct sunlight.
• Where there are strong electric fields or magnetic fields.
• Where vibration or impact could be directly applied onto the main body.

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4.2 Installation

4.2.1 Precautions for installation

The precautions for installing the QD75 are given below. Refer to this section as well
as "4.1.3 Handling precautions" when carrying out the work.

Precautions for installation

! DANGER
Completely turn off the externally supplied power used in the system before cleaning or
tightening the screws.
Failure to turn all phases OFF could lead to electric shocks.

! CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Completely turn off the externally supplied power used in the system before installing or
removing the module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.
Do not install/remove the module to/from the base unit, or the terminal block to/from the module
more than 50 times after the first use of the product (IEC 61131-2 compliant). Failure to do so
may cause the module to malfunction due to poor contact of connector.
Use the PLC within the general specifications environment given in this manual.
Using the PLC outside the general specification range environment could lead to electric
shocks, fires, malfunctioning, product damage or deterioration.
Hold down the module mounting lever at the bottom of the module and securely insert the
module fixing projection into the fixing holes of the base module. Improper mounting of the
module may lead to malfunctioning, faults, or dropping.
When using the module in the environment subject to much vibration, secure the module with a
screw.
Tighten the screw within the range of the specified tightening torque.
Insufficient tightening may lead to dropping, short-circuit, or malfunctioning.
Excessive tightening may damage the screw or module, leading to dropping, short-circuit, or
malfunctioning.

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4.3 Wiring

The precautions for wiring the QD75 are given below. Refer to this section as well as
"4.1.3 Handling precautions" when carrying out the work.

4.3.1 Precautions for wiring

(1) Always confirm the terminal layout before connecting the wires to the QD75.
(For the terminal layout, refer to Section 3.4.2 "Signal layout for external device
connection connector".)
(2) Correctly solder the external wiring connector. An incomplete soldering could lead
to malfunctioning.
(3) Make sure that foreign matter such as cutting chips and wire scraps does not
enter the QD75. Failure to observe this could lead to fires, faults or
malfunctioning.
(4) A protective label is attached on the top of the QD75 to avoid foreign matter such
as wire scraps from entering inside during wiring process. Do not remove the label
until the wiring is completed. Before starting the system, however, be sure to
remove the label to ensure heat radiation.
(5) Securely mount the external device connector to the connector on the QD75 with
two screws.
(6) Do not disconnect the external wiring cable connected to the QD75 and the drive
unit by pulling the cable section. When the cable has a connector, be sure to hold
the connector connected to the QD75 and the drive unit. Pulling the cable while it
is connected to the QD75 and the drive unit may lead to malfunctioning or
damage of the QD75 and the drive unit or cable.
(7) Do not bundle or adjacently lay the connection cable connected to the QD75
external I/O signals or drive unit with the main circuit line, power line, or the load
line other than that for the PLC. Separate these by 100mm as a guide. Failure to
observe this could lead to malfunctioning caused by noise, surge, or induction.
(8) The shielded cable for connecting QD75 can be secured in place.
If the shielded cable is not secured, unevenness or movement of the shielded
cable or careless pulling on it could result in damage to the QD75 or drive unit or
shielded cable or defective cable connections could cause mis-operation of the
unit.
(9) If the cable connected to the QD75 and the power line must be adjacently laid
(less than 100mm), use a shielded cable. Ground the shield of the cable securely
to the control panel on the QD75 side. (A wiring example is given on the next
page.)

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[Wiring example of shielded cable]

The following shows a wiring example for noise reduction in the case where the
connector A6CON1 is used.

Connector

Connector
(A6CON1)
To external Shielded
devices cable
Drive
unit

To external
device
To drive unit

To QD75 Use the shortest possible length to

ground the 2mm2 or more FG wire.
(The shield must be grounded on
The length between the connector and the shielded the QD75 side.)
cables should be the shortest possible.

[Processing example of shielded cables]

Remove the covering from all shielded cables and bind
the appeared shield with a conductive tape.

Coat the wire with

insulaing tape.

Solder the shield of any one of the

shielded cables to the FG wire.

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Assembling of connector (A6CON1)

Wrap the coated parts

with a heat contractile
tube.

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(10) To make this product conform to the EMC and Low Voltage Directive, be
sure to use a AD75CK type cable clamp (manufactured by Mitsubishi
Electric) for grounding to the control box.

Inside control box

QD75
20cm(7.88inch)
to 30cm(11.82inch) AD75CK

[How to ground shielded cable using AD75CK]

Shield cable
Shield

Ground terminal

Ground terminal installation screw

(M4 8 screw)
Installation screw to control box (M4 screw)

Using the AD75CK, you can tie four cables of about 7mm outside diameter together for
grounding.

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[Wiring examples using duct (incorrect example and corrected example)]

Wiring duct
Relay Relay

Drive Drive
Relay
unit unit
Control panel

QD The drive units are placed

PLC near the noise source.
75
Noise source The connection cable between
the QD75 and drive units is
(power system, too long.
etc.)

Changed

Wiring duct
Relay Relay

Relay

Control panel

The QD75 and drive units are

QD
PLC placed closely. The connection
75
Noise source cable between the QD75 and
drive units is separately laid
(power system, from the power line (in this
Drive Drive
etc.)
unit unit example, the cable is outside of
the duct) and is as short as possible.

(11) The influence of noise may be reduced by installing ferrite cores to the cable
connected to the QD75 as a noise reduction technique.
For the noise reduction techniques related to connection with the servo amplifier,
also refer to the instruction manual of the servo amplifier.
(12) If compliance with the EMC directive is not required, the influence of external
noise may be reduced by making the configuration compliant with the EMC
directive.
For the configuration compliant with the EMC directive, refer to Chapter 9 "EMC
AND LOW VOLTAGE DIRECTIVES" of the QCPU User's Manual (Hardware
Design, Maintenance and Inspection).

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4.3.2 Wiring of the differential driver common terminal

When the differential driver output system (QD75D1, QD75D2, QD75D4) is used, a
potential difference between commons may occur between the differential driver
common terminal and the differential receiver common terminal of the drive unit. To
remove the potential difference between commons, connect the differential driver
common terminal of the QD75D1/QD75D2/QD75D4 and the differential receiver
common terminal of the drive unit.
When the common terminal of the drive unit is photocoupler-connected, the wiring to
the differential driver common terminal of the QD75D1/QD75D2/QD75D4 is not
needed since a potential difference between commons does not exist.
(For the drive unit specifications, refer to the manual of the used drive unit.)
The following shows an example of wiring to the differential driver common terminal of
the QD75D1/QD75D2/QD75D4.
Up to two cables can be connected to one differential driver common terminal. (For
details, refer to Section 3.1 "Performance specifications".

Module front
Module bottom

Differential driver common terminal

To differential receiver common terminal of drive unit

Module front
Module side

Insert until hook

catches.
Module bottom

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4.4 Confirming the installation and wiring

4.4.1 Items to confirm when installation and wiring are completed

Check the following points when completed with the QD75 installation and wiring.

• Is the module correctly wired? ... "Connection confirmation"

With "connection confirmation", the following three points are confirmed using GX
Configurator-QP's connection confirmation function. (GX Configurator-QP is
required for this "connection confirmation".)
• Are the QD75 and servo amplifier correctly connected?
• Are the servo amplifier and servomotor correctly connected?
• Are the QD75 and external device (input/output signal) correctly connected?

With this "connection confirmation", "whether the direction that the QD75
recognizes as forward run matches the address increment direction in the actual
positioning work", and "whether the QD75 recognizes the external input/output
signals such as the near-point dog signal and stop signal" can be checked.

Refer to GX Configurator-QP Operating Manual for details on "Connection

confirmation".

Note that GX Developer may also be used to "confirm the connection between
the QD75 and external device (I/O signals).
For details, refer to Section 13.5 "External I/O signal monitor function" and GX
Developer Operating Manual (SW6D5C-GPPW-E or later).

Important
If the QD75 is faulty, or when the required signals such as the near-point dog signal and stop signal are
not recognized, unexpected accidents such as "not decelerating at the near-point dog during machine
OPR and colliding with the stopper", or "not being able to stop with the stop signal" may occur.
The "connection confirmation" must be carried out not only when structuring the positioning system, but
also when the system has been changed with module replacement or rewiring, etc.

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4.5 Maintenance

4.5.1 Precautions for maintenance

The precautions for servicing the QD75 are given below. Refer to this section as well
as "4.1.3 Handling precautions" when carrying out the work.

! DANGER
Always turn all phases of the power supply OFF externally before cleaning or tightening the
screws.
Failure to turn all phases OFF could lead to electric shocks.

! CAUTION
Never disassemble or modify the module.
Failure to observe this could lead to trouble, malfunctioning, injuries or fires.
Completely turn off the externally supplied power used in the system before installing or
removing the module.
Failure to turn all phases OFF could lead to module trouble or malfunctioning.

4.5.2 Disposal instructions

! CAUTION
When disposing of the product, handle it as industrial waste.

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MEMO

4 - 16
Chapter 5 Data Used for Positioning Control

The parameters and data used to carry out positioning control with the QD75 are explained
in this chapter.
With the positioning system using the QD75, the various parameters and data explained
in this chapter are used for control. The parameters and data include parameters set
according to the device configuration, such as the system configuration, and parameters
and data set according to each control. Read this section thoroughly and make settings
according to each control or application.
Refer to Section 2 for details on each control.

5.1 Types of data ................................................................................................................5- 2

5.1.1 Parameters and data required for control ......................................................5- 2
5.1.2 Setting items for positioning parameters........................................................5- 4
5.1.3 Setting items for OPR parameters .................................................................5- 6
5.1.4 Setting items for positioning data ...................................................................5- 7
5.1.5 Setting items for block start data ...................................................................5- 10
5.1.6 Setting items for condition data .....................................................................5- 11
5.1.7 Types and roles of monitor data....................................................................5- 12
5.1.8 Types and roles of control data .....................................................................5- 16
5.2 List of parameters........................................................................................................5- 20
5.2.1 Basic parameters 1........................................................................................5- 20
5.2.2 Basic parameters 2........................................................................................5- 26
5.2.3 Detailed parameters 1 ...................................................................................5- 28
5.2.4 Detailed parameters 2 ...................................................................................5- 36
5.2.5 OPR basic parameters ..................................................................................5- 46
5.2.6 OPR detailed parameters ..............................................................................5- 54
5.3 List of positioning data.................................................................................................5- 58
5.4 List of block start data..................................................................................................5- 74
5.5 List of condition data....................................................................................................5- 80
5.6 List of monitor data ......................................................................................................5- 86
5.6.1 System monitor data......................................................................................5- 86
5.6.2 Axis monitor data ...........................................................................................5- 96
5.7 List of control data ......................................................................................................5-110
5.7.1 System control data ......................................................................................5-110
5.7.2 Axis control data ...........................................................................................5-112

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5.1 Types of data

5.1.1 Parameters and data required for control

The parameters and data required to carry out control with the QD75 include the
"setting data", "monitor data" and "control data" shown below.

Setting data (Data set beforehand according to the machine and application, and stored in the flash ROM.)

Positioning
Parameters Basic parameters 1
parameters Set according to the machine and applicable
)
Pr.1 to Pr.57 )
Basic parameters 2 motor when system is started up.
Pr.1 to Pr.42 , Pr.150 )
)

Note)
If the setting of the basic parameters 1 is incorrect, the rotation direction
may be reversed, or no operation may take place.
Detailed parameters 1
Set according to the system configuration when
Detailed parameters 2 the system is started up.

Note)
Detailed parameters 2 are data items for using the QD75 functions to the fullest.
Set as required.
OPR
OPR basic parameters
parameters Set the values required for carrying
OPR detailed parameters out OPR control.
Pr.43 to Pr.57 )
)

Positioning data Positioning data Set the data for "major positioning control".
Da.1 to Da.10 )
)

Block start data Block start data Set the block start data for "high-level positioning control".
Da.11 to Da.14 )
)
Da.11 to Da.19 )
)
Condition data Set the condition data for "high-level positioning control".
Da.15 to Da.19 )
)

Memo data Set the condition judgment values for the condition
data used in "high-level positioning control".
The data is set with the sequence program or peripheral device.
In this chapter, the method using the peripheral device will be explained.
(Refer to "Point" on the next page.)
The basic parameters 1, detailed parameters 1, and OPR parameters become valid
when the PLC READY signal [Y0] turns from OFF to ON. Note, however, that the
only valid value of the " Pr.5 Pulse output mode" is the value at the moment when
the PLC READY signal [Y0] turns from OFF to ON for the first time after the power
is switched ON or the PLC CPU is reset. Once the PLC READY signal [Y0] has
been turned ON, the value will not be reset even if another value is set to the
parameter and the PLC READY signal [Y0] is turned from OFF to ON.
The basic parameters 2 and detailed parameters 2 become valid immediately when
they are written to the buffer memory, regardless of the state of the PLC READY
signal [Y0].
Even when the PLC READY signal [Y0] is ON, the values or contents of the
following can be changed: basic parameters 2, detailed parameters 2, positioning
data, and block start data.

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The only valid data assigned to these parameters are the data read at the moment
when a positioning or JOG operation is started. Once the operation has started, any
modification to the data is ignored.
Exceptionally, however, modifications to the following are valid even when they are
made during a positioning operation: acceleration time 0 to 3, deceleration time 0 to
3, and external start command.
• Acceleration time 0 to 3 and deceleration time 0 to 3:
Positioning data are pre-read and pre-analyzed. Modifications to the
data four or more steps after the current step are valid.
• External command function selection: The value at the time of detection is valid.

Monitor data (Data that indicates the control state. Stored in the buffer memory, and monitors as necessary.)
: Md.1 to Md.48

System monitor data Monitors the QD75 specifications and the operation history.
Md.1 to Md.19 )
)

Axis monitor data Monitors the data related to the operating axis, such as the current position
and speed.
Md.20 to Md.48 )
)

The data is monitored with the sequence program or peripheral device. In this chapter,
the method using the peripheral device will be explained.

Control data (Data for user to control positioning system.) : Cd.1 to Cd.42

System control data Performs write/initialization, etc. of the "setting data" in the module.
Cd.1 to Cd.2 , Cd.41 , Cd.42 )
)

Makes settings related to the operation, and controls the speed change during
Axis control data
operation, and stops/restarts the operation.
Cd.3 to Cd.40 )
)

Control using the control data is carried out with the sequence program.
" Cd.41 Deceleration start flag valid" is valid for only the value at the time
when the PLC READY signal [Y0] turns from OFF to ON.

POINT
(1) The "setting data" is created for each axis.
(2) The "setting data" parameters have determined default values, and are set to
the default values before shipment from the factory. (Parameters related to
axes that are not used are left at the default value.)
(3) The "setting data" can be initialized with GX Configurator-QP or the sequence
program.
(4) It is recommended to set the "setting data" with GX Configurator-QP. When
executed with the sequence program, many sequence programs and devices
must be used. This will not only complicate the program, but will also increase
the scan time.

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5.1.2 Setting items for positioning parameters

The table below lists items set to the positioning parameters. Setting of positioning
parameters is similarly done for individual axes for all controls achieved by the QD75.
For details of controls, refer to Section 2. For details of setting items, refer to Section
5.2 "List of parameters".
Control Major positioning control Manual control
Position control Other control

2/3/4-axis linear interpolation control

JUMP instruction, NOP instruction,

2-axis circular interpolation control

Manual pulse generator operation

Speed-position or position-speed
2/3/4-axis fixed-feed control

1 to 4 axis speed control

Current value changing

1-axis fixed-feed control

Related sub function

1-axis linear control

Inching operation
LOOP to LEND

JOG operation
OPR control

control
Positioning parameter
Pr.1 Unit setting –
No. of pulses per rotation (Ap)
Pr.2
Basic parameters 1

(Unit: pulse)
Pr.3 Movement amount per rotation (Al) 12.3.2

Pr.4 Unit magnification (Am)

Pr.5 Pulse output mode –
Pr.6 Rotation direction setting –
Pr.7 Bias speed at start – – – – –

Pr.8 Speed limit value – – 12.4.1

parameters 2
Basic

Pr.9 Acceleration time 0 – – –

12.7.7
Pr.10 Deceleration time 0 – – –

Pr.11 Back compensation amount – – 12.3.1

Pr.12 Software stroke limit upper limit value – – –
Pr.13 Software stroke limit lower limit value – – –
12.4.3
Pr.14 Software stroke limit selection – – –
Software stroke limit valid/invalid
Pr.15 – – – – – –
selection
Detailed parameters 1

Pr.16 Command in-position width – – – – – – 12.7.6

Pr.17 Torque limit setting value – – 12.4.2
Pr.18 M code ON signal output timing – – – – 12.7.3
Pr.19 Speed switching mode – – – – – – – –
Pr.20 Interpolation speed designation method – – – – – – –
Pr.21 Current feed value during speed control – – – – – – – – –
Pr.22 Input signal logic selection –
Pr.23 Output signal logic selection –
Pr.24 Manual pulse generator input selection – – – – – – – – – –
Pr.150 Speed-position function selection – – – – – – – – – –

: Always set
: Set as required (Read "–" when not required.)
: Setting not possible
: Setting restricted
– : Setting not required. (This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no
problem.)

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Control Major positioning control Manual control

Position control Other control

2/3/4-axis linear interpolation control

JUMP instruction, NOP instruction,

2-axis circular interpolation control

Manual pulse generator operation

Speed-position or position-speed
2/3/4-axis fixed-feed control

1 to 4 axis speed control

1-axis fixed-feed control

Current value changing

Related sub function

1-axis linear control

Inching operation
LOOP to LEND

JOG operation
OPR control

control
Positioning parameter
Pr.25 Acceleration time 1 – – –
Pr.26 Acceleration time 2 – – –
Pr.27 Acceleration time 3 – – –
12.7.7
Pr.28 Deceleration time 1 – – –
Pr.29 Deceleration time 2 – – –
Pr.30 Deceleration time 3 – – –
Pr.31 JOG speed limit value – – – – – – – – – 12.4.1
Detailed parameters 2

Pr.32 JOG operation acceleration time selection – – – – – – – – – –

Pr.33 JOG operation deceleration time selection – – – – – – – – – –
Acceleration/deceleration process
Pr.34 – – –
selection
Pr.35 S-curve ratio – – – 12.7.7

Pr.36 Sudden stop deceleration time – – –

Pr.37 Stop group 1 sudden stop selection – – – –
Pr.38 Stop group 2 sudden stop selection – – – –
Pr.39 Stop group 3 sudden stop selection – – – –
Pr.40 Positioning complete signal output time – – – – –
Pr.41 Allowable circular interpolation error width – – – – – – – – – –
12.5.1
Pr.42 External command function selection – –
12.7.2

: Always set
: Set as required ("–" when not set)
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the setting range, there is no
problem.)

Checking the positioning parameters

Pr.1 to Pr.42 are checked with the following timing.

(1) When the "PLC READY signal [Y0]" output from the PLC CPU to the QD75
changes from OFF to ON
(2) When the test operation button is turned ON in the test mode using GX
Configurator-QP
(3) When an error check is carried out with GX Configurator-QP

REMARK
• "High-level positioning control" is carried out in combination with the "major
positioning control".
Refer to the "major positioning control" parameter settings for details on the
parameters required for "high-level positioning control".

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5.1.3 Setting items for OPR parameters

When carrying out "OPR control", the "OPR parameters" must be set. The setting
items for the "OPR parameters" are shown below.
The "OPR parameters" are set commonly for each axis.
Refer to Chapter 8 "OPR control" for details on the "OPR control", and to Section 5.2
"List of parameters" for details on each setting item.
OPR control
Fast
Machine OPR control
OPR control
OPR parameters

Count method 1)

Count method 2)
Stopper method

Stopper method

Stopper method
Near-point dog
Pr.43 OPR method

method
OPR basic parameters

1)

2)

3)
Pr.44 OPR direction
Pr.45 OP address
Pr.46 OPR speed
Pr.47 Creep speed
Pr.48 OPR retry R R R – R R
Pr.49 OPR dwell time – – – – –

Pr.50 Setting for the movement amount after near-

– – – –
point dog ON
OPR detailed parameters

Pr.51 OPR acceleration time selection

Pr.52 OPR deceleration time selection
Pr.53 OP shift amount S S S S S S
Pr.54 OPR torque limit value – – –
Pr.55 Deviation counter clear signal output time C C C C C –
Pr.56 Speed designation during OP shift S S S S S S
Pr.57 Dwell time during OPR retry R R R – R R

: Always set
: Preset parameters are used for machine OPR control.
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or
within the setting range, there is no problem.)
R : Set when using the "12.2.1 OPR retry function". ("–" when not set.)
S : Set when using the "12.2.2 OP shift function". ("–" when not set.)
C : Set the deviation counter clear signal output time. (Read as "–" when the setting is not required.)

Checking the OPR parameters.

Pr.43 to Pr.57 are checked with the following timing.

(1) When the "PLC READY signal [Y0]" output from the PLC CPU to the QD75
changes from OFF to ON
(2) When the test operation button is turned ON in the test mode using GX
Configurator-QP
(3) When an error check is carried out with GX Configurator-QP

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5.1.4 Setting items for positioning data

Positioning data must be set for carrying out any "major positioning control". The table
below lists the items to be set for producing the positioning data.
One to 600 positioning data items can be set for each axis.
For details of the major positioning controls, refer to Chapter 9 "Major Positioning
Control". For details of the individual setting items, refer to Section 5.3 "List of
positioning data".
Major positioning control Position control Other control
2/3/4-axis fixed-feed control

2-axis circular interpolation

Speed-position switching

Position-speed switching
1 to 4 axis speed control
1-axis fixed-feed control

Current value changing

interpolation control
1-axis linear control

JUMP instruction
2/3/4-axis linear

NOP instruction
control

control

control

LOOP

LEND
Positioning data
Independent
positioning – – – –
control
Da.1 Operation Continuous
pattern positioning – – – –
control
Continuous path
– – – –
control
Forward
run speed 1
Reverse run
speed 1
Fixed- Forward Forward Forward
Circular
feed 1 run speed 2 run run
Linear 1 sub
Fixed- Reverse run speed/ position/
Linear 2 Circular Current
Da.2 feed 2 speed 2 position speed NOP JUMP
Control system Linear 3 right value LOOP LEND
Fixed- Forward Reverse Reverse instruction instruction
Linear 4 Circular run speed 3 changing
feed 3 run run
left Reverse run
Fixed- speed/ position/
feed 4 speed 3 position speed
Forward
run speed 4
Reverse run
speed 4
Da.3 Acceleration time No. – – – – –

Da.4 Deceleration time No. – – – – –

Da.5 Axis to be : 2 axes

– – – – – – – – – – –
interpolated – : 1/3/4 axes
Da.6 Positioning address/ New
– – – – –
movement amount address
Da.7 Arc address – – – – – – – – – –

Da.8 Command speed – – – – –

JUMP
Dwell time
Da.9 destination
(JUMP destination – – – –
positioning
positioning data No.) data No.
No. of
JUMP
Da.10 M code LOOP to
– condition –
(JUMP condition data No.) LEND
data No. repetitions

: Always set
: Set as required (Read "–" when not required.)
: Setting not possible
– : Setting not required.
(This is an irrelevant item, so the set value will be ignored. If the value is the default value or within the setting range, there is no problem.)
: Two control systems are available: the absolute (ABS) system and incremental (INC) system.

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Checking the positioning data

The items Da.1 to Da.10 are checked at the following timings:

(1) Startup of a positioning operation

(2) Error check performed by GX Configurator-QP

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MEMO

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5.1.5 Setting items for block start data

The "block start data" must be set when carrying out "high-level positioning control".
The setting items for the " block start data" are shown below.
Up to 50 points of " block start data" can be set for each axis.
Refer to Chapter 10 "High-level Positioning Control" for details on the "high-level
positioning control", and to Section 5.4 "List of block start data" for details on each
setting item.
High-level positioning Repeated
Repeated
control Block start Condition Simultaneous start
Wait start start
(Normal start) start start (FOR
(FOR loop)
Block start data condition)

Da.11 Shape (end/continue)

Da.12 Start data No.

Da.13 Special start instruction –

Da.14 Parameter –

: Set as required ("–" when not set)

– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)

Checking the block start data

Da.11 to Da.14 are checked with the following timing.

(1) When the "Block start data" starts

(2) When an error check is carried out with GX Configurator-QP

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5.1.6 Setting items for condition data

When carrying out "high-level positioning control" or using the JUMP instruction in the
"major positioning control", the "condition data" must be set as required. The setting
items for the "condition data" are shown below.
Up to 10 "condition data" items can be set for each axis.
Refer to Chapter 10 "High-level Positioning Control" for details on the "high-level
positioning control", and to Section 5.5" List of condition data" for details on each
setting item.
Control Major positioning
High-level positioning control
control
Repeated Repeated
Other than Block start Simul-
JUMP Condition start start
JUMP (Normal Wait start taneous
instruction start (FOR (FOR
Condition data instruction start ) start
loop) condition)
Da.15 Condition target – – –

Da.16 Condition operator – – –

Da.17 Address – – – –

Da.18 Parameter 1 – – –

Da.19 Parameter 2 – – –

: Set as required ("–" when not set)

: Setting limited
– : Setting not required (This is an irrelevant item, so the setting value will be ignored. If the value is the default value or within the
setting range, there is no problem.)

Checking the condition data

Da.15 to Da.19 are checked with the following timing.

(1) When the " Block start data" starts

(2) When "JUMP instruction" starts
(3) When an error check is carried out with GX Configurator-QP

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5.1.7 Types and roles of monitor data

The monitor data area in the buffer memory stores data relating to the operating state
of the positioning system, which are monitored as required while the positioning
system is operating.
The following data are available for monitoring.
• System monitoring:
Monitoring of the QD75 configuration and operation history (through the system
monitor data Md.1 through Md.19 )

• Axis operation monitoring:

Monitoring of the current position and speed, and other data related to the
movements of axes (through the axis monitor data Md.20 through Md.48 )

The axis monitor data are refreshed every 1.8 ms. Note that " Md.21 Machine feed
value", " Md.22 Feedrate", " Md.28 Axis feedrate" and " Md.30 External
input/output signal" are refreshed every 56.8ms. Also, " Md.23 Valid M code", is
updated when the "M code ON signal [X4, X5, X6, X7]" turns ON.

[1] Monitoring the system

Monitoring the positioning system operation history

Monitoring details Corresponding item
Whether the system is in the test mode or not Md.1 In test mode flag
Start information Md.3 Start information
Start No. Md.4 Start No.
Hour Md.5 Start (Hour)
History of data that
Start
started an operation Minute:second Md.6 Start (Minute:second)
Error upon starting Md.7 Error judgment
Latest pointer No. Md.8 Start history pointer
Axis in which the error occurred Md.9 Axis in which the error occurred
Axis error No. Md.10 Axis error No.
History of all errors Hour Md.11 Axis error occurrence Hour
Axis error occurrence
Minute:second Md.12 Axis error occurrence Minute:second
Latest pointer No. Md.13 Error history pointer
Axis in which the warning occurred Md.14 Axis in which the warning occurred
Axis warning No. Md.15 Axis warning No.
History of all warnings Hour Md.16 Axis warning occurrence (Hour)
Axis warning
occurrence Minute:second Md.17 Axis warning occurrence (Minute:second)
Latest pointer No. Md.18 Warning history pointer
Number of write accesses
to the flash ROM after the Number of write accesses to flash ROM Md.19 No. of write accesses to flash ROM
power is switched ON

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[2] Monitoring the axis operation state

Monitoring the position

Monitor details Corresponding item
Monitor the current machine feed value Md.21 Machine feed value
Monitor the current "current feed value" Md.20 Current feed value
Monitor the current target value Md.32 Target value

Monitoring the speed

Monitor details Corresponding item
Indicates the
During independent axis control speed of each
axis
When "0:
Composite speed" Indicates the
is set for " Pr.20 composite
Interpolation speed speed Md.22 Feedrate
Monitor the During
interpola- designation method"
current speed
tion When "1:
control Reference axis speed" Indicates the
is set for " Pr.20 reference axis
Interpolation speed speed
designation method"
Constantly indicates the speed of each axis Md.28 Axis feedrate
Monitor the current target speed Md.33 Target speed

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Monitoring the state

Monitor details Corresponding item
Monitor the axis operation state Md.26 Axis operation status
Monitor the latest error code that occurred with the axis Md.23 Axis error No.
Monitor the latest warning code that occurred with the axis Md.24 Axis warning No.
Md.30 External input/output signal
Monitor the external input/output signal and flag
Md.31 Status
Monitor the valid M codes Md.25 Valid M code
Monitor whether the speed is being limited Md.39 In speed control flag
Monitor whether the speed is being changed Md.40 In speed change processing flag
Monitor the "start data" point currently being executed Md.43 Start data pointer being executed
Monitor the "positioning data No." currently being executed Md.44 Positioning data No. being executed
Monitor the remaining No. of repetitions (special start) Md.41 Special start repetition counter
Monitor the remaining No. of repetitions (control system) Md.42 Control system repetition counter
Monitor the block No. Md.45 Block No. being executed
Monitor the current torque limit value Md.35 Torque limit stored value
Monitor the "instruction code" of the special start data when using Md.36 Special start data instruction code setting
special start value
Monitor the "instruction parameter" of the special start data when Md.37 Special start data instruction parameter
using special start setting value
Monitor the "start data No." of the special start data when using Md.38 Start positioning data No. setting value
special start
Monitor the "positioning data No." executed last Md.46 Last executed positioning data No.
Monitor the positioning data currently being executed Md.47 Positioning data being executed
Monitor the movement amount after the current position control Md.29 Speed-position switching control
switching when using "speed-position switching control (INC mode)" positioning amount
Monitor switching from the constant speed status or acceleration
status to the deceleration status during position control whose Md.48 Deceleration start flag
operation pattern is "Positioning complete"

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MEMO

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5.1.8 Types and roles of control data

Operation of the positioning system is achieved through the execution of necessary

controls. (Data required for controls are given through the default values when the
power is switched ON, which can be modified as required by the sequence program.)
Controls are performed over system data or machine operation.

• Controlling the system data :

Performs write/initialization, etc. of the QD75 "setting data". (through the system
control data Cd.1 , Cd.2 , Cd.41 and Cd.42 )

• Controlling the operation :

Setting operation parameters, changing speed during operation, interrupting or
restarting operation (through the axis control data Cd.3 to Cd.40 )

[1] Controlling the system data

Setting and resetting the setting data

Control details Controlled data item
Write setting data from buffer memory to flash ROM Cd.1 Flash ROM write request
Reset (initialize) parameters Cd.2 Parameter initialization request

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[2] Controlling the operation

Controlling the operation

Control details Corresponding item
Set which positioning to execute (start No.) Cd.3 Positioning start No.

Clear (reset) the axis error ( Md.23 ) and warning ( Md.24 ) Cd.5 Axis error reset

Issue instruction to restart (When axis operation is stopped) Cd.6 Restart command
End current positioning (deceleration stop), and start next positioning Cd.37 Skip command
Set start point No. for executing block start Cd.4 Positioning starting point No.

Cd.18 Interrupt request during continuous

Stop continuous control
operation
Cd.30 Simultaneous starting axis start data No.
(axis 1 start data No.)
Cd.31 Simultaneous starting axis start data No.
(axis 2 start data No.)
Set start data Nos. for axes that start up simultaneously
Cd.32 Simultaneous starting axis start data No.
(axis 3 start data No.)
Cd.33 Simultaneous starting axis start data No.
(axis 4 start data No.)
Specify write destination for teaching results Cd.38 Teaching data selection
Specify data to be taught Cd.39 Teaching positioning data No.

Controlling operation per step

Control details Corresponding item
Stop positioning operation after each operation Cd.35 Step valid flag
Set unit to carry out step Cd.34 Step mode
Issue instruction to continuous operation or restart from stopped Cd.36 Step start information
step

Controlling the speed

Control details Corresponding item
Set new speed when changing speed during operation Cd.14 New speed value

Issue instruction to change speed in operation to Cd.14 value

Cd.15 Speed change request
(Only during positioning operation and JOG operation)
Change positioning operation speed between 1 and 300% range Cd.13 Positioning operation speed override
Set inching movement amount Cd.16 Inching movement amount
Set JOG speed Cd.17 JOG speed
When changing acceleration time during speed change, set new Cd.10 New acceleration time value
acceleration time
When changing deceleration time during speed change, set new Cd.11 New deceleration time value
deceleration time
Acceleration/deceleration time change
Set acceleration/deceleration time validity during speed change Cd.12 during speed change, enable/disable
selection

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Making settings related to operation

Control details Corresponding item
Turn M code ON signal OFF Cd.7 M code OFF request
Set new value when changing current value Cd.9 New current value
Validate speed-position switching signal from external source Cd.24 Speed-position switching enable flag
Change movement amount for position control during speed-position Cd.23 Speed-position switching control
switching control (INC mode) movement amount change register
Validate external position-speed switching signal Cd.26 Position-speed switching enable flag
Change speed for speed control during position-speed switching Cd.25 Position-speed switching control speed
control change register
Set up a flag when target position is changed during positioning Cd.29 Target position change request flag
Set new positioning address when changing target position during Cd.27 Target position change value(new
positioning address)
Set new speed when changing target position during positioning Cd.28 Target position change value(new speed)
Set absolute (ABS) moving direction in degrees Cd.40 ABS direction in degrees
Set manual pulse generator operation validity Cd.21 Manual pulse generator enable flag
Set scale per pulse of No. of input pulses from manual pulse Cd.20 Manual pulse generator 1 pulse input
generator magnification
Change OPR request flag from "ON to OFF" Cd.19 OPR request flag OFF request
Validate external command signal Cd.8 External command valid

Change " Md.35 Torque limit stored value" Cd.22 New torque value
Set whether " Md.48 Deceleration start flag" is valid or invalid Cd.41 Deceleration start flag valid
Set the stop command processing for deceleration stop function Cd.42
Stop command processing for
(deceleration curve re-processing/deceleration curve continuation) deceleration stop selection

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MEMO

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5.2 List of parameters

5.2.1 Basic parameters 1

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
0 : mm 0
Pr.1 Unit setting 1 : inch 1
3 0 150 300 450
2 : degree 2
3 : pulse 3
1 to 65535
Pr.2 1 to 32767
No. of pulses per :Set as a decimal
1 to 65535 20000 1 151 301 451
rotation (Ap) 32768 to 65535
Movement amount per pulse

(Unit : pulse) :Convert into hexadecimal

and set
The setting value range differs according to the " Pr.1 Unit
Pr.3 setting".
Here, the value within the [Table 1] range is set. 20000 2 152 302 452
Movement amount per
rotation (Al)
[Table 1] on right page

1 : 1-fold 1
Pr.4 10 : 10-fold 10
1 3 153 303 453
Unit magnification (Am) 100 : 100-fold 100
1000 : 1000-fold 1000

Pr.1 Unit setting

Set the unit used for defining positioning operations. Choose from the following
units depending on the type of the control target: mm, inch, degree, or pulse.
Different units can be defined for different axes (axis 1 to 4).
(Example) Different units (mm, inch, degree, and pulse) are applicable to different
systems:
mm or inch..... X-Y table, conveyor (Select mm or inch depending on the
machine specifications.)
degree ........... Rotating body (360 degrees/rotation)
pulse .............. X-Y table, conveyor
When you change the unit, note that the values of other parameters and data
will not be changed automatically.
After changing the unit, check if the parameter and data values are within the
allowable range.
Set "degree" to exercise speed-position switching control (ABS mode).

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Pr.2 to Pr.4 Movement amount per pulse

These parameters define the amount of movement achieved by each single pulse
within a pulse train output by the QD75.
The following paragraphs explain how to set the individual parameters Pr.2 ,
Pr.3 , and Pr.4 assuming that the unit "mm" is selected with Pr.1 .
The movement amount per pulse is given by the following expression:
Movement amount per rotation (Al)
Movement amount per pulse =
No. of pulses per rotation (Ap)

Due to the mechanical tolerance, the actual movement amount may differ
slightly from the instructed movement amount. The error can be compensated
by adjusting the movement amount per pulse defined here.
(Refer to Section 12.3.2 "Electronic gear function".)

POINT
If the movement amount per pulse is less than 1, command frequency variations
will occur.Smaller setting will increase variations and may cause machine
vibration.If the movement amount per pulse becomes less than 1, also use the
electronic gear function of the drive unit and make setting so that the movement
amount per pulse is 1 or greater.

Pr.2 No. of pulses per rotation (Ap)

Set the number of pulses required for a complete rotation of the motor shaft.
If you are using the Mitsubishi servo amplifier MR-H, MR-J2/J2S , or MR-C, set
the value given as the "resolution per servomotor rotation" in the speed/position
detector specifications.
No. of pulses per rotation (Ap) = Resolution per servomotor rotation
Since the "Resolution per servomotor revolution" of Mitsubishi servo amplifier MR-J2S
exceeds 65535 pulses, make setting after referring to the Servo Amplifier Instruction
Manual.

[Table 1]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm 0.1 to 6553.5 (μm) 1 to 65535 (× 10-1μm)
1 : inch 0.0001 to 0.65535 (inch) 1 to 65535 (× 10-5inch)
2 : degree 0.00001 to 0.65535 (degree) 1 to 65535 (× 10-5degree)
3 : pulse 1 to 65535 (pulse) 1 to 65535 (pulse)

1 to 32767 : Set as a decimal

32768 to 65535 : Convert into hexadecimal and set

Pr.3 Movement amount per rotation (Al), Pr.4 Unit magnification (Am)
The amount how the workpiece moves with one motor rotation is determined by
the mechanical structure.
If the worm gear lead (mm/rev) is PB and the deceleration rate is 1/n, then
Movement amount per rotation (AL) = PB × 1/n

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However, the maximum value that can be set for this "movement amount per
rotation (Al)" parameter is 6553.5 μm (approx. 6.5mm). Set the "movement amount
per rotation (Al)" as shown below so that the "movement amount per rotation (AL)"
does not exceed this maximum value.
Movement amount per rotation (AL)
= PB × 1/n
= Movement amount per rotation (Al) × Unit magnification (Am)

Note) The unit magnification (Am) is a value of 1, 10, 100 or 1000. If the "PB ×
1/n" value exceeds 6553.5 μm, adjust with the unit magnification so that the
"movement amount per rotation (Al) " does not exceed 6553.5 μm.

Example 1)
When movement amount per rotation (AL) = PB × 1/n = 6000.0μm (= 6mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) × Unit magnification (Am)
= 6000 × 1

Example 2)
When movement amount per rotation (AL) = PB × 1/n = 60000.0μm (= 60mm)
Movement amount per rotation (AL)
= Movement amount per rotation (Al) × Unit magnification (Am)
= 6000 × 10
= 600 × 100

Workpiece
PLC Servo amplifier Servomotor

PLC CPU QD75 M G

1 Reduction gears
n
Encoder PB

Pf

Movement amount per pulse PB : Worm gear lead (mm/rev)

PB 1 1/n : Deceleration rate
= [mm/pulse] Pf : No. of encoder pulses (pulse/rev)
Pf n

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
0 : PULSE/SIGN mode 0
1 : CW/CCW mode 1
Pr.5 2 : A phase/B phase
2 1 4 154 304 454
Pulse output mode (multiple of 4)
3 : A phase/B phase
3
(multiple of 1)
0 : Current value increment with
Pr.6 0
forward run pulse output
0 5 155 305 455
Rotation direction setting 1 : Current value increment with
1
reverse run pulse output

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Pr.5 Pulse output mode

Set the pulse output mode to match the servo amplifier being used.

IMPORTANT
The only valid value of the " Pr.5 Pulse output mode" is the value at the moment
when the PLC READY signal [Y0] turns from OFF to ON for the first time after the
power is switched ON or the PLC CPU is reset. Once the PLC READY signal [Y0]
has been turned ON, the value will not be reset even if another value is set to the
parameter and the PLC READY signal [Y0] is turned from OFF to ON.

Use " Pr.23 Output signal logic selection" to choose between the positive logic
(pulse rising edge detection) and negative logic (pulse falling edge detection).
An example of the pulse output mode for positive and negative logic is shown
below.

(1) PULSE/SIGN mode

Positive logic Negative logic
Forward run and reverse run are controlled with the ON/OFF Forward run and reverse run are controlled with the ON/OFF
of the direction sign (SIGN). of the direction sign (SIGN).
• The motor will forward run when the direction sign is HIGH. • The motor will forward run when the direction sign is LOW.
• The motor will reverse run when the direction sign is LOW. • The motor will reverse run when the direction sign is HIGH.

PULSE PULSE

SIGN SIGN
Forward Reverse Forward Reverse
run run run run
Move in + Move in - Move in + move in -
direction direction direction direction

(2) CW/CCW mode

During forward run, the forward run feed pulse (PULSE F) will be output.
During reverse run, the reverse run feed pulse (PULSE R) will be output.
Positive logic Negative logic

CW CW

CCW CCW

Forward Reverse Forward Reverse

run run run run

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(3) A phase/B phase mode

Forward run and reverse run are controlled with the phase difference of the A
phase (A ) and B phase (B ).
When the B phase is 90° behind the A phase, the motor will forward run.
•
When the B phase is 90° ahead of the A phase, the motor will reverse run.
•
1) For multiple of 1 setting

Positive logic Negative logic

Forward run Reverse run Forward run Reverse run

Command 1 pulse output Command 1 pulse output Command 1 pulse output Command 1 pulse output
A phase A phase
(A ) (A )

B phase B phase
(B ) (B )

When B phase is When B phase is When B phase is When B phase is

90° behind A phase 90° ahead of A phase 90° behind A phase 90° ahead of A phase

Example) When the command 1 pulse output is 1 pulse/s, the pulse rises and falls by four
times per second.

2) For multiple of 4 setting

Positive logic Negative logic

Forward run Reverse run Forward run Reverse run

Command 1 pulse output Command 1 pulse output Command 1 pulse output Command 1 pulse output

A phase
A phase
(A )
(A )
B phase
B phase
(B )
(B )

When B phase is When B phase is When B phase is When B phase is

90° behind A phase 90° ahead of A phase 90° behind A phase 90° ahead of A phase

Example) When the command 1 pulse output is 1 pulse/s, the pulse rises and falls by one times
per second.

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Pr.6 Rotation direction setting

Set the relation of the motor rotation direction and current value address
increment/decrement.
[Setting procedure]

1) Set "0" in Pr.6 , and carry out forward run JOG operation.
("0" is set as the default value for Pr.6 .)
2) When workpiece "W" moves toward the address increment direction, keep the current setting.
When workpiece "W" moves toward the address decrement direction, set "1" in Pr.6 to change the
rotation direction.
3) Carry out forward run JOG operation again, and if "W" moves toward the increment direction, the
setting is complete.

Address decre- Address incre-

QD75 ment direction ment direction
Motor 2) Workpiece
1) Forward run pulse
M W

OP
3)

POINT
When Pr.6 has been changed from "0" to "1", check if the upper and lower limit
switches operate properly by JOG operation.
If any malfunction is identified, check and correct the wiring.

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Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
The setting range differs depending on the " Pr.1 Unit setting".
Pr.7 Here, the value within the [Table 1] range is set. 6 156 306 456
0
Bias speed at start 7 157 307 457
[Table 1] on right page

Pr.7 Bias speed at start

Set the bias speed (minimum speed) upon starting. The bias speed has to be
defined to allow the motor to start smoothly especially when a stepping motor is
used. (A stepping motor will not start smoothly if a low rotation speed is instructed
at the beginning.)
The specified "bias speed at start" will be valid during the following operations:
• Positioning operation
• OPR operation
• JOG operation

Note that the bias speed should not exceed " Pr.8 Speed limit value".

5.2.2 Basic parameters 2

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
The setting range differs depending on the " Pr.1 Unit setting".
Pr.8 Here, the value within the [Table 2] range is set. 10 160 310 460
200000
Speed limit value 11 161 311 461
[Table 2] on right page

Pr.9 12 162 312 462

1 to 8388608 (ms) 1 to 8388608 (ms) 1000
Acceleration time 0 13 163 313 463
Pr.10 14 164 314 464
1 to 8388608 (ms) 1 to 8388608 (ms) 1000
Deceleration time 0 15 165 315 465

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[Table 1]
Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit)
0 : mm 0 to 20000000.00 (mm/min) 0 to 2000000000 (×10-2mm/min)
1 : inch 0 to 2000000.000 (inch/min) 0 to 2000000000 (×10-3inch/min)
2 : degree 0 to 2000000.000 (degree/min) 0 to 2000000000 (×10-3degree/min)
3 : pulse 0 to 1000000 (pulse/s) 0 to 1000000 (pulse/s)

[Table 2]
Pr.1 setting value Value set with peripheral device (unit) Value set with sequence program (unit)
0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (×10-2mm/min)
1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (×10-3inch/min)
2 : degree 0.001 to 2000000.000 (degree/min) 1 to 2000000000 (×10-3degree/min)
[Select type 1 is QD75P]
1 to 200000 (pulse/s)
3 : pulse 1 to 1000000 (pulse/s) 2
[Select type 1 is QD75D]
1 to 1000000 (pulse/s)
1: For Select type, refer to GX Configurator-QP Operating Manual.
2: When using the QD75P (open collector output type), set the value to within "1 to 200000 (pulse/s)".

Pr.8 Speed limit value

Set the maximum speed during positioning and OPR operations.
The maximum speed during positioning control has to be limited in consideration
of the drive unit and control target specifications.
Take account of the following when determining the speed limit value:
1) Motor speed
2) Workpiece movement speed

Pr.9 Acceleration time 0, Pr.10 Deceleration time 0

" Pr.9 Acceleration time 0" specifies the time for the speed to increase from zero
to the speed limit value ( Pr.8 ).
" Pr.10 Deceleration time 0" specifies the time for the speed to decrease from the
speed limit value ( Pr.8 ) to zero.

Speed Pr.8 Speed limit value

Positioning speed

Time
Actual
acceleration Actual deceleration time
Pr.9 time Pr.10 Deceleration time 0
Acceleration time 0

1) If the positioning speed is set lower than the parameter-defined speed limit
value, the actual acceleration/deceleration time will be relatively short. Thus,
set the maximum positioning speed equal to or only a little lower than the
parameter-defined speed limit value.
2) These settings are valid for OPR, positioning and JOG operations.
3) When the positioning involves interpolation, the acceleration/deceleration time
defined for the reference axis is valid.

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5.2.3 Detailed parameters 1

Setting value buffer memory

Setting value, setting range
address
Item Default value
Value set with
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
sequence program
The setting value range differs according to the " Pr.1 Unit
Pr.11 setting".
Here, the value within the [Table 1] range is set. 0 17 167 317 467
Backlash compensation
amount
[Table 1] on right page

Pr.12 The setting value range differs according to the " Pr.1 Unit 18 168 318 468
Software stroke limit upper 2147483647
setting". 19 169 319 469
limit value Here, the value within the [Table 2] range is set.
Pr.13
[Table 2] on right page 20 170 320 470
Software stroke limit lower –2147483648
21 171 321 471
limit value
Pr.14 0 : Apply software stroke limit on current
0
feed value
Software stroke limit 0 22 172 322 472
1 : Apply software stroke limit on
selection 1
machine feed value
0 : Software stroke limit valid during JOG
Pr.15 operation,inching operation and 0
manual pulse generator operation
Software stroke limit 0 23 173 323 473
1 : Software stroke limit invalid during
valid/invalid setting JOG operation ,inching operation and 1
manual pulse generator operation

Pr.11 Backlash compensation amount

The error that occurs due to backlash when moving the machine via gears can be
compensated.
When the backlash compensation amount is set, pulses equivalent to the
compensation amount will be output each time the direction changes during
positioning.

Pr.44 OPR direction

Workpiece
(moving body)

Worm gear

Backlash
(compensation amount)

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1) The backlash compensation is valid after machine OPR. Thus, if the backlash
compensation amount is set or changed, always carry out machine OPR once.
2) The backlash compensation amount setting range is 0 to 65535, but it should
be set to 255 or less by using the following expression.
Backlash compensation amount
0≤ ≤ 255
Movement amount per pulse

[Table 1]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)

0 : mm 0 to 6553.5 (μm) 0 to 65535 (× 10-1μm)

1 : inch 0 to 0.65535 (inch) 0 to 65535 (× 10-5inch)
2 : degree 0 to 0.65535 (degree) 0 to 65535 (× 10-5degree)
3 : pulse 0 to 65535 (pulse) 0 to 65535 (pulse)

1 to 32767 : Set as a decimal

32768 to 65535 : Convert into hexadecimal and set

[Table 2]
Pr.1 Value set with peripheral device Value set with sequence program
setting value (unit) (unit)

0 : mm -214748364.8 to 214748364.7 (μm) -2147483648 to 2147483647 (× 10-1μm)

5
1 : inch -21474.83648 to 21474.83647(inch) -2147483648 to 2147483647 (× 10- inch)
2 : degree 0 to 359.99999 (degree) 0 to 35999999 (× 10-5degree)
3 : pulse -2147483648 to 2147483647(pulse) -2147483648 to 2147483647 (pulse)

Pr.12 Software stroke limit upper limit value

Set the upper limit for the machine's movement range during positioning control.

Pr.13 Software stroke limit lower limit value

Set the lower limit for the machine's movement range during positioning control.

Software stroke Software stroke

limit lower limit limit upper limit

Emergency stop Emergency stop

limit switch (Machine movement range) limit switch
OP

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1) Generally, the OP is set at the lower limit or upper limit of the stroke limit.
2) By setting the upper limit value or lower limit value of the software stroke limit,
overrun can be prevented in the software. However, an emergency stop limit
switch must be installed nearby outside the range.
3) To invalidate the software stroke limit, set the setting value to "upper limit
value = lower limit value". (The setting value can be anything.)
4) When the unit is "degree", the software stroke limit check is invalid during
speed control (including speed-position switching control, position-speed
switching control) or during manual control.

Pr.14 Software stroke limit selection

Set whether to apply the software stroke limit on the "current feed value" or the
"machine feed value". The software stroke limit will be validated according to the
set value.

Pr.15 Software stroke limit valid/invalid setting

Set whether to validate the software stroke limit during JOG/Inching operation and
manual pulse generator operation.
Setting value buffer memory
Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
The setting value range differs depending on the " Pr.1 Unit
setting".
Pr.16 Here, the value within the [Table 1] range is set. 24 174 324 474
100
Command in-position width 25 175 325 475
[Table 1] on right page

Pr.17
1 to 500 (%) 1 to 500 (%) 300 26 176 326 476
Torque limit setting value
Pr.18 0 : WITH mode 0
M code ON signal output 0 27 177 327 477
1 : AFTER mode 1
timing

Pr.16 Command in-position width

Set the remaining distance that turns the command in-position ON. The command
in-position signal is used as a front-loading signal of the positioning complete
signal. When positioning control is started, the "command in-position flag" (3rd flag
from right) in " Md.31 Status" turns OFF, and the "command in-position flag" turns
ON at the set position of the command in-position signal.

Speed

Position control start

Pr.16 Command in-position width

ON
Command
in-position flag OFF

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Pr.17 Torque limit setting value

Set the maximum value of the torque generated by the servomotor as a
percentage between 1 and 500%.
The torque limit function limits the torque generated by the servomotor within
the set range.
If the torque required for control exceeds the torque limit value, it is controlled
with the set torque limit value.
Usage conditions
Limits for pulse train output type
(a) A drive unit that can issue a torque limit command with the analog voltage is
required.
(b) The D/A conversion module and the D/A conversion module and drive unit
must be wired.
(c) The set " Pr.17 Torque limit setting value" is set in the buffer memory
" Md.35 Torque limit stored value", so transmit that " Md.35 Torque limit
stored value" to the D/A conversion module with the sequence program.

[Table 1]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm 0.1 to 214748364.7 (µm) 1 to 2147483647 (×10–1µm)
1 : inch 0.00001 to 21474.83647 (inch) 1 to 2147483647 (×10–5inch)
2 : degree 0.00001 to 21474.83647 (degree) 1 to 2147483647 (×10–5degree)
3 : pulse 1 to 2147483647 (pulse) 1 to 2147483647 (pulse)

Pr.18 M code ON signal output timing

This parameter sets the M code ON signal output timing.
Choose either WITH mode or AFTER mode as the M code ON signal output timing.
WITH mode......... An M code is output and the M code ON AFTER mode ...... An M code is output and the M code ON
signal is turned ON when a positioning signal is turned ON when a positioning
operation starts. operation completes.

Positioning complete signal

Positioning start signal [X14,X15,X16,X17]
[Y10,Y11,Y12,Y13]

BUSY signal
BUSY signal [XC,XD,XE,XF]
[XC,XD,XE,XF]

M code ON signal
M code ON signal [X4,X5,X6,X7]
[X4,X5,X6,X7]
Cd.7 M code OFF request
Cd.7 M code OFF request
[1504,1604,1704,1804]
[1504,1604,1704,1804]
Md.25 Valid M code m1 m2
Md.25 Valid M code m1 m2

Positioning
Positioning

Da.1 Operation pattern 01 (continuous) 00 (end)

Da.1 Operation pattern 01 (continuous) 00 (end)

: m1 and m2 indicate set M codes. : m1 and m2 indicate set M codes.

Note: If AFTER mode is used with speed control, an M code will not be output and the M code ON signal will not be
turned ON.

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An M code is a number between 0 and 65535 that can be assigned to each positioning
data ( Da.10 ).
The sequence program can be coded to read an M code from the buffer memory
address specified by " Md.25 Valid M code" whenever the M code ON signal [X4, X5,
X6, X7] turns ON so that a command for the sub work (e.g. clamping, drilling, tool
change) associated with the M code can be issued.

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
Pr.19 0 : Standard speed switching mode 0
1 : Front-loading speed switching 0 28 178 328 478
Speed switching mode 1
mode
Pr.20 0 : Composite speed 0
Interpolation speed 0 29 179 329 479
designation method 1 : Reference axis speed 1

0 : Do not update current feed value 0

Pr.21
Current feed value during 1 : Update current feed value 1 0 30 180 330 480
speed control
2 : Clear current feed value to zero 2
b0 Lower limit
b1 Upper limit
Drive unit
b2
READY
b3 Stop signal
External
b4 151413121110 9 8 7 6 5 4 3 2 1 b0

command 0: Negative
Pr.22 b5 Zero signal logic
0 31 181 331 481
Input signal logic selection Near-point 1: Positive
b6 logic Always "0" is set to
signal the part not used.
b7 Not used
Manual pulse
b8
generator input
b9
to Not used
b15
Command
b0
pulse signal
b1 Not used 151413121110 9 8 7 6 5 4 3 2 1 b0

b2 Not used 0: Negative

Pr.23 b3 Not used logic
0 32 182 332 482
Output signal logic selection b4 Deviation 1: Positive
counter clear logic Always "0" is set to
the part not used.
b5
to Not used
b15
0: A-phase/B-phase multiplied by 4 0
Pr.24
1: A-phase/B-phase multiplied by 2 1
Manual pulse generator 0 33 – – –
2: A-phase/B-phase multiplied by 1 2
input selection 3: PULSE/SIGN 3
0: Speed-position switching control
Pr.150 0
(INC mode)
Speed-position function 0 34 184 334 484
2: Speed-position switching control
selection 2
(ABS mode)

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Pr.19 Speed switching mode

Set whether to switch the speed switching mode with the standard switching or
front-loading switching mode.
0 : Standard switching............... Switch the speed when executing the next
positioning data.
1 : Front-loading switching ........ The speed switches at the end of the positioning
data currently being executed.

Speed Speed
Switch the speed when The next positioning data starts
executing the next positioning data positioning at the designated speed

t t

n: Positioning
data No. n n+1 n n+1

<For standard switching> <For front-loading switching>

Pr.20 Interpolation speed designation method

When carrying out linear interpolation/circular interpolation, set whether to
designate the composite speed or reference axis speed.
0: Composite speed .................. The movement speed for the control target is
designated, and the speed for each axis is
calculated by the QD75.
1: Reference axis speed ........... The axis speed set for the reference axis is
designated, and the speed for the other axis
carrying out interpolation is calculated by the
QD75.

X axis X axis
Designate composite speed
Designate speed
for reference axis

Y axis Y axis

Calculated by QD75
Calculated by QD75
<When composite speed is designated> <When reference axis speed is designated>

Note: Always specify the reference axis speed if the 4-axis linear interpolation or 2 to 4 axis
speed control has to be performed.
If you specify the composite speed for a positioning operation that involves the 4-axis
linear interpolation or 2 to 4 axis speed control, the error code 523 "interpolation mode
error" will be output when the positioning operation is attempted.
For a positioning operation that involves the circular interpolation, specify the composite
speed always.

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Pr.21 Current feed value during speed control

Specify whether you wish to enable or disable the update of " Md.20 Current feed
value" while operations are performed under the speed control (including the
speed-position and position-speed switching control).
0: The update of the current feed value is disabled
The current feed value will not change.
(The value at the beginning of the speed control
will be kept.)
1: The update of the current feed value is enabled
The current feed value will be updated.
(The current feed value will change from the
initial.)
2: The current feed value is cleared to zero
The current feed will be set initially to zero and
change from zero while the speed control is in
effect.
Note1: When the speed control is performed over two to four axes, the choice
between enabling and disabling the update of " Md.20 Current feed value"
depends on how the reference axis is set.
Note2: Set "1" to exercise speed-position switching control (ABS mode).

Pr.22 Input signal logic selection, Pr.23 Output signal logic selection
Set the I/O signal logic that matches the signaling specification of the connected
external device.
Note1: A mismatch in the signal logic will disable normal operation. Be careful of
this when you change from the default value.
Note2: Set the manual pulse generator input logic selection (b8) to axis 1. (Setting
of any of axes 2 to 4 is invalid.)

Pr.24 Manual pulse generator input selection

Set the manual pulse generator input pulse mode. (Only the value specified
against the axis 1 is valid.)
0: A-phase/B-phase; multiplied by 4
1: A-phase/B-phase; multiplied by 2
2: A-phase/B-phase; multiplied by 1
3: PULSE/SIGN

Pr.150 Speed-position function selection

Select the mode of speed-position switching control.
0: INC mode
2: ABS mode
Note1: If the setting is other than 0 and 2, operation is performed in the INC mode
with the setting regarded as 0.

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MEMO

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5.2.4 Detailed parameters 2

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
Pr.25 Acceleration time 1 36 186 336 486
37 187 337 487
Pr.26 Acceleration time 2 38 188 338 488
39 189 339 489
Pr.27 Acceleration time 3 40 190 340 490
41 191 341 491
1 to 8388608 (ms) 1 to 8388608 (ms) 1000
Pr.28 Deceleration time 1 42 192 342 492
43 193 343 493
Pr.29 Deceleration time 2 44 194 344 494
45 195 345 495
Pr.30 Deceleration time 3 46 196 346 496
47 197 347 497
The setting range differs depending on the " Pr.1 Unit setting".
Pr.31 Here, the value within the [Table 1] range is set. 48 198 348 498
20000
JOG speed limit value 49 199 349 499
[Table 1] on right page

0: Pr.9 Acceleration time 0 0

Pr.32 1: Pr.25 Acceleration time 1 1
JOG operation acceleration 0 50 200 350 500
2: Pr.26 Acceleration time 2 2
time selection
3: Pr.27 Acceleration time 3 3
0: Pr.10 Deceleration time 0 0
Pr.33 1: Pr.28 Deceleration time 1 1
JOG operation deceleration 0 51 201 351 501
2: Pr.29 Deceleration time 2 2
time selection
3: Pr.30 Deceleration time 3 3

Pr.25 Acceleration time 1 to Pr.27 Acceleration time 3

These parameters set the time for the speed to increase from zero to the speed
limit value ( Pr.8 ) during a positioning operation.

Pr.28 Deceleration time 1 to Pr.30 Deceleration time 3

These parameters set the time for the speed to decrease from the speed limit
value ( Pr.8 ) to zero during a positioning operation.

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[Table 1]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (× 10-2mm/min)
1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (× 10-3inch/min)
2 : degree 0.001 to 2000000.000 (degree/min) 1 to 2000000000 (× 10-3degree/min)
[Select type 1 is QD75P]
1 to 200000 (pulse/s)
3 : pulse 1 to 1000000 (pulse/s) 2
[Select type 1 is QD75D]
1 to 1000000 (pulse/s)
1: For Select type, refer to GX Configurator-QP Operating Manual "Section 11.1.2".
2: When using the QD75P (open collector output type), set the value to within "1 to 200000
(pulse/s)".

Pr.31 JOG speed limit value

Set the maximum speed for JOG operation.
Note) • Set the "JOG speed limit value" to less than " Pr.8 Speed limit value".
If the "speed limit value" is exceeded, the "JOG speed limit value error"
(error code: 956) will occur.

Pr.32 JOG operation acceleration time selection

Set which of "acceleration time 0 to 3" to use for the acceleration time during JOG
operation.
0 : Use value set in " Pr.9 Acceleration time 0".
1 : Use value set in " Pr.25 Acceleration time 1".
2 : Use value set in " Pr.26 Acceleration time 2".
3 : Use value set in " Pr.27 Acceleration time 3".

Pr.33 JOG operation deceleration time selection

Set which of "deceleration time 0 to 3" to use for the deceleration time during JOG
operation.
0 : Use value set in " Pr.10 Deceleration time 0".
1 : Use value set in " Pr.28 Deceleration time 1".
2 : Use value set in " Pr.29 Deceleration time 2".
3 : Use value set in " Pr.30 Deceleration time 3".

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Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
Pr.34 0 : Automatic trapezoid
0
acceleration/deceleration process
Acceleration/deceleration 0 52 202 352 502
1 : S-curve
process selection 1
acceleration/deceleration process
Pr.35
1 to 100 (%) 1 to 100 (%) 100 53 203 353 503
S-curve ratio
Pr.36
54 204 354 504
Sudden stop deceleration 1 to 8388608 (ms) 1 to 8388608 (ms) 1000
55 205 355 505
time
Pr.37
Stop group 1 sudden stop 56 206 356 506
selection 0 : Normal deceleration stop 0

Pr.38
Stop group 2 sudden stop 0 57 207 357 507
selection
Pr.39 1 : Sudden stop 1
Stop group 3 sudden stop 58 208 358 508
selection

Pr.34 Acceleration/deceleration process selection

Set whether to use automatic trapezoid acceleration/deceleration or S-curve
acceleration/deceleration for the acceleration/deceleration process.
Note) Refer to Section 12.7.7 "Acceleration/deceleration process function" for
details.

Speed The acceleration and Speed The acceleration and

deceleration are linear. deceleration follow a sine curve.

Time Time

<Automatic trapezoid acceleration/deceleration> <S-curve acceleration/deceleration>

The S-curve acceleration/deceleration is disabled when a stepping motor is used.

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Pr.35 S-curve ratio

Set the S-curve ratio (1 to 100%) for carrying out the S-curve
acceleration/deceleration process.
The S-curve ratio indicates where to draw the acceleration/deceleration curve
using the sine curve as shown below.

(Example)
V
A
Positioning
B speed
B/2 B/2

t
When S-curve ratio is 100%
V
Positioning
speed
b b/a = 0.7
sine curve
a

t
S-curve ratio = B/A × 100%
When S-curve ratio is 70%

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Pr.36 Sudden stop deceleration time

Set the time to reach speed 0 from " Pr.8 Speed limit value" during the sudden
stop.
The illustration below shows the relationships with other parameters.

1) Positioning start 2) Sudden stop cause occurrence 3) Positioning stop

When positioning is started, When a "sudden stop cause" occurs, When a "sudden stop cause"
the acceleration starts following the deceleration starts following the does not occur, the decelera-
the "acceleration time". "sudden stop deceleration time". tion starts toward the stop
position following the "decel-
Pr.8 eration time".
Speed limit
value

Da.8
Command
speed

Actual sudden stop

deceleration time Actual decel-
Actual accel-
eration time eration time
Pr.36
Sudden stop
deceleration time

Acceleration time Deceleration time

Pr.9 Acceleration time 0 Pr.10 Deceleration time 0

Pr.25 Acceleration time 1 Pr.28 Deceleration time 1

Pr.26 Acceleration time 2 Pr.29 Deceleration time 2

Pr.27 Acceleration time 3 Pr.30 Deceleration time 3

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Pr.37 Stop group 1 sudden stop selection

to
Pr.39 Stop group 3 sudden stop selection
Set the method to stop when the stop causes in the following stop groups occur.
• Stop group 1 .............. Stop with hardware stroke limit
• Stop group 2 .............. PLC CPU error occurrence, PLC READY signal [Y0] OFF,
Fault in test mode
• Stop group 3 .............. External stop signal
Stop signal from PLC CPU
Stop signal from peripheral device
Error occurrence (excludes errors in stop groups 1 and 2:
includes only the software stroke limit errors during JOG
operation, speed control, speed-position switching control,
and position-speed switching control)
Stop made when the near-point dog signal turns from OFF
to ON in counter method machine OPR
The methods of stopping include "0: Normal deceleration stop" and "1: Sudden
stop".
If "1: Sudden stop" is selected, the axis will suddenly decelerate to a stop when the
stop signal is input.

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Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
0 to 65535 (ms)
Pr.40 0 to 32767 :
Set as a decimal
Positioning complete signal 0 to 65535 (ms) 300 59 209 359 509
32768 to 65535:
output time Convert into hexadecimal
and set
The setting value range differs depending on the " Pr.1 Unit
Pr.41 setting".
Here, the value within the [Table 1] range is set. 60 210 360 510
Allowable circular 100
61 211 361 511
interpolation error width
[Table 1] on right page

0: External positioning start 0

Pr.42 1: External speed change
1
request
External command function 2: Speed-position, position- 0 62 212 362 512
selection 2
speed switching request
3: Skip request 3

Pr.40 Positioning complete signal output time

Set the output time of the positioning complete signal [X14, X15, X16, X17] output
from the QD75.
A positioning completes when the specified dwell time has passed after the QD75
had terminated the output.
PLC

PLC CPU QD75

Positioning start signal
[Y10, Y11, Y12, Y13]

Positioning
Positioning
complete signal
[X14, X15, X16, X17]

Positioning
start signal

Start complete
signal
Positioning complete signal
(after dwell time has passed)
BUSY signal

Positioning
complete signal
Output time

Positioning complete signal output time

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[Table 1]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm 0 to 10000.0 (μm) 0 to 100000 (× 10-1μm)
1 : inch 0 to 1.00000 (inch) 0 to 100000 (× 10-5inch)
2 : degree 0 to 1.00000 (degree) 0 to 100000 (× 10-5degree)
3 : pulse 0 to 100000 (pulse) 0 to 100000 (pulse)

Pr.41 Allowable circular interpolation error width

With the "allowable circular interpolation error width", the allowable error range of
the calculated arc path and end point address is set. If the error of the calculated
arc path and end point address is within the set range, circular interpolation will be
carried out to the set end point address while compensating the error with spiral
interpolation.
The allowable circular interpolation error width is set in the following axis buffer
memory addresses.
• If axis 1 is the reference axis, set in the axis 1 buffer memory address
[60, 61].
• If axis 2 is the reference axis, set in the axis 2 buffer memory address
[210, 211].
• If axis 3 is the reference axis, set in the axis 3 buffer memory address
[360, 361].
• If axis 4 is the reference axis, set in the axis 4 buffer memory address
[510, 511].

Path with spiral interpolation Error

End point address

with calculation
End point address

Start point address Center point address

With circular interpolation control using the center point designation, the arc
path calculated with the start point address and center point address and the
end point address may deviate.

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Pr.42 External command function selection

Select a command with which the external command signal should be associated.
0: External positioning start
The external command signal input is used to start a positioning
operation.
1: External speed change request
The external command signal input is used to change the speed
in the current positioning operation. The new speed should be set
in the " Cd.14 Speed change value"
2: Speed-position, position-speed switching request
The external command signal input is used to switch from the
speed control to the position control while in the speed-position
switching control mode, or from the position control to the speed
control while in the position-speed switching control mode.
To enable the speed-position switching control, set the
" Cd.24 Speed-position switching enable flag" to "1".
To enable the position-speed switching control, set the
" Cd.26 Position-speed switching enable flag" to "1".
3: Skip request
The external command signal input is used skip the current
positioning operation.

POINT
To enable the external command signal, set the " Cd.8 External command enable"
to "1".

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MEMO

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5.2.5 OPR basic parameters

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
0 : Near-point dog method 0
1 : Stopper method 1) 1
Pr.43 2 : Stopper method 2) 2
0 70 220 370 520
OPR method 3 : Stopper method 3) 3
4 : Count method 1) 4
5 : Count method 2) 5

Pr.43 OPR method

Set the "OPR method" for carrying out machine OPR.
0 : Near-point dog method ........ After decelerating at the near-point dog ON, stop
at the zero signal and complete the machine OPR.
1 : Stopper method 1) ............... After decelerating at the near-point dog ON, stop
with the stopper, and complete the machine OPR
after the dwell time has passed.
2 : Stopper method 2) ............... After decelerating at the near-point dog ON, stop
with the stopper, and complete the machine OPR
with the zero signal.
3 : Stopper method 3) ............... After starting with the creep speed, stop with the
stopper, and complete the machine OPR with the
zero signal.
4 : Count method 1) .................. After decelerating at the near-point dog ON, move
the designated distance, and complete the
machine OPR with the zero signal.
5 : Count method 2) .................. After decelerating at the near-point dog ON, move
the designated distance, and complete the
machine OPR.
Note) Refer to Section 8.2.2 "Machine OPR method" for details on the OPR
methods.

OPR method
0 : Near-point dog method

(1) Start machine OPR.

(Start movement at the " Pr.46 OPR speed" in the V Pr.46 OPR speed
(2)
" Pr.44 OPR direction".) Pr.47
Creep speed
(2) Detect the near-point dog ON, and start deceleration.
(3) Decelerate to " Pr.47 Creep speed", and move with the (3) (4)
(1) t
creep speed. ON
(At this time, the near-point dog must be ON. If the near- Near-point dog OFF
point dog is OFF, the axis will decelerate to a stop.)
(4) At the first zero signal (one pulse output at one motor
revolution) after the near-point dog OFF, the pulse output Zero signal
from the QD75 stops, and the machine OPR is completed.

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1 : Stopper method 1)

(1) Start machine OPR.

(Start movement at the " Pr.46 OPR speed" in the
" Pr.44 OPR direction".)
V Pr.46 OPR speed
(2) Detect the near-point dog ON, and start deceleration. (2)
Pr.47 Creep speed
(3) Decelerate to " Pr.47 Creep speed", and move with the
creep speed. (3) (4) (5)
(1) t
(At this time " Pr.54 OPR torque limit value" is required. If Range to forcibly stop
the servomotor
the torque is not limited, the servomotor could be damaged rotation with the stopper.
in step (4).)
ON
Near-point dog OFF
(4) The axis contacts against the stopper at " Pr.47 Creep Dwell time up
Dwell time counting
speed", and then stops.
(5) When the near-point dog turns ON and the " Pr.49 OPR
dwell time" is passed, the pulse output from the QD75
stops, and the machine OPR is completed.

2 : Stopper method 2)

(1) Start machine OPR.

(Start movement at the " Pr.46 OPR speed" in the
" Pr.44 OPR direction".)
Pr.46 OPR speed
(2) Detect the near-point dog ON, and start deceleration. V
Pr.47
(2)
(3) Decelerate to " Pr.47 Creep speed", and move with the Creep speed
Stop with stopper
creep speed.
(At this time " Pr.54 OPR torque limit value" is required. If (3) (4)
t
the torque is not limited, the servomotor could be damaged (1) (5)
in step (4).) Zero signal
ON
(4) The axis contacts against the stopper at " Pr.47 Creep
Near-point dog OFF
speed", and then stops.
(5) After stopping, the pulse output from the QD75 stops with
the zero signal (signal that is output on detection of contact
with the stopper. Input externally), and the machine OPR is
completed.

3 : Stopper method 3)

(1) Start machine OPR.

(Start movement at the " Pr.47 Creep speed" in the
V
" Pr.44 OPR direction". At this time " Pr.54 OPR torque
Pr.47 Creep speed
limit value" is required. If the torque is not limited, the Stop with stopper
servomotor could be damaged in step (2).)
(2)
(2) The axis contacts against the stopper at " Pr.47 Creep (1) t
speed", and then stops. Zero signal
(3)
(3) After stopping, the pulse output from the QD75 stops with
the zero signal (signal that is output on detection of contact
with the stopper. Input externally), and the machine OPR is
completed.

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4 : Count method 1)

(1) Start machine OPR.

(Start movement at the " Pr.46 OPR speed" in the
" Pr.44 OPR direction".) V
Pr.46 OPR speed
Pr.50
Setting for the movement
amount after near-poing dog ON
(2)
(2) Detect the near-point dog ON, and start deceleration.
Pr.47 Creep speed
(3) Decelerate to " Pr.47 Creep speed", and move with the (3)
(4)
creep speed. (1) t
Md.34 Movement amount after
near-point dog ON
(4) After the near-point dog turns ON and the movement
The near-point dog must turn OFF
amount set in " Pr.50 Setting for the movement amount ON at a sufficient distance away from
Near-point dog OFF the OP position.
after near-point dog ON" has passed, the pulse output from First zero signal after moving the
the QD75 stops with the first zero signal (one pulse output Zero signal
movement amount after near-
point dog ON
at one motor revolution), and the machine OPR is
completed.

5 : Count method 2)

(1) Start machine OPR.

(Start movement at the " Pr.46 OPR speed" in the
" Pr.44 OPR direction".) V Pr.46 OPR speed Pr.50
(2) Setting for the movement
amount after near-poing dog ON
(2) Detect the near-point dog ON, and start deceleration.
Pr.47 Creep speed
(3)
(3) Decelerate to " Pr.47 Creep speed", and move with the (4)
(1) t
creep speed. Md.34 Movement amount after
near-point dog ON
(4) After the near-point dog turns ON and the movement
ON
amount set in " Pr.50 Setting for the movement amount Near-point dog OFF

after near-point dog ON" has passed, the pulse output from
the QD75 stops with the first zero signal, and the machine
OPR is completed.

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
0 : Positive direction (address
Pr.44 0
increment direction)
0 71 221 371 521
OPR direction 1 : Negative direction (address
1
decrement direction)
The setting value range differs depending on the " Pr.1 Unit
setting".
Pr.45 Here, the value within the [Table 1] range is set. 72 222 372 522
0
OP address 73 223 373 523
[Table 1] on right page

The setting value range differs depending on the " Pr.1 Unit
setting".
Pr.46 Here, the value within the [Table 2] range is set. 74 224 374 524
1
OPR speed 75 225 375 525
[Table 2] on right page

5 - 48
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

Pr.44 OPR direction

Set the direction to start movement when starting machine OPR.
0: Positive direction (address increment direction)
Moves in the direction that the address increments. (Arrow 2))
1: Negative direction (address decrement direction)
Moves in the direction that the address decrements. (Arrow 1))
Normally, the OP is set near the lower limit or the upper limit, so " Pr.44 OPR
direction" is set as shown below.

When the zero point is set at the lower

limit side, the OPR direction is in the
direction of arrow 1).
Set "1" for Pr.44 .

Lower limit Upper limit

1)
Address decrement OP Address increment
direction direction

Lower limit Upper limit

Address decrement Address increment

direction direction
OP
2)

When the OP is set at the upper

limit side, the OPR direction
is in the direction of arrow 2).
Set "0" for Pr.44 .

[Table 1]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm -214748364.8 to 214748364.7 (μm) -2147483648 to 2147483647 (× 10-1μm)
1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 (× 10-5inch)
2 : degree 0 to 359.99999 (degree) 0 to 35999999 (× 10-5degree)
3 : pulse -2147483648 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse)

[Table 2]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (× 10-2mm/min)
1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (× 10-3inch/min)
2 : degree 0.001 to 2000000.000 (degree/min) 1 to 2000000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)

5 - 49
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

Pr.45 OP address
Set the address used as the reference point for positioning control (ABS system).
(When the machine OPR is completed, the stop position address is changed to the
address set in " Pr.45 OP address". At the same time, the " Pr.45 OP address"
is stored in " Md.20 Current feed value" and " Md.21 Machine feed value".)

Pr.46 OPR speed

Set the speed for OPR.

Note) Set the "OPR speed" to less than " Pr.8 Speed limit value". If the "speed
limit value" is exceeded, the "Out of speed limit value range" (error code:
910) occurs and OPR is not performed.
The "OPR speed" should be equal to or faster than the " Pr.7 Bias speed
at start" and " Pr.47 Creep speed".

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
The setting value range differs depending on the " Pr.1 Unit
setting".
Pr.47 Here, the value within the [Table 1] range is set. 76 226 376 526
1
Creep speed 77 227 377 527
[Table 1] on right page

Pr.48 0 : Do not retry OPR with limit

0
switch 0 78 228 378 528
OPR retry 1 : Retry OPR with limit switch 1

5 - 50
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

Pr.47 Creep speed

Set the creep speed after near-point dog ON (the low speed just before stopping
after decelerating from the OPR speed).
The creep speed is set within the following range.
( Pr.46 OPR speed ) ( Pr.47 Creep speed) ( Pr.7 Bias speed at start)

Note) The creep speed is related to the detection error when using the OPR
method with zero signal, and the size of the collision if a collision occurs
during OPR method using the stopper method.
Set a speed equal to or faster than the bias speed at start.

Pr.46 OPR speed

Machine
OPR start
Pr.47 Creep speed

ON
Near-point
dog signal OFF

Zero signal

[Table 1]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (× 10-2mm/min)
1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (× 10-3inch/min)
2 : degree 0.001 to 2000000.000 (degree/min) 1 to 2000000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)

5 - 51
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

Pr.48 OPR retry

Set whether to carry out OPR retry.
When the OPR retry function is validated and the machine OPR is started, first the
axis will move in the OPR direction (1)). If the upper/lower limit signal turns OFF
before the near-point dog signal ON is detected (2)), the axis will decelerate to a
stop, and then will move in the direction opposite to the specified OPR direction
(3)). If the falling edge of the near-point dog signal is detected during movement in
the opposite direction, the axis will decelerate to a stop (4)), and will carry out
machine OPR again (5)), (6)).

5) 1) 2)

6)

Start position

4)

3)

ON Limit signal OFF state

Near-point dog signal

Zero signal

[Operation for OPR retry function]

1) Movement in the OPR direction starts with the machine OPR start.
2) The axis decelerates when the limit signal OFF is detected.
3) After stopping at detection of the limit switch signal OFF, the axis moves at the OPR
speed in the direction opposite to the specified OPR direction.
4) The axis decelerates when the near-point dog signal turns OFF.
5), 6) After stopping with the near-point dog signal OFF, carries out machine OPR in the
OPR direction.

5 - 52
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

MEMO

5 - 53
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

5.2.6 OPR detailed parameters

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
0 to 65535 (ms)
0 to 32767 :
Pr.49 Set as a decimal
0 to 65535 (ms) 0 79 229 379 529
OPR dwell time 32768 to 65535 :
Convert into hexadecimal
and set
The setting value range differs depending on the " Pr.1 Unit
Pr.50
setting".
Setting for the movement Here, the value within the [Table 1] range is set. 80 230 380 530
0
amount after near-point dog 81 231 381 531
ON [Table 1] on right page

0 : Pr.9 Acceleration time 0 0

Pr.51 1 : Pr.25 Acceleration time 1 1
OPR acceleration time 0 82 232 382 532
2 : Pr.26 Acceleration time 2 2
selection
3 : Pr.27 Acceleration time 3 3
0 : Pr.10 Deceleration time 0 0
Pr.52 1 : Pr.28 Deceleration time 1 1
OPR deceleration time 0 83 233 383 533
2 : Pr.29 Deceleration time 2 2
selection
3 : Pr.30 Deceleration time 3 3

Pr.49 OPR dwell time

When stopper method 1) is set for " Pr.43 OPR method", set the time for the
machine OPR to complete after the near-point dog signal turns ON.
The setting value must be longer than the movement time from the near-point dog
signal ON to stopping with the stopper.
(If the OPR method is not "stopper method 1)", the " Pr.49 OPR dwell time" value
is irrelevant.)

Pr.50 Setting for the movement amount after near-point dog ON

When using the count method 1) or 2), set the movement amount to the OP after
the near-point dog signal turns ON.
(The movement amount after near-point dog ON should be equal to or greater
than the sum of the "distance covered by the deceleration from the OPR speed to
the creep speed" and "distance of movement in 10 ms at the OPR speed".)

5 - 54
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

[Table 1]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm 0 to 214748364.7 (μm) 0 to 2147483647 (× 10-1μm)
1 : inch 0 to 21474.83647 (inch) 0 to 2147483647 (× 10-5inch)
2 : degree 0 to 21474.83647 (degree) 0 to 2147483647 (× 10-5degree)
3 : pulse 0 to 2147483647 (pulse) 0 to 2147483647 (pulse)

Example of setting for " Pr. 50 Setting for the movement amount after near-point dog ON"

Assuming that the " Pr. 8 Speed limit value" is set to 200 kpulse/s, " Pr. 46 OPR speed" to 10 kpulse/s,
" Pr. 47 Creep speed" to 1 kpulse/s, and deceleration time to 300 ms, the minimum value of " Pr. 50 Setting for the
movement amount after near-point dog ON" is calculated as follows:
1 Vz
[Machine OPR operation] [Deceleration distance] = 2 t + 0.01 Vz
1000
Movement amount for
Pr.8 Speed limit value: Vp=200kpulse/s 10ms at OPR speed
Vz Tb Vz
= 2000 + 0.01 Vz
Vp
3 3
Pr.46 OPR speed: 10 10 300 10 10 3
= 2000 + 0.01 10 10
Vz=10kpulse/s 200 10 3
= 75 + 100
= 175

Pr.47 Creep speed: Vc=1kpulse/s

Setting for the movement amount after
near-point dog ON ( Pr. 50 ) should be
equal to or larger than 175.
Vz t
Actual deceleration time:t = Tb
Vp
Deceleration time: Tb=300ms

Pr.51 OPR acceleration time selection

Set which of "acceleration time 0 to 3" to use for the acceleration time during OPR.
0 : Use the value set in " Pr.9 Acceleration time 0".

1 : Use the value set in " Pr.25 Acceleration time 1".

2 : Use the value set in " Pr.26 Acceleration time 2".

3 : Use the value set in " Pr.27 Acceleration time 3".

Pr.52 OPR deceleration time selection

Set which of "deceleration time 0 to 3" to use for the deceleration time during OPR.
0 : Use the value set in " Pr.10 Deceleration time 0".

1 : Use the value set in " Pr.28 Deceleration time 1".

2 : Use the value set in " Pr.29 Deceleration time 2".

3 : Use the value set in " Pr.30 Deceleration time 3".

5 - 55
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with peripheral value
Value set with sequence program Axis 1 Axis 2 Axis 3 Axis 4
device
The setting value range differs depending on the " Pr.1 Unit setting".
Pr.53 Here, the value within the [Table 1] range is set. 84 234 384 534
0
OP shift amount 85 235 385 535
[Table 1] on right page

Pr.54
1 to 300 (%) 1 to 300 (%) 300 86 236 386 536
OPR torque limit value
1 to 65535 (ms)
Pr.55 0 to 32767:
Deviation counter Set the decimal value as it is.
1 to 65535 (ms) 11 87 237 387 537
clear signal output 32768 to 65535:
time Convert the decimal value into a
hexadecimal value and set the latter.
Pr.56 0 : OPR speed 0
Speed designation 0 88 238 388 538
1 : Creep speed 1
during OP shift
0 to 65535 (ms)
Pr.57 0 to 32767 :
Dwell time during 0 to 65535 (ms) Set as a decimal 0 89 239 389 539
OPR retry 32768 to 65535 :
Convert into hexadecimal and set

Pr.53 OP shift amount

Set the amount to shift (move) from the position stopped at with machine OPR.
The OP shift function is used to compensate the OP position stopped at with
machine OPR.
If there is a physical limit to the OP position, due to the relation of the near-point
dog installation position, use this function to compensate the OP to an optimum
position.

Pr.44 OPR direction

When " Pr.53 OP

shift amount" is positive

Shift point
Start point Shift point

Shift after deviation

When " Pr.53 OP counter clear is canceled
shift amount" is negative

Near-point dog signal

Zero signal

5 - 56
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

[Table 1]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm -214748364.8 to 214748364.7 (μm) -2147483648 to 2147483647 (× 10-1μm)
1 : inch -21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 (× 10-5inch)
2 : degree -21474.83648 to 21474.83647 (degree) -2147483648 to 2147483647 (× 10-5degree)
3 : pulse -2147483648 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse)

Pr.54 OPR torque limit value

Set the value to limit the servomotor torque after reaching the creep speed during
machine OPR.
Refer to Section 12.4.2 "Torque limit function" for details on the torque limits.

Pr.55 Deviation counter clear signal output time

Set the duration of the deviation counter clear signal output during a machine OPR
operation using any of the following methods: the near-point dog method, stopper
methods 1) to 3), and count method 1). (For details, refer to your drive unit
manual.)

Pr.56 Speed designation during OP shift

Set the operation speed for when a value other than "0" is set for " Pr.53 OP shift
amount". Select the setting from " Pr.46 OPR speed" or " Pr.47 Creep speed".
0 : Designate " Pr.46 OPR speed" as the setting value.

1 : Designate " Pr.47 Creep speed" as the setting value.

Pr.57 Dwell time during OPR retry

When OPR retry is validated (when "1" is set for Pr.48 ), set the stop time after
decelerating in 2) and 4) in the following drawing.

Temporarily stop for 5) Temporarily stop for

the time set in Pr. 57 1) 2) the time set in Pr. 57

6)

Start position

4)

3)

5 - 57
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

5.3 List of positioning data

Before explaining the positioning data setting items Da.1 to Da.10 , the configuration
of the positioning data will be shown below.
The positioning data stored in the QD75 buffer memory has the following type of
configuration.

Ê̂ u
’ Œ ‚ Ê̂ƒ
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ˆ ^ƒ ß
‚‡
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‡
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Ê̂ u
’ Œ
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’ Œˆ•Ê q
ß
‚ Ž̄ •Ê Ž
Ž q
7980 7990 Up to 600 positioning data items can be set (stored) for each axis
2 3
Da.1@ Da.1@
` @ Da.4` @ Da.4
Positioning data No. 1 in the buffer memory address shown on the left.
This data is controlled as positioning data No. 1 to 600 for each axis.
Ê̂ u
’ Œ
Positioning ‚Ê̂ Ž̄u
’ Œ
ˆidentifier
ß ˆ•Ê Ž
ß
‚ Ž̄ •Ê Ž
q q
2020
2010Da.5
Da.1@ Da.1@
` @ ` @ Da.5
2000
Da.4 Da.4 7981 7991
Da.1 to Da.5
Ê̂ u
’ Œ ‚Ê̂ ƒ
ˆ ß Au
’ Œ
ˆƒ ß
‚ ƒ
h ƒ
Œ AƒXƒ
h ƒ
Œ ƒX One positioning data item is configured of the items shown in the
Da.5
bold box.
Da.10 Da.5 2021
2011Da.6
Da.6
7982 7992
² ‚P
Ž

2001
² ‚P
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M codeÊ̂ u
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h ƒ
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~ Œ
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h ƒ
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Da.6 Da.6
2022 7984 7994
² ‚P
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Da.9 2012Da.7
² ‚P
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2002 Da.7
Axis 1

~ Ê
‰ Œ ‰
~ hŒ
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A ʃ
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h ƒ
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7985 7995
Dwell time w —
Ž ‘Ž
ß ¬w“x —
ß ¬
‘ “x

Da.7 Da.7 2014Da.8 2024

Da.8 2004 Da.8 7986 7996
w —
Ž ‘w
Ž “x —
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¬ ‘ “x2005 2015 2025
ß ¬ €7987 7997
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E ƒ ƒ‹ƒ ƒ
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Da.8 2026
2016Da.9
Da.6 Da.8 2006 Da.9 7988 7998
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h ƒ
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ƒ ^ ƒ
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R [ h
ƒ R [ h
ƒ 7989 7999
movement amount
Da.9 2028
Da.7 Da.9 2008 2018
MƒR [ h Mƒ
ƒ R [ hƒ 2009 2019 2029
Arc address

Ê̂ u
’ Œ ‚ Ê̂ƒ
ˆ ß fu
’[ Œ
ˆ ^ƒ ß
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‚ƒf@[ ^ƒ 599
‡
‚ @ 600

Ê̂ u
’ Œ
ˆ ß‚Ê̂ Ž̄u
’ Œˆ•Ê q
ß
‚ Ž̄ •Ê Ž
Ž q
13990
2 3 Da.1@
Da.1@ ` @ Da.4 ` @ 13980
Da.4
Positioning data No. 1
Ê̂ u
’ Œ
Positioning ‚Ê̂ Ž̄u
’ Œ
ˆidentifier
ß ˆ•Ê Ž
ß
‚ Ž̄ •Ê Ž
q q
8020
8010Da.5
@ Da.5
Configuration of positioning identifier
Da.1 Da.1@
Da.1@
to Da.5` @ Da.4
8000
` Da.4 13981 13991
Ê̂ u
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ˆ ß Au
’ Œ
ˆƒ ß
‚ ƒ
h ƒ
Œ AƒXƒ
h ƒ
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b15 b12 b8 b4 b0
Da.5 8021
Da.10 Da.5 8011Da.6
Da.6 Buffer memory
13982 13992
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M codeÊ̂ u
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ß Au
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~ Œ
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ƒ ʃ
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Da.6 Da.6 8022 13984 13994

² ‚P
Ž

Da.9 8012Da.7
² ‚P
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8002Da.7
Axis 2

‰
~ hŒ
ʃ
ŒƒAƒ
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h ƒ
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~
Dwell time Ê
Œ A ƒ
ƒ
w —
Ž ß ¬‘Ž
w“x —
ß ¬
‘ “x 13985 13995 Da.2 Control system Da.1 Operation pattern

Da.7 8014Da.8 8024 Axis to be

Da.8 Da.7 8004Da.8 8025 13986 13996 Da.5
interpolated
Ž
w —
ß w“x —
Ž
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‘ ‘ “x8005 8015 ƒ
ß ¬ €13987 13997
Command speed h ƒ
ƒ F h‹ƒ ƒ
E ƒ E F ƒ
ƒ
^ ƒ
ƒ C ‹ƒ ƒ
€ ^ ƒ
C ƒ
Da.3 Acceleration time No.
Da.8 Da.8 8026
8016Da.9
Da.6 8006Da.9 8027 13988 13998 Da.4 Deceleration time No.
€ 8017 Mƒ
Positioning
h ƒ
ƒ Fƒh‹ƒ ƒ
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ƒ ƒ
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R [ h ƒ 13989 13999
movement amount
Da.9 8028
Da.7 Da.9 8008 8018
MƒR [ h
ƒ 8019 8029
Mƒ
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Arc address ƒ 8009

5 - 58
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

599 600

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q Ž
19990
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Da.4
Positioning data No. 1
Ê̂ u
’ Œ
Positioning ‚Ê̂ Ž̄u
’ Œ
ˆidentifier
ß ˆ•Ê Ž
ß
‚ Ž̄ •Ê Ž
q q
14010 14020
Da.5
Da.1@ Da.1@
` @ ` @ Da.5
14000
Da.4 Da.4 19981 19991
Da.1 to Da.5
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ƒu
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h ƒ
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Da.5
Da.10 Da.5 14011Da.6
Da.6 14021

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h ƒ ƒ
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Da.6 Da.6
14022
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Da.9 14012Da.7 19984 19994

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Da.7
Axis 3

~
‰ hŒ
ʃ
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Xƒ
h ƒ
Œ ƒX
‰
~
Dwell time Ê
Œ ƒ
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w“x —
ß ¬
‘ “x 19985 19995

Da.7 Da.7 14024

14014Da.8
Da.8 14004Da.8
14015 14025 19986 19996
w —
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w
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¬
‘ “x —
ß ¬
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x
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ƒ Fƒ
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E F ƒ
ƒ
^ ƒ
ƒ C ‹ƒ ƒ
€ ^ ƒ
C ƒ

Da.8 14026
Da.6 Da.8 14016Da.9
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h
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h ƒ
ƒ E address/
F ‹ƒ ^ƒ ƒ
ƒ C ƒ€14007 Mƒ ƒMƒ
R [ h R [ h
ƒ 19989 19999
movement amount
Da.9 14028
Da.7 Da.9 14008 14018
MƒR [ h ƒMƒR [ hƒ 14009 14019 14029
Arc address
Buffer memory address

599 600

Ê̂ u
’ Œ
ˆ ß‚Ê̂ Ž̄u
’ Œˆ•Ê Ž
ß
‚ Ž̄ •Ê q
q Ž
3 25990
2 Da.1@ Da.1@ ` @ Da.4` @ 25980
Da.4
Positioning data No. 1
Ê̂ u
’ Œ
Positioning ‚Ê̂ Ž̄u
’ Œ
ˆidentifier
ß ˆ•Ê Ž
ß
‚ Ž̄ •Ê Ž
q q
20020
Da.5
Da.1@ Da.1@ ` @ Da.5
20000 20010
Da.4 25981 25991
Da.1 to Da.5` @ Da.4
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Arc address
Buffer memory address

The descriptions that follow relate to the positioning data set items Da.1 to Da.10 .
(The buffer memory addresses shown are those of the "positioning data No. 1" for the
axes 1 to 4.)

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5 DATA USED FOR POSITIONING CONTROL
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Setting value buffer memory

Setting value Default
Item address
value
Value set with peripheral device Value set with sequence program Axis 1 Axis 2 Axis 3 Axis 4
Da.1 00: Positioning complete 00
Operation pattern
Operation 01: Continuous positioning control 01
pattern 11: Continuous path control 11
ABS1 : 1-axis linear control (ABS) 01H
INC1 : 1-axis linear control (INC) 02H
FEED1 : 1-axis fixed-feed control 03H
VF1 : 1-axis speed control (forward run) 04H
VR1 : 1-axis speed control (reverse run) 05H
VPF : Speed-position switching control (forward
06H
run)
VPR : Speed-position switching control (reverse
07H
run)
PVF : Position-speed switching control (forward
08H
run)
PVR : Position-speed switching control (reverse
09H
run)
ABS2 : 2-axis linear interpolation control (ABS) 0AH
INC2 : 2-axis linear interpolation control (INC) 0BH
FEED2 : Fixed-feed control by 2-axis linear
0CH
interpolation
ABS : Circular interpolation control with sub point
(

0DH
specified (ABS)
INC : Circular interpolation control with sub point
(

0EH
specified (INC)
ABS . : Circular interpolation control with center
0FH
point specified (ABS, CW)
ABS . : Circular interpolation control with center Control system
10H
Da.2 point specified (ABS, CCW)
Control INC . : Circular interpolation control with center
system 11H
point specified (INC, CW) Setting value
INC . : Circular interpolation control with center
12H
point specified (INC, CCW)
Positioning identifier

VF2 : 2-axis speed control (forward run) 13H

VR2 : 2-axis speed control (reverse run)
ABS3 : 3-axis linear interpolation control (ABS)
14H
15H
H 0000H 2000 8000 14000 20000

INC3 : 3-axis linear interpolation control (INC) 16H

FEED3 : Fixed-feed control by 3-axis linear Convert into
17H
interpolation control hexadecimal
VF3 : 3-axis speed control (forward run) 18H
b15 b12 b8 b4 b0
VR3 : 3-axis speed control (reverse run) 19H
ABS4 : 4-axis linear interpolation control (ABS) 1AH
INC4 : 4-axis linear interpolation control (INC) 1BH
FEED4 : Fixed-feed control by 4-axis linear
1CH
interpolation control
VF4 : 4-axis speed control (forward run) 1DH
VR4 : 4-axis speed control (reverse run) 1EH
NOP : NOP instruction 80H
POS : Current value changing 81H
JUMP : JUMP instruction 82H
LOOP : Declares the beginning of LOOP to LEND
83H
section
LEND : Declares the end of LOOP to LEND
84H
section
0: Pr.9 Acceleration time 0 00
Da.3 1: Pr.25 Acceleration time 1 01
Acceleration
time No. 2: Pr.26 Acceleration time 2 10 Acceleration
3: Pr.27 Acceleration time 3 11 time
0: Pr.10 Deceleration time 0 00
Da.4 1: Pr.28 Deceleration time 1 01
Deceleration
time No. 2: Pr.29 Deceleration time 2 10 Deceleration time
3: Pr.30 Deceleration time 3 11
0: Axis1 00
Da.5 1: Axis 2 01
Axis to be
interpolated 2: Axis 3 10 Axis to be interpolated
3: Axis 4 11 (in 2-axis interpolation only)

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5 DATA USED FOR POSITIONING CONTROL
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Da.1 Operation pattern

The operation pattern designates whether positioning of a certain data No. is to be
ended with just that data, or whether the positioning for the next data No. is to be
carried out in succession.
[Operation pattern]
Positioning complete ............................................................................. Independent positioning control
(Positioning complete)

Continuous positioning with one start signal .......... Continuous positioning control
Positioning
continued
Continuous path positioning with speed change ..... Continuous path control

1) Positioning complete..................... Set to execute positioning to the designated

address, and then complete positioning.
2) Continuous positioning control ..... Positioning is carried out successively in
order of data Nos. with one start signal.
The operation halts at each position
indicated by a positioning data.
3) Continuous path control................ Positioning is carried out successively in
order of data Nos. with one start signal.
The operation does not stop at each
positioning data.

Da.2 Control system

Set the "control system" for carrying out positioning control.
Note) • When "JUMP instruction" is set for the control system, the " Da.9
Dwell time" and " Da.10 M code" setting details will differ.
• In case you selected "LOOP" as the control system, the " Da.10
M code" should be set differently from other cases.
• Refer to Chapter 9 "Major positioning control" for details on the control
systems.
• If "degree" is set for " Pr.1 Unit setting", circular interpolation control
cannot be carried out. (The "Circular interpolation not possible error"
will occur when executed (error code: 535).)

Da.3 Acceleration time No.

Set which of "acceleration time 0 to 3" to use for the acceleration time during
positioning.
0 : Use the value set in " Pr.9 Acceleration time 0".

1 : Use the value set in " Pr.25 Acceleration time 1".

2 : Use the value set in " Pr.26 Acceleration time 2".

3 : Use the value set in " Pr.27 Acceleration time 3".

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Da.4 Deceleration time No.

Set which of "deceleration time 0 to 3" to use for the deceleration time during
positioning.
0 : Use the value set in " Pr.10 Deceleration time 0".

1 : Use the value set in " Pr.28 Deceleration time 1".

2 : Use the value set in " Pr.29 Deceleration time 2".

3 : Use the value set in " Pr.30 Deceleration time 3".

Da.5 Axis to be interpolated

Set the target axis (partner axis) for operations under the 2-axis interpolation
control.
0 : Selects the axis 1 as the target axis (partner axis).
1 : Selects the axis 2 as the target axis (partner axis).
2 : Selects the axis 3 as the target axis (partner axis).
3 : Selects the axis 4 as the target axis (partner axis).
Note) • Do not specify the own axis number or any number except the above.
(If you do, the "Illegal interpolation description command error" will
occur during the program execution (error code: 521).)
• This item does not need to be set in case 3 or 4-axis interpolation is
selected.
Setting value buffer memory
Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
The setting value range differs according to the " Da.2 Control
Da.6 system".
Here, the value within the following range of [Table 1] range is set. 2006 8006 14006 20006
Positioning address/ 0
2007 8007 14007 20007
movement amount
[Table 1] on right page

Da.6 Positioning address/movement amount

Set the address to be used as the target value for positioning control.
The setting value range differs according to the " Da.2 Control system".
((1) to (4))

(1) Absolute (ABS) system, current value changing

• The setting value (positioning address) for the ABS system and current value
changing is set with an absolute address (address from OP).
Stop position
(positioning start address)

-1000 1000 3000

Movement Movement
amount : 2000 amount : 2000

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(2) Incremental (INC) system, fixed-feed 1, fixed-feed 2, fixed-feed 3,

fixed-feed 4
• The setting value (movement amount) for the INC system is set as a
movement amount with sign.
When movement amount is positive: Moves in the positive direction (address
increment direction)
When movement amount is negative: Moves in the negative direction (address
decrement direction)

Stop position
(positioning start position)

(Movement amount) (Movement amount)

-30000 30000

Moves in Moves in
negative direction positive direction

[Table 1]
When " Pr.1 Unit Setting" is "mm"
The table below lists the control systems that require the setting of the positioning
address or movement amount and the associated setting ranges.
(With any control system excluded from the table below, neither the positioning
address nor the movement amount needs to be set.)
Value set with peripheral device Value set with sequence program 1
Da.2 setting value
(μm) (× 10-1μm)
ABS Linear 1 : 01H
ABS Linear 2 : 0AH
◊ Set the address ◊ Set the address
ABS Linear 3 : 15H
ABS Linear 4 : 1AH -214748364.8 to 214748364.7 -2147483648 to 2147483647
Current value changing : 81H
INC Linear 1 : 02H
INC Linear 2 : 0BH
INC Linear 3 : 16H
INC Linear 4 : 1BH ◊ Set the movement amount ◊ Set the movement amount
Fixed-feed 1 : 03H -214748364.8 to 214748364.7 -2147483648 to 2147483647
Fixed-feed 2 : 0CH
Fixed-feed 3 : 17H
Fixed-feed 4 : 1CH
Forward run speed/position : 06H
Reverse run speed/position : 07H ◊ Set the movement amount ◊ Set the movement amount
Forward run position/speed : 08H 0 to 214748364.7 0 to 2147483647
Reverse run position/speed : 09H
ABS circular sub : 0DH
◊ Set the address ◊ Set the address
ABS circular right : 0FH
ABS circular left : 10H -214748364.8 to 214748364.7 -2147483648 to 2147483647
INC circular sub : 0EH
◊ Set the movement amount ◊ Set the movement amount
INC circular right : 11H
INC circular left : 12H -214748364.8 to 214748364.7 -2147483648 to 2147483647

1: Set an integer because the sequence program cannot handle fractions.

(The value will be converted properly within the system.)

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(3) Speed-position switching control

• INC mode:
Set the amount of movement after the switching from speed control to position
control.
• ABS mode:
Set the absolute address which will be the target value after speed control is
switched to position control. (The unit is "degree" only)

Speed

Movement amount setting (INC mode)

Speed Position
control control
Target address setting (ABS mode)

Time

Speed-position switching

(4) Position-speed switching control

• Set the amount of movement before the switching from position control to
speed control.

When " Pr.1 Unit Setting" is "degree"

The table below lists the control systems that require the setting of the positioning
address or movement amount and the associated setting ranges.
(With any control system excluded from the table below, neither the positioning
address nor the movement amount needs to be set.)
Value set with peripheral device Value set with sequence program 1
Da.2 setting value
(degree) (× 10-5 degree)
ABS Linear 1 :
01H
ABS Linear 2 :
0AH
◊ Set the address ◊ Set the address
ABS Linear 3 :
15H
ABS Linear 4 :
1AH 0 to 359.99999 0 to 35999999
Current value changing :
81H
INC Linear 1 :
02H
INC Linear 2 :
0BH
INC Linear 3 :
16H
INC Linear 4 1BH ◊ Set the movement amount
: ◊ Set the movement amount
Fixed-feed 1 :
03H -21474.83648 to 21474.83647 -2147483648 to 2147483647
Fixed-feed 2 :
0CH
Fixed-feed 3 :
17H
Fixed-feed 4 :
1CH
In INC mode In INC mode
◊ Set the movement amount ◊ Set the movement amount
Forward run speed/position : 06H 0 to 21474.83647 0 to 2147483647
Reverse run speed/position : 07H In ABS mode In ABS mode
◊ Set the address ◊ Set the address
0 to 359.99999 0 to 35999999
Forward run position/speed : 08H ◊ Set the movement amount ◊ Set the movement amount
Reverse run position/speed : 09H 0 to 21474.83647 0 to 2147483647
1: Set an integer because the sequence program cannot handle fractions.
(The value will be converted properly within the system.)

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When " Pr.1 Unit Setting" is "pulse"

The table below lists the control systems that require the setting of the positioning
address or movement amount and the associated setting ranges.
(With any control system excluded from the table below, neither the positioning
address nor the movement amount needs to be set.)

Da.2 setting value Value set with peripheral device Value set with sequence program 1
(pulse) (pulse)
ABS Linear 1 : 01H
ABS Linear 2 : 0AH
◊ Set the address ◊ Set the address
ABS Linear 3 : 15H
ABS Linear 4 : 1AH -2147483648 to 2147483647 -2147483648 to 2147483647
Current value changing : 81H
INC Linear 1 : 02H
INC Linear 2 : 0BH
INC Linear 3 : 16H
INC Linear 4 : 1BH ◊ Set the movement amount ◊ Set the movement amount
Fixed-feed 1 : 03H -2147483648 to 2147483647 -2147483648 to 2147483647
Fixed-feed 2 : 0CH
Fixed-feed 3 : 17H
Fixed-feed 4 : 1CH
Forward run speed/position : 06H
Reverse run speed/position : 07H ◊ Set the movement amount ◊ Set the movement amount
Forward run position/speed : 08H 0 to 2147483647 0 to 2147483647
Reverse run position/speed : 09H
ABS circular sub : 0DH
◊ Set the address ◊ Set the address
ABS circular right : 0FH
ABS circular left : 10H -2147483648 to 2147483647 -2147483648 to 2147483647
INC circular sub : 0EH
◊ Set the movement amount ◊ Set the movement amount
INC circular right : 11H
INC circular left : 12H -2147483648 to 2147483647 -2147483648 to 2147483647

1: Set an integer because the sequence program cannot handle fractions.

(The value will be converted properly within the system.)

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When " Pr.1 Unit Setting" is "inch"

The table below lists the control systems that require the setting of the positioning
address or movement amount and the associated setting ranges.
(With any control system excluded from the table below, neither the positioning
address nor the movement amount needs to be set.)
Value set with peripheral device Value set with sequence program 1
Da.2 setting value
(inch) (× 10-5 inch)
ABS Linear 1 : 01H
ABS Linear 2 : 0AH
◊ Set the address ◊ Set the address
ABS Linear 3 : 15H
ABS Linear 4 : 1AH -21474.83648 to 21474.83647 -2147483648 to 2147483647
Current value changing : 81H
INC Linear 1 : 02H
INC Linear 2 : 0BH
INC Linear 3 : 16H
INC Linear 4 : 1BH ◊ Set the movement amount ◊ Set the movement amount
Fixed-feed 1 : 03H -21474.83648 to 21474.83647 -2147483648 to 2147483647
Fixed-feed 2 : 0CH
Fixed-feed 3 : 17H
Fixed-feed 4 : 1CH
Forward run speed/position : 06H
Reverse run speed/position : 07H ◊ Set the movement amount ◊ Set the movement amount
Forward run position/speed : 08H 0 to 21474.83647 0 to 2147483647
Reverse run position/speed : 09H
ABS circular sub : 0DH
◊ Set the address ◊ Set the address
ABS circular right : 0FH
ABS circular left : 10H -21474.83648 to 21474.83647 -2147483648 to 2147483647
INC circular sub : 0EH
◊ Set the movement amount ◊ Set the movement amount
INC circular right : 11H
INC circular left : 12H -21474.83648 to 21474.83647 -2147483648 to 2147483647

1: Set an integer because the sequence program cannot handle fractions.

(The value will be converted properly within the system.)

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MEMO

5 - 67
5 DATA USED FOR POSITIONING CONTROL
MELSEC-Q

Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
The setting value range differs according to the " Da.2 Control
system".
Da.7 Here, the value within the [Table 1] range is set. 2008 8008 14008 20008
0
Arc address 2009 8009 14009 20009
[Table 1] on right page

Da.7 Arc address

The arc address is data required only when carrying out circular interpolation
control.
(1) When carrying out circular interpolation with sub point designation, set the sub
point (passing point) address as the arc address.
(2) When carrying out circular interpolation with center point designation, set the
center point address of the arc as the arc address.

End point address End point address

(Address set with Da.6 ) (Address set with Da.6 )

Center point address

Sub point (Address set with Da.7 )
(Address set with Da.7 )

Start point address (Address before starting positioning) Start point address (Address before starting positioning)

<(1) Circular interpolation with sub <(2) Circular interpolation with center
point designation> point designation>

When not carrying out circular interpolation control, the value set in " Da.7 Arc
address" will be invalid.

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[Table 1]
When " Pr.1 Unit Setting" is "mm"
The table below lists the control systems that require the setting of the arc address
and shows the setting range.
(With any control system excluded from the table below, the arc address does not
need to be set.)
Value set with peripheral device Value set with sequence program 1
Da.2 setting value
(μm) (× 10-1μm)
ABS circular sub : 0DH
◊ ◊ Set the address
ABS circular right : 0FH Set the address
ABS circular left : 10H -214748364.8 to 214748364.7 -2147483648 to 2147483647
INC circular sub : 0EH
◊ Set the movement amount ◊ Set the movement amount
INC circular right : 11H
INC circular left : 12H -214748364.8 to 214748364.7 -2147483648 to 2147483647

1: Set an integer because the sequence program cannot handle fractions.

(The value will be converted properly within the system.)

When " Pr.1 Unit Setting" is "degree"

No control system requires the setting of the arc address by "degree".

When " Pr.1 Unit Setting" is "pulse"

The table below lists the control systems that require the setting of the arc address
and shows the setting range.
(With any control system excluded from the table below, the arc address does not
need to be set.)

Da.2 setting value Value set with peripheral device Value set with sequence program 1
(pulse) (pulse)
ABS circular sub : 0DH
◊ ◊ Set the address
ABS circular right : 0FH Set the address
ABS circular left : 10H -2147483648 to 2147483647 -2147483648 to 2147483647
INC circular sub : 0EH
◊ Set the movement amount ◊ Set the movement amount
INC circular right : 11H
INC circular left : 12H -2147483648 to 2147483647 -2147483648 to 2147483647

1: Set an integer because the sequence program cannot handle fractions.

(The value will be converted properly within the system.)

When " Pr.1 Unit Setting" is "inch"

The table below lists the control systems that require the setting of the arc address
and shows the setting range.
(With any control system excluded from the table below, the arc address does not
need to be set.)
Value set with peripheral device Value set with sequence program 1
Da.2 setting value
(inch) (×10-5 inch)
ABS circular sub : 0DH
◊ ◊ Set the address
ABS circular right : 0FH Set the address
ABS circular left : 10H -21474.83648 to 21474.83647 -2147483648 to 2147483647
INC circular sub : 0EH
◊ Set the movement amount ◊ Set the movement amount
INC circular right : 11H
INC circular left : 12H -21474.83648 to 21474.83647 -2147483648 to 2147483647

1: Set an integer because the sequence program cannot handle fractions.

(The value will be converted properly within the system.)

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Setting value buffer memory

Setting value, setting range
Default address
Item
Value set with sequence value
Value set with peripheral device Axis 1 Axis 2 Axis 3 Axis 4
program
The setting value range differs depending on the " Pr.1 Unit
setting".
Here, the value within the [Table 1] range is set.
Da.8 2004 8004 14004 20004
[Table 1] on right page 0
Command speed 2005 8005 14005 20005

-1: Current speed

(Speed set for previous -1
positioning data No.)

Da.9 The setting value range differs according to the " Da.2 Control
Dwell time
Dwell time/ system".
JUMP Here, the value within the [Table 2] range is set. 0 2002 8002 14002 20002
destination JUMP
positioning data destination [Table 2] on right page
No. positioning
data No.

M code
The setting value range differs according to the " Da.2 Control
system".
Da.10 Condition
Here, the value within the [Table 3] range is set. 0 2001 8001 14001 20001
data No.
M code
No. of [Table 3] on right page
LOOP to
LEND
repetitions

Da.8 Command speed

Set the command speed for positioning.
(1) If the set command speed exceeds " Pr.8 Speed limit value", positioning will
be carried out at the speed limit value.
(2) If "-1" is set for the command speed, the current speed (speed set for previous
positioning data No.) will be used for positioning control. Use the current
speed for uniform speed control, etc. If "-1" is set for continuing positioning
data, and the speed is changed, the following speed will also change.
(Note that when starting positioning, if the "-1" speed is set for the positioning
data that carries out positioning control first, the error "No command speed"
(error code: 503) will occur, and the positioning will not start.
Refer to Section 15.2 "List of errors" for details on the errors.)

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Da.10 M code (or condition data No./No. of LOOP to LEND repetitions)

Set an "M code", a "condition data No. ", or the "number of LOOP to LEND
repetitions" depending on how the " Da.2 Control system" is set.
• If a method other than "JUMP instruction" and "LOOP" is selected as the
" Da.2 Control system"
............... Set an "M code".
If no "M code" needs to be output, set "0" (default value).
• If "JUMP instruction" or "LOOP" is selected as the " Da.2 Control system"
............... Set the "condition data No." for JUMP.
0 : Unconditional JUMP to the positioning data specified
by Da.9 .
1 to 10 : JUMP performed according to the condition data No.
specified (a number between 1 and 10).
Make sure that you specify the number of LOOP to LEND repetitions
by a number other than "0". The "Control system LOOP setting error"
will occur if you specify "0". (error code: 545)
The condition data specifies the condition for the JUMP instruction to be executed.
(A JUMP will take place when the condition is satisfied.)

[Table 1]

Pr.1 setting value Value set with peripheral device Value set with sequence program
(unit) (unit)
0 : mm 0.01 to 20000000.00 (mm/min) 1 to 2000000000 (× 10-2mm/min)
1 : inch 0.001 to 2000000.000 (inch/min) 1 to 2000000000 (× 10-3inch/min)
2 : degree 0.001 to 2000000.000 (degree/min) 1 to 2000000000 (× 10-3degree/min)
3 : pulse 1 to 1000000 (pulse/s) 1 to 1000000 (pulse/s)

[Table 2]

Da.2 setting value Value set with peripheral Value set with sequence
Setting item
device program
JUMP instruction: 82H Positioning data No. 1 to 600 1 to 600
Other than JUMP instruction Dwell time 0 to 65535 (ms) 0 to 65535 (ms)

[Table 3]

Da.2 setting value Value set with peripheral Value set with sequence
Setting item
device program
JUMP instruction: 82H Condition data No. 0 to 10 0 to 10
Other than JUMP instruction M code 0 to 65535 0 to 65535
LOOP: 83H Repetition count 1 to 65535 1 to 65535

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Da.9 Dwell time/JUMP designation positioning data No.

Set the "dwell time" or "positioning data No." corresponding to the " Da.2 Control
system".
• When a method other than "JUMP instruction " is set for " Da.2 Control system"

..... Set the "dwell time".

• When "JUMP instruction " is set for " Da.2 Control system"
..... Set the "positioning data No." for the JUMP destination.
When the "dwell time" is set, the setting details of the "dwell time" will be as follows
according to " Da.1 Operation pattern".

V
1) When " Da.1 Operation pattern" in "00: Positioning complete" Positioning control

Set the time from when the positioning ends to when the
"positioning complete signal" turns ON as the "dwell time".
t
ON
Positioning complete signal OFF

Da.9
Dwell time
V
2) When " Da.1 Operation pattern" is "01: Continuous positioning control" Positioning control
Next positioning
Set the time from when positioning control ends to when control
the next positioning control starts as the "dwell time".
t

Da.9
Dwell time
V
3) When " Da.1 Operation pattern" is "11: Continuous path control" Positioning control

The setting value is irrelevant to the control. Next positioning control

(The "dwell time" is 0ms.)

t
No dwell time (0ms)

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MEMO

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5.4 List of block start data

The illustrations below show the organization of the block start data stored in the QD75
buffer memory. The block start data setting items Da.11 to Da.14 are explained in
the pages that follow.

50th point Up to 50 block start data points can be set

Buffer memory (stored) for each axis in the buffer memory
Setting item address addresses shown on the left.
Items in a single unit of block start data are
2nd point shown included in a bold frame.
1st point Buffer memory
Each axis has five start blocks (block Nos.
Setting item 0 to 4).
address 26049
Buffer memory
Setting item
œ Ê̂ u
’ Œ
ˆ ß ‚ Ž
n “® fƒ [ ^ƒ address For information on the organization of the
buffer memory addresses assigned to the
start blocks 1 to 4, refer to Appendix 12
Axis 1 (Start block 0)

b15 b8 b7 b0 26001 "List of buffer memory addresses".

26000
Da.12 Start data No.
Da.11 Shape 26099

b15 b8 b7 b0 26051
26050

Da.13 Special start Da.14 Parameter

instruction

50th point
Buffer memory
Setting item address

2nd point
1st point Buffer memory
Setting item
address 27049
Buffer memory
Setting item
œ Ê̂ u
’ Œ
ˆ ß ‚ Ž
n “® fƒ [ ^ƒ address

b15 b8 b7 b0 27001
Axis 2 (Start block 0)

27000
Da.12 Start data No.
Da.11 Shape 27099

b15 b8 b7 b0 27051
27050

Da.13 Special start Da.14 Parameter

instruction

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50th point
Buffer memory
Setting item address

2nd point
1st point Buffer memory
Setting item
address 28049
Buffer memory
Setting item
œ Ê̂ u
’ Œ
ˆ ß ‚ Ž
n “® fƒ [ ^ƒ address
Axis 3 (Start block 0)

b15 b8 b7 b0 28001
28000
Da.12 Start data No.
Da.11 Shape 28099

b15 b8 b7 b0 28051
28050

Da.13 Special start Da.14 Parameter

instruction

50th point
Buffer memory
Setting item address

2nd point
1st point Buffer memory
Setting item
address 29049
Buffer memory
Setting item
œ Ê̂ u
’ Œ
ˆ ß ‚ Ž
n “® fƒ [ ^ƒ address

b15 b8 b7 b0 29001
Axis 4 (Start block 0)

29000
Da.12 Start data No.
Da.11 Shape 29099

b15 b8 b7 b0 29051
29050

Da.13 Special start Da.14 Parameter

instruction

The pages that follow explain the block start data setting items ( Da.11 to Da.14 ).
(The buffer memory addresses shown are those of the "1st point block start data (block
No. 7000)" for the axes 1 to 4.)

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REMARK
To perform an high-level positioning control using block start data, set a number
between 7000 and 7004 to the " Cd.3 Positioning start No." and use the
" Cd.4 Positioning starting point No." to specify a point number between 1 and 50, a
position counted from the beginning of the block.
The number between 7000 and 7004 specified here is called the "block No.".
With the QD75, up to 50 "block start data" points and up to 10 "condition data" items
can be assigned to each "block No.".

GX
Block
Axis Block start data Condition Buffer memory Configurator-
No.
QP
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7000 Start block 0
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7001 Start block 1
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10) Supports the Supports the
7002 Start block 2
Axis 3 Condition data (1 to 10) settings settings
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7003 Start block 3
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7004 Start block 4
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)

: Setting cannot be made when the "Pre-reading start function" is used. If you set any of Nos.
7000 to 7004 and perform the Pre-reading start function, "Outside start No. range error
(error code: 543)" will occur.
(For details, refer to Section 12.7.8 "Pre-reading start function".)

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Setting value buffer memory

Setting value
Default address
Item
Value set with peripheral value
Value set with sequence program Axis 1 Axis 2 Axis 3 Axis 4
device

0 : End 0

Da.11 0000H 26000 27000 28000 29000

Shape

1 : Continue 1

b15 b11 b7 b3 b0
Da.12 Positioning data No.: 01H 0 0 0
1 to 600 to
Start data No. (01H to 258H) 258H

0 : Block start (normal start) 00H

1 : Condition start 01H

b15 b11 b7 b3 b0
2 : Wait start 02H

Da.13
Special start 3 : Simultaneous start 03H
0000H 26050 27050 28050 29050
instruction

4 : FOR loop 04H

5 : FOR condition 05H

Special start
instruction

6 : NEXT start 06H

Condition data No.:

Da.14 00H
1 to 10 (01H to 0AH)
to
Parameter No. of repetitions:
FFH
0 to 255 (00H to FFH)
Parameter

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Da.11 Shape
Set whether to carry out only the local "block start data" and then end control, or to
execute the "block start data" set in the next point.
Setting value Setting details
0 : End Execute the designated point's "block start data", and then complete the control.
Execute the designated point's "block start data", and after completing control, execute the next
1 : Continue
point's "block start data".

Da.12 Start data No.

Set the "positioning data No." designated with the "block start data".

Da.13 Special start instruction

Set the "special start instruction " for using "high-level positioning control". (Set
how to start the positioning data set in " Da.12 Start data No.".)

Setting value Setting details

00H : Block start
Execute the random block positioning data in the set order with one start.
(Normal start)
Carry out the condition judgment set in "condition data" for the designated positioning data, and
01H : Condition start when the conditions are established, execute the "block start data". If not established, ignore
that "block start data", and then execute the next point's "block start data".
Carry out the condition judgment set in "condition data" for the designated positioning data, and
02H : Wait start when the conditions are established, execute the "block start data". If not established, stop the
control (wait) until the conditions are established.
Simultaneous execute (output pulses at same timing) the positioning data with the No.
03H : Simultaneous
designated for the axis designated in the "condition data".
start
Up to four axes can start simultaneously.
04H : Repeated start Repeat the program from the block start data with the "FOR loop" to the block start data with
(FOR loop) "NEXT" for the designated No. of times.
05H : Repeated start Repeat the program from the block start data with the "FOR condition" to the block start data
(FOR condition) with "NEXT" until the conditions set in the "condition data" are established.
Set the end of the repetition when "05H: Repetition start (FOR loop)" or "06H: Repetition start
06H : NEXT start
(FOR condition)" is set.

Refer to Chapter 10 "High-level Positioning Control" for details on the control.

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Da.14 Parameter

Set the value as required for " Da.13 Special start instruction ".

Da.13 Special start instruction Setting value Setting details

Block start (Normal start) – Not used. (There is no need to set.)
Condition start Set the condition data No. (No. of
"condition data" set to perform
Wait start 1 to 10 condition judgment)
(For details of the condition data, refer
Simultaneous start to Section 5.5.)
Repeated start (FOR loop) 0 to 255 Set the No. of repetitions.
Set the condition data No. (No. of
"condition data" set to perform
Repeated start (FOR condition) 1 to 10 condition judgment)
(For details of the condition data, refer
to Section 5.5.)

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5.5 List of condition data

The illustrations below show the organization of the condition data stored in the QD75
buffer memory. The condition data setting items Da.15 to Da.19 are explained in the
pages that follow.

No.10
Buffer memory Up to 10 block start data points can be set (stored)
Setting item for each axis in the buffer memory addresses shown
address
No.2 on the left.
No.1 Buffer memory Items in a single unit of condition data are shown
Setting item included in a bold frame.
Buffer memory address 26190
Each axis has five start blocks (block Nos. 0 to 4).
Setting item address
b15 b12 b11 b8 b7 b0 For information on the organization of the buffer
26110 26191 memory addresses assigned to the start blocks 1
Axis 1 (start block 0)

26100 26192 to 4, refer to Appendix 12 "List of buffer memory

Da.16 Condition Da.15 Condition
26193 addresses".
operator target 26111 26194
26195
Open 26101 26112 26196
26113 26197
Da.17 Address 26102 26114
26103 26198
26115 26199
Da.18 Parameter 1 26104
26105 26116
26117
Da.19 Parameter 2 26106
26107 26118
26119
26108
Open 26109

No.10
Buffer memory
Setting item address
No.2
No.1 Buffer memory
Setting item
Buffer memory address 27190
Setting item address
b15 b12 b11 b8 b7 b0
27110 27191
Axis 2 (start block 0)

27100 27192
27193
Da.16 Condition Da.15 Condition
operator target 27111 27194
27195
Open 27101 27112 27196
27113 27197
Da.17 Address 27102
27103 27114 27198
27115 27199
Da.18 Parameter 1 27104
27105 27116
27117
Da.19 Parameter 2 27106
27107 27118
27108 27119
Open 27109

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No.10
Buffer memory
Setting item address
No.2
No.1 Buffer memory
Setting item
Buffer memory address 28190
Setting item address
b15 b12 b11 b8 b7 b0
28110 28191
Axis 3 (start block 0)

28100 28192
28193
Da.16 Condition Da.15 Condition
operator target 28111 28194
28195
Open 28101 28112 28196
28113 28197
Da.17 Address 28102
28103 28114 28198
28115 28199
Da.18 Parameter 1 28104
28105 28116
28117
Da.19 Parameter 2 28106
28107 28118
28108 28119
Open 28109

No.10
Buffer memory
Setting item address
No.2
No.1 Buffer memory
Setting item
Buffer memory address 29190
Setting item address
b15 b12 b11 b8 b7 b0
29110 29191
Axis 4 (start block 0)

29100 29192
29193
Da.16 Condition Da.15 Conditiion
operator target 29111 29194
29195
Open 29101 29112 29196
29113 29197
Da.17 Address 29102
29103 29114 29198
29115 29199
Da.18 Parameter 1 29104
29105 29116
29117
Da.19 Parameter 2 29106
29107 29118
29108 29119
Open 29109

The pages that follow explain the condition data setting items ( Da.15 to Da.19 ).
(The buffer memory addresses shown are those of the "condition data No. 1 (block No.
7000)" for the axes 1 to 4.)

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REMARK
To perform an high-level positioning control using block start data, set a number
between 7000 and 7004 to the " Cd.3 Positioning start No." and use the
" Cd.4 Positioning starting point No." to specify a point number between 1 and 50, a
position counted from the beginning of the block.
The number between 7000 and 7004 specified here is called the "block No.".
With the QD75, up to 50 "block start data" points and up to 10 "condition data" items
can be assigned to each "block No.".

GX
Block
Axis Block start data Condition Buffer memory Configurator-
No.
QP
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7000 Start block 0
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7001 Start block 1
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10) Supports the Supports the
7002 Start block 2
Axis 3 Condition data (1 to 10) settings settings
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7003 Start block 3
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
Axis 1 Condition data (1 to 10)
Axis 2 Condition data (1 to 10)
7004 Start block 4
Axis 3 Condition data (1 to 10)
Axis 4 Condition data (1 to 10)
: Setting cannot be made when the "Pre-reading start function" is used. If you set
any of Nos. 7000 to 7004 and perform the Pre-reading start function, "Outside
start No. range error (error code: 543)" will occur.
(For details, refer to Section 12.7.8 "Pre-reading start function".)

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Setting value buffer memory

Setting value Default
Item address
value
Value set with peripheral device Value set with sequence program Axis 1 Axis 2 Axis 3 Axis 4
01 : Device X 01H
Da.15 02 : Device Y 02H
Condition target
Condition 03 : Buffer memory (1-word) 03H
target 04 : Buffer memory (2-word) 04H
05 : Positioning data No. 05H
01 : ∗∗=P1 01H
02 : ∗∗≠ P1 02H
03 : ∗∗≤P1 03H
Condition operator
04 : ∗∗≥P1 04H
05 : P1≤∗∗≤ P2 05H
Condition identifier

06 : ∗∗≤P1, P2≤∗∗ 06H

07 : DEV=ON 07H
08 : DEV=OFF 08H b15 b8 b7 b0 0000H 26100 27100 28100 29100
10: Axis 1 selected 10H
Da.16 20: Axis 2 selected 20H
30: Axes 1 and 2 selected 30H
Condition
operator 40: Axis 3 selected 40H
50: Axes 1 and 3 selected 50H
60: Axes 2 and 3 selected 60H
70: Axes 1, 2, and 3 selected 70H
80: Axis 4 selected 80H
90: Axes 1 and 4 selected 90H
A0: Axes 2 and 4 selected A0H
B0: Axes 1, 2, and 4 selected B0H
C0: Axes 3 and 4 selected C0H
D0: Axes 1, 3, and 4 selected D0H
E0: Axes 2, 3, and 4 selected E0H
Example)
26103 26102
Da.17 (High-order) (Low-order) 26102 27102 28102 29102
Buffer memory address b31 b16 b15 b0 0000H
Address 26103 27103 28103 29103

Buffer memory address

Example)
26105 26104
Da.18 (High-order) (Low-order) 26104 27104 28104 29104
Value b31 b16 b15 b0 0000H
Parameter 1 26105 27105 28105 29105

Value
Example)
26107 26106
Da.19 (High-order) 26106 27106 28106 29106
Value b31 b16 b15 (Low-order) b0 0000H
Parameter 2 26107 27107 28107 29107

Value

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Da.15 Condition target

Set the condition target as required for each control.
Setting value Setting details
01H : Device X
Set the input/output signal ON/OFF as the conditions.
02H : Device Y
03H : Buffer memory (1-word) Set the value stored in the buffer memory as the condition.
03H: The target buffer memory is "1-word (16 bits)"
04H : Buffer memory (2-word)
04H: The target buffer memory is "2-word (32 bits)"
05H : Positioning data No. Select only for "simultaneous start".

Da.16 Condition operator

Set the condition operator as required for the " Da.15 Condition target".

Da.15 Condition target Setting value Setting details

01H: Device X 07H : DEV=ON The state (ON/OFF) of an I/O signal is defined as the
02H: Device Y 08H : DEV=OFF condition. Select ON or OFF as the trigger.
01H : ∗∗=P1
02H : ∗∗≠ P1
03H: Buffer memory (1-word) 03H : ∗∗≤P1 Select how to use the value (∗∗) in the buffer memory
04H: Buffer memory (2-word) 04H : ∗∗≥P1 as a part of the condition.
05H : P1≤∗∗≤P2
06H : ∗∗≤P1, P2 ≤∗∗
10H : Axis 1 selected
20H : Axis 2 selected
30H : Axes 1 and 2 selected
40H : Axis 3 selected
50H : Axes 1 and 3 selected
60H : Axes 2 and 3 selected
70H : Axes 1, 2, and 3 selected If "simultaneous start" is specified, select the axis
05H: Positioning data No.
80H : Axis 4 selected (or axes) that should start simultaneously.
90H : Axes 1 and 4 selected
A0H : Axes 2 and 4 selected
B0H : Axes 1, 2, and 4 selected
C0H : Axes 3 and 4 selected
D0H : Axes 1, 3, and 4 selected
E0H : Axes 2, 3, and 4 selected

Da.17 Address
Set the address as required for the " Da.15 Condition target".

Da.15 Condition target Setting value Setting details

01H : Device X
– Not used. (There is no need to set.)
02H : Device Y
03H : Buffer memory (1-word) Set the target "buffer memory address".
Value
(For 2 word, set the low-order buffer memory
04H : Buffer memory (2-word) (Buffer memory address)
address.)
05H : Positioning data No. – Not used. (There is no need to set.)

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Da.18 Parameter 1

Set the parameters as required for the " Da.16 Condition operator".

Da.16 Condition operator Setting value Setting details

01H : ∗∗=P1
02H : ∗∗≠ P1 The value of P1 should be equal to or smaller than the value of
03H : ∗∗≤P1 P2. (P1 ≤P2)
Value
04H : ∗∗≥P1 If P1 is greater than P2 (P1>P2), the "condition data error" (error
code 533) will occur.
05H : P1≤∗∗≤P2
06H : ∗∗≤P1, P2 ≤∗∗
07H : DEV=ON Value Set the device bit No.
08H : DEV=OFF (bit No.) X: 0H to 1H, 4H to 11H Y: 0, 4H to 17H
10H : Axis 1 selected Set the positioning data No. for starting axis 1 and/or axis 2.
Low-order 16-bit
Value
: Axis 1 positioning data No. 1 to 600 (01H to 258H)
(positioning data No.)
High-order 16-bit
E0H : Axes 2, 3, and 4 selected : Axis 2 positioning data No. 1 to 600 (01H to 258H)

Da.19 Parameter 2

Set the parameters as required for the " Da.16 Condition operator".

Da.16 Condition operator Setting value Setting details

01H : ∗∗=P1
02H : ∗∗≠ P1
— Not used. (No need to be set.)
03H : ∗∗≤P1
04H : ∗∗≥P1
05H : P1≤∗∗≤P2 The value of P2 should be equal to or greater than the value of
Value P1. (P1 ≤P2)
06H : ∗∗≤P1, P2 ≤∗∗ If P1 is greater than P2 (P1>P2), the "condition data error" (error
code 533) will occur.
07H : DEV=ON
08H : DEV=OFF
10H : Axis 1 selected — Not used. (No need to be set.)
20H : Axis 2 selected
30H : Axes 1 and 2 selected
40H : Axis 3 selected
50H : Axes 1 and 3 selected
60H : Axes 2 and 3 selected
70H : Axes 1, 2, and 3 selected Set the positioning data No. for starting axis 3 and/or axis 4.
80H : Axis 4 selected Low-order 16-bit
Value
90H : Axes 1 and 4 selected : Axis 3 positioning data No. 1 to 600 (01H to 258H)
(positioning data No.)
A0H : Axes 2 and 4 selected High-order 16-bit
B0H : Axes 1, 2, and 4 selected : Axis 4 positioning data No. 1 to 600 (01H to 258H)
C0H : Axes 3 and 4 selected
D0H : Axes 1, 3, and 4 selected
E0H : Axes 2, 3, and 4 selected

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5.6 List of monitor data

5.6.1 System monitor data

Storage item Storage details

Whether the mode is the test mode from the peripheral device or not is stored.
Md.1 In test mode flag • When not in test mode : OFF
• When in test mode : ON

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Storage buffer
memory address
Reading the monitor value Default value (common for axis 1 to
axis 4)

Monitoring is carried out with a decimal.

Monitor
Storage value 0 1200
value
0: Not in test mode
1: In test mode

(Unless noted in particular, the monitor value is saved as binary data.)

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Storage item Storage details Reading the monitor value

[Storage details] This area stores the start information (restart flag, start origin, and start
axis):
• Restart flag: Indicates whether the operation has or has not been
halted and restarted.
• Start origin : Indicates the source of the start signal.
• Start axis : Indicates the started axis.
[Reading the monitor value] Monitoring is carried out with a hexadecimal display.

b15 b12 b8 b4 b0
Buffer
Md.3 memory
0 0 0 0 0 Monitor
value

Start Not used

information Start axis

Start origin Stored contents Storage value

Axis 1 1
Stored contents Storage value
Axis 2 2
PLC CPU 00
Axis 3 3
External signal 01
Axis 4 4
Starting history (Up to 16 records can be stored)

Peripheral device 10
Restart flag
Stored contents Storage value
Restart flag OFF 0
Restart flag ON 1

Monitoring is carried out with a hexadecimal display.

A B C D Monitor value
b15 b12 b8 b4 b0
Buffer
memory A B C D
A B C D

Start No.
Storage value Reference
Stored contents
A B C D (Decimal)

Md.4 Positioning operation 0 0 0 1 001

The starting No. is stored. to
0 2 5 8 600
Start No. 1 B 5 8 7000
1 B 5 9 7001
1 B 5 A 7002
1 B 5 B 7003
1 B 5 C 7004
JOG operation 2 3 3 2 9010
Manual pulse generator 2 3 3 3 9011
Machine OPR 2 3 2 9 9001
Fast OPR 2 3 2 A 9002
Current value changing 2 3 2 B 9003
Simultaneous start 2 3 2 C 9004

Monitoring is carried out with a hexadecimal display.

Md.5 Buffer memory (stored with BCD code)
0 0 1 5
Monitor value
Start The starting time is stored.
b15 b12 b8 b4 b0

(Hour)
0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 5
0 0 0 to 2 0 to 3
Not used 00 to 23 (hour)

Monitoring is carried out with a hexadecimal display.

Md.6
Buffer memory (stored with BCD code)
4 9 0 7 Monitor value
Start The starting time is stored. b15 b12 b8 b4 b0
(Minute: 0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
second) 0 to 5 0 to 9 0 to 5 0 to 9
00 to 59 (minute) 00 to 59 (second)

Note: If a start signal is issued against an operating axis, a record relating to this event may be output before a
record relating to an earlier start signal is output.

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Default value Storage buffer memory address (common to axes 1 to 4)

Md.8
1292
Start history pointer
0000H
Indicates a pointer No. that is next to the Pointer No.
assigned to the latest of the existing starting history records.

Pointer No.
14 15
12 13
10 11
8 9
6 7
5 1282 1287
3 4 1272 1277
1 2 1262 1267
Pointer No. 0
1247 1252 1257
1237 1242
Md.3 1227 1232
1212 1217 1222 1283 1288
Start information 1273 1278
1258 1263 1268
1253
1243 1248
Md.4 1228 1233 1238
1213 1218 1223 1289
1279 1284
Start No. 1269 1274
Starting history

1254 1259 1264

1249
1239 1244
Md.5 1229 1234
1214 1219 1224 1285 1290
Start hour 1275 1280
1265 1270
1250 1255 1260
1240 1245
Md.6 1230 1235
1215 1220 1225 1286 1291
Start min: sec 1276 1281
1261 1266 1271
1251 1256
1241 1246
Md.7 1231 1236
1216 1221 1226
0000H Error judgement

Each group of buffer memory addresses storing a complete starting history

record is assigned a pointer No.
Item Buffer memory address Example: Pointer No. 0 = Buffer memory addresses 1212 to 1216
Pointer No. 1 = Buffer memory addresses 1217 to 1221
Pointer No. 2 = Buffer memory addresses 1222 to 1226

Pointer No. 15 = Buffer memory addresses 1287 to 1291

Each history record is assigned a pointer No. in the range between 0 and 15.
If the pointer No. 15 has been assigned to a new record, the next record will
be assigned the pointer number 0.
0000 (A new record replaces an older record when a pointer No. is reassigned.)

0000

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Storage item Storage details Reading the monitor value

[Storage details] This area stores the following results of the error judgment performed
upon starting:
• BUSY start warning flag
• Error flag
Starting history (Up to 16 records can be stored)

• Error No.
[Reading the monitor value] Monitoring is carried out with a hexadecimal display.
A B C D
Monitor value
Md.7 b15 b12 b8 b4 b0
Buffer memory A B C D
Error a B C D
judgment Error flag Error No.
Stored contents Storage value Convert the hexadecimal value "a, B, C, D" into a decimal value and
match it with "15.2 List of errors".
Error flag OFF 0
Error flag ON 1

BUSY start warning flag

Stored contents Storage value

BUSY start
0
warning OFF
BUSY start
1
warning ON

Indicates a pointer No. that Monitoring is carried out with a decimal display.
Md.8 is next to the Pointer No. Storage value (Pointer number)
assigned to the latest of the Monitor value 0 to 15
Start history
existing starting history
pointer
records.

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Default value Storage buffer memory address (common to axes 1 to 4)

Md.8
1292
Start history pointer

Indicates a pointer No. that is next to the Pointer No.

assigned to the latest of the existing starting history records.

Pointer No.
14 15
12 13
10 11
8 9
6 7
4 5 1282 1287
2 3 1272 1277
Pointer No. 0 1 1262 1267
1247 1252 1257
1242
1232 1237
Md.3 1222 1227
1212 1217 1278 1283 1288
Start information 1268 1273
1253 1258 1263
1243 1248
1233 1238
Md.4 1223 1228
1213 1218 1284 1289
Start No. 1274 1279
Starting histroy

1264 1269
1249 1254 1259
1244
1234 1239
Md.5 1224 1229
1214 1219 1285 1290
0000H Start hour 1275 1280
1265 1270
1250 1255 1260
1245
1235 1240
Md.6 1225 1230
1215 1220 1281 1286 1291
Start min: sec 1271 1276
1256 1261 1266
1246 1251
1236 1241
Md.7 1226 1231
1216 1221
Error judgement

Each group of buffer memory addresses storing a complete starting history

record is assigned a pointer No.
Item Buffer memory address Example: Pointer No. 0 = Buffer memory addresses 1212 to 1216
Pointer No. 1 = Buffer memory addresses 1217 to 1221
Pointer No. 2 = Buffer memory addresses 1222 to 1226

Pointer No. 15 = Buffer memory addresses 1287 to 1291

Each history record is assigned a pointer No. in the range between 0 and 15.
If the pointer No. 15 has been assigned to a new record, the next record will
be assigned the pointer number 0.
(A new record replaces an older record when a pointer No. is reassigned.)

0 1292

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Storage item Storage details Reading the monitor value

Monitoring is carried out with a decimal display.

Md.9
Stores a number (Axis No.) Monitor Storage value
Axis in which that indicates the axis that value 1: Axis 1
the error encountered an error. 2: Axis 2
3: Axis 3
occurred 4: Axis 4

Monitoring is carried out with a decimal display.

Md.10
Error history (Up to 16 records can be stored)

Stores an axis error No. Monitor value Error No.

For details on the error Nos.
Axis error No. (Error codes),refer to
Section 15.2 "List of errors".

Monitoring is carried out with a hexadecimal display.

Md.11
Buffer memory (stored with BCD code)
Axis error Stores the time at which an 0 0 1 5 Monitor value

occurrence axis error was detected. b15 b12 b8 b4 b0

0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 5
(Hour) Not used 0 to 2 0 to 3
00 to 23 (hour)

Md.12 Monitoring is carried out with a hexadecimal display.

Buffer memory (stored with BCD code)
Axis error Stores the time at which an 4 9 0 7 Monitor value
occurrence axis error was detected. b15 b12 b8 b4 b0

(Minute:
0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
0 to 5 0 to 9 0 to 5 0 to 9
second) 00 to 59 (minute) 00 to 59 (second)

Md.13 Indicates a pointer No. that Monitoring is carried out with a decimal display.
is next to the Pointer No. Storage value
Error history assigned to the latest of the Monitor value (Pointer number)
pointer 0 to 15
existing records.

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Default value Storage buffer memory address (common to axes 1 to 4)

Md.13
1357
Error history pointer
0

Indicates a pointer No. that is next to the Pointer No.

assigned to the latest of the existing error history records.

Pointer No.
14 15
12 13
10 11
8 9
6 7
4 5 1349 1353
2 3 1341 1345
Pointer No. 0 1 1333 1337
1321 1325 1329
1317
0 1309 1313
Md.9
1297 1301 1305
Axis in which the error 1293 1346 1350 1354
1338 1342
occured 1330 1334
1318 1322 1326
1310 1314
1302 1306
Error history

Md.10
1294 1298 1351 1355
Axis error No. 1343 1347
1335 1339
1323 1327 1331
1319
1311 1315
Md.11 1303 1307
Axis error occurrence 1295 1299 1352 1356
1344 1348
hour 1336 1340
1324 1328 1332
1320
1312 1316
Md.12 1304 1308
Axis error occurrence 1296 1300
0000 min: sec

Each group of buffer memory addresses storing a complete error history

record is assigned a pointer No.
Item Buffer memory address Example: Pointer No. 0 = Buffer memory addresses 1293 to 1296
Pointer No. 1 = Buffer memory addresses 1297 to 1300
Pointer No. 2 = Buffer memory addresses 1301 to 1304

Pointer No. 15 = Buffer memory addresses 1353 to 1356

0000 Each history record is assigned a pointer No. in the range between 0 and 15.
If the pointer No. 15 has been assigned to a new record, the next record will
be assigned the pointer number 0.
(A new record replaces an older record when a pointer No. is reassigned.)

0 1357

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Storage item Storage details Reading the monitor value

Monitoring is carried out with a decimal display.

Md.14
Stores a number (Axis No.) Monitor Storage value
Axis in which that indicates the axis that value 1: Axis 1
the warning encountered a warning. 2: Axis 2
3: Axis 3
occurred 4: Axis 4

Monitoring is carried out with a decimal display.

Md.15
Warning history (Up to 16 records can be stored)

Stores an axis warning No. Monitor Warning No.

Axis warning value For details of warning Nos.
No. (warning codes), refer to
Section 15.3 "List of warnings".

Monitoring is carried out with a hexadecimal display.

Md.16
Buffer memory (stored with BCD code)
Axis warning Stores the time at which an 0 0 1 5 Monitor value

occurrence axis warning was detected. b15 b12 b8 b4 b0

0 0 0 0 0 0 0 0 0 0 0 1 0 1 0 1 0 0 1 5
(Hour) Not used 0 to 2 0 to 3
00 to 23 (hour)

Md.17 Monitoring is carried out with a hexadecimal display.

Buffer memory (stored with BCD code)
Axis warning Stores the time at which an 4 9 0 7 Monitor value
occurrence axis warning was detected. b15 b12 b8 b4 b0

(Minute:
0 1 0 0 1 0 0 1 0 0 0 0 0 1 1 1 4 9 0 7
0 to 5 0 to 9 0 to 5 0 to 9
second) 00 to 59 (minute) 00 to 59 (second)

Md.18 Indicates a pointer No. that Monitoring is carried out with a decimal display.
is next to the Pointer No. Storage value
Warning assigned to the latest of the Monitor value (Pointer number)
0 to 15
history pointer existing records.

Stores the number of write

accesses to the flash ROM
Md.19 after the power is switched
ON. Monitoring is carried out with a decimal display.
Storage value
No. of write The count is cleared to "0" Monitor value 0 to 25
accesses to flash when the number of write
ROM accesses reach 26 and an
error reset operation is
performed.

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Default value Storage buffer memory address (common to axes 1 to 4)

Md.18
Warning history 1422
0 pointer

Indicates a pointer No. that is next to the Pointer No.

assigned to the latest of the existing warning history records.

Pointer No.
14 15
12 13
10 11
8 9
6 7 1418
4 5 1410 1414
2 3 1402 1406
Pointer No. 0 1 1394 1398
1386 1390
0 1378 1382
Md.14 1366 1370 1374
1358 1362 1415 1419
Axis in which the 1407 1411
warning occured 1395 1399 1403
1387 1391
1379 1383
Warning history

Md.15 1367 1371 1375

1359 1363 1412 1416
1420
Axis warning No. 1404 1408
1392 1396 1400
1388
1380 1384
Md.16 1372 1376
1364 1368 1421
Axis warning occurrence 1360 1413 1417
1405 1409
hour
1393 1397 1401
1389
1381 1385
Md.17 1373 1377
1365 1369
0000 Axis warning occurrence 1361
min: sec

Each group of buffer memory addresses storing a complete warning history

record is assigned a pointer No.
Item Buffer memory address Example: Pointer No. 0 = Buffer memory addresses 1358 to 1361
Pointer No. 1 = Buffer memory addresses 1362 to 1365
Pointer No. 2 = Buffer memory addresses 1366 to 1369

Pointer No. 15 = Buffer memory addresses 1418 to 1421

0000 Each history record is assigned a pointer No. in the range between 0 and 15.
If the pointer No. 15 has been assigned to a new record, the next record will
be assigned the pointer number 0.
(A new record replaces an older record when a pointer No. is reassigned.)

0 1422

1424
0
1425

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5.6.2 Axis monitor data

Storage item Storage details

The currently commanded address is stored.

(Different from the actual motor position during operation)
The current position address is stored.
If "degree" is selected as the unit, the addresses will have a ring structure for values
Md.20 Current feed value between 0 and 359.9999 degrees.
• Update timing : 1.8ms
• The OP address is stored when the machine OPR is completed.
• When the current value is changed with the current value changing function, the
changed value is stored.

The address of the current position according to the machine coordinates will be
stored. (Different from the actual motor position during operation)
Note that the current value changing function will not change the machine feed
value.
Under the speed control mode, the machine feed value is constantly updated
Md.21 Machine feed value always, irrespective of the parameter setting.
The value will not be cleared to "0" at the beginning of fixed-feed control.
Even if "degree" is selected as the unit, the addresses will not have a ring structure
for values between 0 and 359.99999 degrees.
• Machine coordinates: Characteristic coordinates determined with machine
• Update timing: 56.8ms

The command output speed of the operating workpiece is stored. (May be different
from the actual motor speed during operation)
• During interpolation operation, the speed is stored in the following manner.
Md.22 Feedrate Reference axis : Composite speed or reference axis speed
(Set with Pr.20 )
Interpolation axis : 0
• Update timing: 56.8ms

When an axis error is detected, the error code corresponding to the error details is
stored.
• The latest error code is always stored.
Md.23 Axis error No. (When a new axis error occurs, the error code is overwritten.)
• When " Cd.5 Axis error reset" (axis control data) turns ON, the axis error No. is
cleared (set to 0).

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Storage buffer
Default memory address
Reading the monitor value
value
Axis 1 Axis 2 Axis 3 Axis 4

Monitoring is carried out with a hexadecimal.

Low-order buffer memory Example) 800
Monitor b15 b12 b8 b4 b0
value E F G H 800 900 1000 1100
0000H
801 901 1001 1101
E F G H

High-order buffer memory Example) 801

b31 b28 b24 b20 b16
A B C D
A B C D

Sorting

(High-order buffer memory) (Low-order buffer memory)

A B C D E F G H 1002 1102
802 902
0000H
Unit conversion table 803 903 1003 1103
Md.20 Md.21 )
)
Converted from
hexadecimal to decimal
n Unit
Decimal integer -1 m
value R -5 inch
-5 degree
0 pulse
Unit conversion
R 10n Unit conversion table
Md.22 )
)

n Unit
Actual value -2 mm/min 804 904 1004 1104
Md.20 Current feed value 0000H
-3 inch/min 805 905 1005 1105
Md.21 Machine feed value
-3 degree/min
Md.22 Feedrate 0 pulse/s

Monitoring is carried out with a decimal.

Monitor
value Error code
0 806 906 1006 1106
Refer to Section 15.2 "List of
errors" for details on the error
Nos. (error codes).

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Storage item Storage details

Whenever an axis warning is reported, a related warning code is stored.

• This area stores the latest warning code always. (Whenever an axis warning is
Md.24 Axis warning No. reported, a new warning code replaces the stored warning code.)
• When the " Cd.5 Axis error reset" (axis control data) is set to ON, the axis
warning No. is cleared to "0".

This area stores an M code that is currently active (i.e. set to the positioning data
relating to the current operation).
Md.25 Valid M code • Update timing : turning ON of the M code ON signal

When the PLC READY signal (Y0) goes OFF, the value is set to "0".

Md.26 Axis operation status This area stores the axis operation status.

" Da.8 Command speed" of the positioning data currently in execution is stored.
(Stores "0" under the speed control.)
• If " Da.8 Command speed" is set to "-1", this area stores the command speed

Md.27 Current speed

set by the positioning data used one step earlier.
• If " Da.8 Command speed" is set to a value other than "-1", this area stores the
command speed set by the current positioning data.
• If the speed change function is executed, " Cd.14 New speed value" is stored.
(For details of the speed change function, refer to Section 12.5.1.)

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Storage buffer
Default memory address
Reading the monitor value
value
Axis 1 Axis 2 Axis 3 Axis 4

Monitoring is carried out with a decimal display.

Monitor Warning No.

value For details of warning Nos. 0 807 907 1007 1107
(warning codes), refer to
Section 15.3 "List of warnings".

Monitoring is carried out with a decimal display.

Monitor 0 808 908 1008 1108
value M code No.
(0 to 65535)

Monitoring is carried out with a decimal display.

Monitor value

Axis operation status

-2: Step standby
-1: Error
0: Standby
1: Stopped
2: Interpolation
3: JOG operation
4: Manual pulse generator operation
0 809 909 1009 1109
5: Analyzing
6: Special start standby
7: OPR
8: Position control
9: Speed control
10: Speed control in speed-position switching control
11: Position control in speed-position switching control
12: Position control in position-speed switching control
13: Speed control in position-speed switching control

Monitoring is carried out with a decimal display.

Monitor
value R Decimal integer
value
Unit conversion table
Md.27 )
)
Unit conversion 810 910 1010 1110
n 0
R 10 n Unit 811 911 1011 1111
-2 mm/min
-3 inch/min
-3 degree/min
Actual
Md.27 Current speed 0 pulse/s
value

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Storage item Storage details

• The speed which is actually output as a command at that time in each axis is
stored. (May be different from the actual motor speed)
Md.28 Axis feedrate
"0" is stored when the axis is at a stop.
Update timing: 56.8ms

• The value set as the movement amount for the position control to end after
Md.29 Speed-position switching
changing to position control with the speed-position switching control (INC mode)
control positioning amount is stored.

The ON/OFF state of the external input/output signal is stored.

The following items are stored.
• Upper limit signal
• Lower limit signal
• Drive unit READY signal
Md.30 External input/output signal • Stop signal
• External command signal
• Zero signal
• Near-point signal
• Deviation counter clear signal
Update timing: 56.8ms

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MELSEC-Q

Storage buffer
Default memory address
Reading the monitor value
value
Axis 1 Axis 2 Axis 3 Axis 4
Monitoring is carried out with a hexadecimal.
Low-order buffer memory Example) 812
Monitor b15 b12 b8 b4 b0
value E F G H
E F G H

High-order buffer memory Example) 813

b31 b28 b24 b20 b16
A B C D 812 912 1012 1112
0000H
A B C D
813 913 1013 1113

Sorting

(High-order buffer memory) (Low-order buffer memory)

A B C D E F G H
Unit conversion table
Md.28 )
)
Converted from
hexadecimal to decimal
n Unit
Decimal integer -2 mm/min
value R -3 inch/min
-3 degree/min
0 pulse/s
Unit conversion 814 914 1014 1114
Unit conversion table 0000H
R 10 n 815 915 1015 1115
Md.29 )
)

n Unit
Actual value -1 m
Md.28 Axis feedrate
-5 inch
Md.29 Speed-position switching -5 degree
control positioning amount
0 pulse

Monitoring is carried out with a hexadecimal.

Monitor
0 0 value

Buffer b15 b12 b8 b4 b0

memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Not used
Stored items D e fa ult
v a lue Meaning 0000H 816 916 1016 1116
b0 Lower limit signal 0
b1 Upper limit signal 0
b2 Drive unit READY signal 0
b3 Stop signal 0
b4 External command signal 0 0: OFF
b5 Zero signal 0 1: ON
b6 Near-point signal 0
b7 Not used 0
b8 Deviation counter clear signal 0

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Storage item Storage details

This area stores the states (ON/OFF) of various flags.

Information on the following flags is stored.
In speed control flag:
This signal that comes ON under the speed control can be used to judge whether the
operation is performed under the speed control or position control. The signal goes OFF
when the power is switched ON, under the position control, and during JOG operation or
manual pulse generator operation. During the speed-position or position-speed switching
control, this signal comes ON only when the speed control is in effect. During the speed-
position switching control, this signal goes OFF when the speed-position switching signal
executes a switching over from speed control to position control. During the position-
speed switching control, this signal comes ON when the position-speed switching signal
executes a switching over from position control to speed control.
Speed-position switching latch flag:
This signal is used during the speed-position switching control (INC mode) for interlocking
the movement amount change function. During the speed-position switching control (INC
mode), this signal comes ON when position control takes over. This signal goes OFF
when the next positioning data is processed, and during JOG operation or manual pulse
generator operation.
Command in-position flag:
This signal is ON when the remaining distance is equal to or less than the command in-
position range (set by a detailed parameter). This signal remains OFF with data that
specify the continuous path control (P11) as the operation pattern. The state of this signal
is monitored every 1.8 ms except when the monitoring is canceled under the speed control
Md.31 Status or while the speed control is in effect during the speed-position or position-speed switching
control. While operations are performed with interpolation, this signal comes ON only in
respect of the starting axis. (This signal goes OFF in respect of all axes upon starting.)
OPR request flag:
This signal comes ON when the power is switched ON, when the drive unit READY signal
goes OFF, when the PLC READY signal goes ON, when a machine OPR operation
starts. This signal goes OFF when a machine OPR operation completes.
OPR complete flag:
This signal comes ON when a machine OPR operation completes normally. This signal
goes OFF when the operation starts and when the drive unit READY signal goes OFF.
Position-speed switching latch flag:
This signal is used during the position-speed switching control for interlocking the
command speed change function. During the position-speed switching control, this signal
comes ON when speed control takes over. This signal goes OFF when the next
positioning data is processed, and during JOG operation or manual pulse generator
operation.
Axis warning detection flag:
This signal comes On when an axis warning is reported and goes OFF when the axis error
reset signal comes ON.
Speed change 0 flag:
This signal comes ON when a speed change request that specifies 0 as the new speed
value is issued. This signal comes ON when a speed change request that specifies a new
speed value other than 0 is issued.

This area stores the target value ( Da.6 Positioning address/movement amount)
for a positioning operation.
Md.32 Target value • At the beginning of positioning control: Stores the value of " Da.6 Positioning
address/movement amount".
• At other times : Stores "0".

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Storage buffer
Default memory address
Reading the monitor value
value
Axis 1 Axis 2 Axis 3 Axis 4

Monitoring is carried out with a hexadecimal display.

Monitor
0 value

Buffer b15 b12 b8 b4 b0

memory 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Not used Not used Default

Stored items value Meaning 0000H 817 917 1017 1117
b0 In speed control flag 0
b1 Speed-position switching latch flag 0
b2 Command in-position flag 0
b3 OPR request flag 0 0: OFF
b4 OPR complete flag 0 1: ON
b5 Position-speed switching latch flag 0
b9 Axis warning detection 0
b10 Speed change 0 flag 0

Monitoring is carried out with a decimal display.

Monitor
value R Decimal integer
value
Unit conversion table
Md.32 )
)
Unit conversion 818 918 1018 1118
n Unit 0
R 10 n 819 919 1019 1119
-1 m
-5 inch
-5 degree
Actual
Md.32 Target value 0 pulse
value

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Storage item Storage details

• During operation with positioning data : The actual target speed, considering
the override and speed limit value,
etc., is stored. "0" is stored when
positioning is completed.
• During interpolation : The composite speed or reference
Md.33 Target speed
axis speed is stored in the reference
axis address, and "0" is stored in the
interpolation axis address.
• During JOG operation : The actual target speed, considering
the JOG speed limit value for the
JOG speed, is stored.
• During manual pulse generator operation : "0" is stored.

• "0" is stored when machine OPR starts.

• After machine OPR starts, the movement amount from the near-point dog ON to
Md.34 Movement amount after the machine OPR completion is stored.
(Movement amount: Movement amount to machine OPR completion using near-
near-point dog ON point dog ON as "0".)
• "0" is always stored when not using the near-point dog, or when using the stopper
method.

The " Pr.17 Torque limit setting value" or " Cd.22 New torque value" is stored.
• During positioning start, JOG operation start, manual pulse generator operation
Md.35 Torque limit stored value ...The " Pr.17 Torque limit setting value" is stored.
• When value is changed to " Cd.22 New torque value" during operation
...The " Cd.22 New torque value" is stored.

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Storage buffer
Default memory address
Reading the monitor value
value
Axis 1 Axis 2 Axis 3 Axis 4
Monitoring is carried out with a hexadecimal display.
Low-order buffer memory Example) 820
Monitor b15 b12 b8 b4 b0
value E F G H
E F G H

High-order buffer memory Example) 821

b31 b28 b24 b20 b16
A B C D 820 920 1020 1120
0000H
821 921 1021 1121
A B C D

Sorting

(High-order buffer memory) (Low-order buffer memory)

A B C D E F G H
Unit conversion table
Md.33 )
)
Converted from
hexadecimal to decimal
n Unit
Decimal integer -2 mm/min
value R -3 inch/min
-3 degree/min
0 pulse/s
Unit conversion 822 922 1022 1124
0000H
R 10 n Unit conversion table 823 923 1023 1125
)
Md.34 )
n Unit
Actual value -1 m
Md.33 Target speed
-5 inch
Md.34 Movement amount after
near-point dog ON -5 degree
0 pulse

Monitoring is carried out with a decimal display.

Monitor Storage value
value 0 to 500 (%) 300 826 926 1026 1126

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Storage item Storage details

Md.36 Special start data instruction • The " instruction code" used with special start and indicated by the start data
code setting value pointer currently being executed is stored.

The " instruction parameter" used with special start and indicated by the start data
Md.37 Special start data instruction pointer currently being executed is stored.
parameter setting value The stored value differs according to the value set for Md.36 .

Md.38 Start positioning data No. • The "positioning data No." indicated by the start data pointer currently being
setting value executed is stored.

• If the speed exceeds the " Pr.8 Speed limit value" due to a speed change or

Md.39 In speed limit flag

override, the speed limit functions, and the in speed limit flag turns ON.
• When the speed drops to less than " Pr.8 Speed limit value", or when the axis
stops, the in speed limit flag turns OFF.

• The speed change process flag turns ON when the speed is changed during
Md.40 In speed change processing
positioning control.
• After the speed change process is completed or when deceleration starts with the
flag stop signal during the speed change process, the in speed change process flag
turns OFF.

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Storage buffer
Default memory address
Reading the monitor value
value
Axis 1 Axis 2 Axis 3 Axis 4

Monitoring is carried out with a decimal display.

Monitor Storage value

value 00: Block start (Normal start)
01: Condition start
02: Wait start 0 827 927 1027 1127
03: Simultaneous start
04: FOR loop
05: FOR condition
06: NEXT

Monitoring is carried out with a decimal display.

Monitor value
Storage value

Md.36 setting value Stored contents Storage value

00
None None 0 828 928 1028 1128
06
01
02 Condition
1 to 10
03 data No.
05
No. of
04 0 to 255
repetitions

Monitoring is carried out with a decimal display.

Monitor Storage value
value 1 to 600 0 829 929 1029 1129

Monitoring is carried out with a decimal display.

Monitor Storage value
value 0 830 930 1030 1130
0: Not in speed limit (OFF)
1: In speed limit (ON)

Monitoring is carried out with a decimal display.

Monitor Storage value
value 0 831 931 1031 1131
0: Not in speed change (OFF)
1: In speed change (ON)

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Storage item Storage details

• This area stores the remaining number of repetitions during "repetitions" specific
to special starting.
Md.41 Special start repetition
• The count is decremented by one (-1) at the loop end.
counter • The control comes out of the loop when the count reaches "0".
• This area stores "0" within an infinite loop.

• This area stores the remaining number of repetitions during "repetitions" specific
to control system.
Md.42 Control system repetition • The count is decremented by one (-1) at the loop end.
counter • The control comes out of the loop when the count reaches "0".
• This area stores "0" within an infinite loop.

• This area stores a point No. (1 to 50) attached to the start data currently being
Md.43 Start data pointer being
executed.
executed • This area stores "0" after completion of a positioning operation.

Md.44 Positioning data No. being • This area stores a positioning data No. attached to the positioning data currently
executed being executed.

• When the operation is controlled by "block start data", this area stores a block
Md.45 Block No. being executed number (7000 to 7004) attached to the block currently being executed.
• At other times, this area stores "0".

• This area stores the positioning data No. attached to the positioning data that was
Md.46 Last executed positioning
executed last time.
data No. • The value is retained until a new positioning operation is executed.

Md.47 Positioning data being • The addresses shown to the right store details of the positioning data currently

executed being executed (positioning data No. given by Md.44 ).

• "1" is stored when the constant speed status or acceleration status switches to the
deceleration status during position control whose operation pattern is "Positioning
Md.48 Deceleration start flag complete".
• "0" is stored at the next operation start or manual pulse generator operation
enable.

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Storage buffer
Default memory address
Reading the monitor value
value
Axis 1 Axis 2 Axis 3 Axis 4

Monitoring is carried out with a decimal display.

Storage value
Monitor value 0 to 255 0 832 932 1032 1132

Monitoring is carried out with a hexadecimal display.

Storage value
Monitor value 0 to FFFF 0000H 833 933 1033 1133

Monitoring is carried out with a decimal display.

Storage value
Monitor value 1 to 50 0 834 934 1034 1134

Monitoring is carried out with a decimal display.

Storage value
Monitor value 1 to 600 0 835 935 1035 1135

Monitoring is carried out with a decimal display.

Storage value
Monitor value 1 to 50 0 836 936 1036 1136

Monitoring is carried out with a decimal display.

Storage value
Monitor value 1 to 600 0 837 937 1037 1137

Information is stored in the following addresses:

Stored address (Monitor value)
Stored item Reference
Axis1 Axis2 Axis3 Axis4

838 938 1038 1138 Positioning identifier Da.1 to Da.5

839 939 1039 1139 M code Da.10

840 940 1040 1140 Dwell time Da.9

838 938 1038 1138
0 to to to to
841 941 1041 1141 Open 847 947 1047 1147
842 942 1042 1142
Command speed Da.8
843 943 1043 1143
844 944 1044 1144
Positioning address Da.6
845 945 1045 1145
846 946 1046 1146
Arc address Da.7
847 947 1047 1147

Monitoring is carried out with a decimal display.

Storage value
Monitor value
0: Status other than below
1: Status from deceleration
0 899 999 1099 1199
start to next operation
start or manual pulse
generator operation enable

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5.7 List of control data

5.7.1 System control data

Setting item Setting details

• Requests writing of data (parameters, positioning data, and block start data) from
Cd.1 Flash ROM write request
the buffer memory to the flash ROM.

• Requests initialization of setting data.

Initialization: Resetting of setting data to default values
Note: After completing the initialization of setting data, reset the PLC CPU or reboot
the PLC power.

Cd.2 Parameter initialization request Initialized setting data

Parameters ( Pr.1 to Pr.57 , Pr.150 )
Positioning data (No. 1 to No. 600)
Block start data (No. 7000 to 7004)

Cd.41 Deceleration start flag valid Set whether " Md.48 Deceleration start flag" is made valid or invalid.

Cd.42 Stop command processing for • Set the stop command processing for deceleration stop function (deceleration
deceleration stop selection curve re-processing/deceleration curve continuation).

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Storage buffer
memory address
Setting value Default value (common to axes 1
to 4)

Set with a decimal.

Setting
value K 1
Flash ROM write request 0 1900
1: Requests write access to flash ROM.

The QD75 resets the value to "0" automatically when the write access completes.
(This indicates the completion of write operation.)

Set with a decimal.

Setting
value K 1
Parameter initialization request
0 1901
1: Requests parameter initialization.

The QD75 resets the value to "0" automatically when the initialization completes.
(This indicates the completion of parameter initialization.)

Set with a decimal.

Setting
value K 0 1905
Deceleration start flag valid
0: Deceleration start flag invalid
1: Deceleration start flag valid

Set with a decimal.

Setting
value K 0 1907
Stop command processing for deceleration stop selection
0: Deceleration curve re-processing
1: Deceleration curve continuation

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5.7.2 Axis control data

Setting item Setting details

• Set the positioning start No.

Cd.3 Positioning start No. (Only 1 to 600 for the Pre-reading start function. For details, refer to Section
12.7.8 "Pre-reading start function".)

• Set a " starting point No." (1 to 50) if block start data is used for positioning.
Cd.4 Positioning starting point No.
(Handled as "1" if the value of other than 1 to 50 is set.)

• Clears the axis error detection, axis error No., axis warning detection and axis
warning No.
Cd.5 Axis error reset
• When the QD75 axis operation state is "in error occurrence", the error is cleared
and the QD75 is returned to the "waiting" state.

• When positioning is stopped for any reason (when axis operation state is
Cd.6 Restart command "stopped"), set "1" in Cd.6 . Positioning will be carried out again from the stopped
position to the end point of the stopped positioning data.

Cd.7 M code OFF request • The M code ON signal turns OFF.

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4

Set with a decimal.

Setting K
value

Positioning data No. 0 1500 1600 1700 1800

1 to 600 : Positioning data No.
7000 to7004 : Block start designation
9001 : Machine OPR
9002 : Fast-OPR
9003 : Current value changing
9004 : Simultaneous starting of multiple axes

Set with a decimal.

Setting Positioning starting point No.

value K 1 to 50

0 1501 1601 1701 1801

The value is set to "0" by the QD75 automatically when the continuous
operation is interrupted.

Set with a decimal.

Setting value

K 1
Error reset request 0 1502 1602 1702 1802
1: Axis error is reset.

After the axis error reset is completed, "0" is stored by the QD75 automatically.
(Indicates that the axis error reset is completed.)
Set with a decimal.
Setting value

K 1
Restart command 0 1503 1603 1703 1803
1: Restarts

After restart acceptance is completed, "0" is stored by the QD75 automatically.

(Indicates that the restart acceptance is completed.)
Set with a decimal.
Setting value

K 1
M code OFF request 0 1504 1604 1704 1804
1: M code ON signal turns OFF

After the M code ON signal turns OFF, "0" is stored by the QD75 automatically.
(Indicates that the OFF request is completed.)

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Setting item Setting details

Cd.8 External command valid • Validates or in validates external command signals.

• When changing the "current feed value" using the start No. "9003", use this data
item to specify a new feed value.
• Set a value within the following range:

mm inch degree pulse

Pr.1
Cd.9 New current value (×10-1 µm) (×10-5 inch) (×10-5 degree) (pulse)
-2147483648 -2147483648 -2147483648
Setting range to to 0 to 35999999 to
+2147483647 +2147483647 +2147483647

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4

Set with a decimal.

Setting value
K 0 1505 1605 1705 1805
External command valid
0: Invalidates an external command.
1: Validates an external command.

Set with a decimal.

Actual value Cd.9 New current value

Conversion into an integer value

1506 1606 1706 1806
Unit conversion table ( Cd.9 ) 0
1507 1607 1707 1807
10n n Unit
-1 m
Setting value -5 inch
(Decimal) R
-5 degree
0 pulse

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Setting item Setting details

• When changing the acceleration time during a speed change, use this data item
to specify a new acceleration time.
Cd.10 New acceleration time value Cd.10 setting range (unit)

0 to 8388608 (ms)

• When changing the deceleration time during a speed change, use this data item
to specify a new deceleration time.

Cd.11 New deceleration time value Cd.11 setting range (unit)

0 to 8388608 (ms)

Cd.12 Acceleration/deceleration time

• Enables or disables modifications to the acceleration/deceleration time during a
change during speed change,
speed change.
enable/disable selection

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4

1508 1608 1708 1808

Set with a decimal. 0
1509 1609 1709 1809

Cd.10 New acceleration time value

Setting
value Cd.11 New deceleration time value

Example: When the " Cd. 10 New acceleration

time value" is set as "60000 ms", the
buffer memory stores "60000".
1510 1610 1710 1810
0
1511 1611 1711 1811

Set with a decimal.

Setting
value K
Acceleration/deceleration time change 0 1512 1612 1712 1812
during speed change, enable/disable selection
1 : Enables modifications to
acceleration/deceleration time
Other than 1: Disables modifications to
acceleration/deceleration time

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Setting item Setting details

• To use the positioning operation speed override function, use this data item to
specify an "override" value.
Cd.13 Positioning operation speed For details of the override function, refer to Section 12.5.2" Override function".
override If the speed resulting from a small override value (e.g. 1%) includes fractions
below the minimum unit, the speed is raised to make a complete unit and the
warning No. 110 is output.

• When changing the speed, use this data item to specify a new speed.
• The operation halts if you specify "0".
• Set a value within the following range:

mm inch degree pulse

Cd.14 New speed value Pr.1
(× 10-2 mm/min) (× 10-3 inch/min) (× 10-3 degree/min) (pulse/s)
0 to 0 to 0 to
Setting range 0 to 1000000
2000000000 2000000000 2000000000

• After setting the " Cd.14 New speed value", set this data item to "1" to execute
Cd.15 Speed change request
the speed change (through validating the new speed value).

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4

Set with a decimal.

Setting value
K 100 1513 1613 1713 1813

Override value (%)

1 to 300

Set with a decimal.

Actual value Cd.14 New speed value

Conversion into an integer value

Unit conversion table ( Cd.14 )

10n n Unit
-2 mm/min
1514 1614 1714 1814
Setting value -3 inch/min 0
(Decimal) R 1515 1615 1715 1815
-3 degree/min
0 pulse/s

Example: When the " Cd. 14 New speed

value" is set as "20000.00mm
/min", the buffer memory
stores "2000000".

Set with a decimal.

Setting
value K 1
Speed change request
1: Executes speed change. 0 1516 1616 1716 1816

The QD75 resets the value to "0" automatically

when the speed change request has been processed.
(This indicates the completion of speed change request.)

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Setting item Setting details

• Use this data item to set the amount of movement by inching.

• The machine performs a JOG operation if "0" is set.
• Set a value within the following range:

mm inch degree pulse

Pr.1
Cd.16 Inching movement amount (×10-1 µm) (×10-5 inch) (×10-5 degree) (pulse)
Setting range 0 to 65535 0 to 65535 0 to 65535 0 to 65535

• Use this data item to set the JOG speed.

• Set a value within the following range:

mm inch degree pulse

Cd.17 JOG speed Pr.1
(× 10-2 mm/min) (× 10-3 inch/min) (× 10-3 degree/min) (pulse/s)
0 to 0 to 0 to
Setting range 0 to 1000000
2000000000 2000000000 2000000000

• To interrupt a continuous operation, set "1" to this data item.

Cd.18 Interruption request during
• After processing the interruption request ("1"), the QD75 automatically resets the
continuous operation
value to "0".

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.

Actual value Cd.16 Inching movement amount

Conversion into an integer value

Unit conversion table ( Cd.16 )

10n n Unit
-1 m
Setting value -5 inch 0 1517 1617 1717 1817
(Decimal) R
-5 degree
0 pulse

Example: When the " Cd. 16 Inching

movement amount" is set as
"1.0 m", the buffer memory
stores "10".

Set with a decimal.

Actual value Cd.17 JOG speed

Conversion into an integer value

Unit conversion table ( Cd.17 )

10n n Unit
-2 mm/min 1518 1618 1718 1818
Setting value 0
R -3 inch/min 1519 1619 1719 1819
(Decimal) degree/min
-3
0 pulse/s

Example: When the " Cd. 17 JOG

speed" is set as "20000.00mm
/min", the buffer memory
stores "2000000".

Set with a decimal.

Setting
value K 1
Interruption request continuous operation
1: Interrupts continuous operation control
or continuous path control. 0 1520 1620 1720 1820

The QD75 resets the value to "0" automatically when the continuous
control interruption request is processed.
(This indicates the completion of continuous operation interruption request.)

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Setting item Setting details

Cd.19 OPR request flag OFF • The sequence program can use this data item to forcibly turn the OPR request
request flag from ON to OFF.

• This data item determines the factor by which the number of pulses from the
Cd.20 Manual pulse generator 1 manual pulse generator is magnified.
pulse input magnification • Value "0" : read as "1".
• Value "101" or less: read as "100".

Cd.21 Manual pulse generator

• This data item enables or disables operations using a manual pulse generator.
enable flag

• When changing the " Md.35 Torque limit stored value", use this data item to
Cd.22 New torque value specify a new torque limit stored value.
• Set a value within the allowable range of the " Pr.17 Torque limit setting value".

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4

Set with a decimal.

Setting
value K 1
OPR request flag OFF request
1: Turns the "OPR request flag" 0 1521 1621 1721 1821
from ON to OFF.

The QD75 resets the value to "0" automatically when the OPR
request flag is turned OFF.
(This indicates the completion of OPR request flag OFF request.)

Set with a decimal.

Setting value
K 1522 1622 1722 1822
1
1523 1623 1723 1823
Manul pulse generator
1 pulse input
magnification
1 to 100

Set with a decimal.

Setting value
K 0 1524 1624 1724 1824
Manual pulse generator enable flag
0: Disable manual pulse generator operation.
1: Enable manual pulse generator operation.

Set with a decimal.

Setting value Torque change value

K 1 to Pr.17 Torque limit setting value 0 1525 1625 1725 1825

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Setting item Setting details

• During the speed control stage of the speed-position switching control (INC
mode), it is possible to change the specification of the movement amount during
the position control stage. For that, use this data item to specify a new movement
amount.
• The new movement amount has to be set during the speed control stage of the
speed-position switching control (INC mode).
Cd.23 Speed-position switching • The value is reset to "0" when the next operation starts.
control movement amount • Set a value within the following range:
change register
mm inch degree pulse
Pr.1
(×10-1 µm) (×10-5 inch) (×10-5 degree) (pulse)
0 to 0 to 0 to 0 to
Setting range
2147483647 2147483647 2147483647 2147483647

Cd.24 Speed-position switching • Set whether the external control signal (external command signal [CHG]: "speed-
enable flag position, position-speed switching request" is selected) is enabled or not.

• During the position control stage of the position-speed switching control, it is

possible to change the specification of the speed during the speed control stage.
For that, use this data item to specify a new speed.
• The new speed has to be set during the position control stage of the position-
speed switching control.
Cd.25 Position-speed switching • The value is reset to "0" when the next operation starts.
• Set a value within the following range:
control speed change register
mm inch degree pulse
Pr.1
(× 10-2 mm/min) (× 10-3 inch/min) (× 10-3 degree/min) (pulse/s)
0 to 0 to 0 to
Setting range 0 to 1000000
2000000000 2000000000 2000000000

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.

Cd.23 Speed-position switching

Actual value
control movement amount
change register

Conversion into an integer value

Unit conversion table ( Cd.23 )

10n n Unit
-1 m
1526 1626 1726 1826
Setting value -5 inch 0
(Decimal) R 1527 1627 1727 1827
-5 degree
0 pulse

Example: If " Cd. 23 Speed-position

switching control movement
amount change register" is set
as "20000.0 m", the buffer
memory stores "200000".

Set with a decimal.

Setting
value K
Speed-position switching enable flag
0 1528 1628 1728 1828
0: Speed control will not be taken over
by position control even when the
external command signal comes ON.
1: Speed control will be taken over by
position control when the external
command signal comes ON.

Set with a decimal.

Cd.25 Position-speed switching

Actual value
control speed change
register

Conversion into an integer value

Unit conversion table ( Cd.25 )

10n n Unit
-2 mm/min
1530 1630 1730 1830
Setting value -3 inch/min 0
(Decimal) R 1531 1631 1731 1831
-3 degree/min
0 pulse/s

Example: If " Cd. 25 Position-speed

switching control speed
change register" is set
as "2000.00 mm/min", the
buffer memory stores "200000".

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Setting item Setting details

Cd.26 Position-speed switching • Set whether the external control signal (external command signal [CHG]: "speed-
control enable flag position, position-speed switching request" is selected) is enabled or not.

• When changing the target position during a positioning operation, use this data
item to specify a new positioning address.
• Set a value within the following range:

mm inch degree pulse

Pr.1
(×10-1 µm) (×10-5 inch) (×10-5 degree) (pulse)
Cd.27 Target position change value
-2147483648 -2147483648 -2147483648
(New address)
ABS to to 0 to 35999999 to
+2147483647 +2147483647 +2147483647
-2147483648 -2147483648 -2147483648 -2147483648
INC to to to to
+2147483647 +2147483647 +2147483647 +2147483647

• When changing the target position during a positioning operation, use this data
item to specify a new speed.
• The speed will not change if "0" is set.
• Set a value within the following range:
Cd.28 Target position change value
mm inch degree pulse
(New speed) Pr.1
(× 10-2 mm/min) (× 10-3 inch/min) (× 10-3 degree/min) (pulse/s)
0 to 0 to 0 to
Setting range 0 to 1000000
2000000000 2000000000 2000000000

Cd.29 Target position change

• Requests a change in the target position during a positioning operation.
request flag

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4

Set with a decimal.

Setting value
K
Position-speed switching
enable flag 0 1532 1632 1732 1832
0: Position control will not be taken
over by speed control even when the
external command signal comes ON.
1: Position control will be taken
over by speed control when the
external command signal comes ON.

Set with a decimal.

Actual value Cd. 27 Target position change value (address)

Cd. 28 Target position change value (speed) 1534 1634 1734 1834
0
1535 1635 1735 1835

Conversion into an integer value

Unit conversion table ( Cd.27 )

10n n Unit
-1 m
Setting value -5 inch
(Decimal) R
-5 degree
0 pulse

Unit conversion table ( Cd.28 )

Example: If " Cd. 28 Target position change n Unit
value (speed) is set as "10000.00
-2 mm/min 1536 1636 1736 1836
mm/min", the buffer memory stores 0
-3 inch/min 1537 1637 1737 1837
"1000000".
-3 degree/min
0 pulse/s

Set with a decimal.

Setting
value K 1
Target position change request flag
0 1538 1638 1738 1838
1: Requests a change in the target position

The QD75 resets the value to "0" automatically

when the new target position value has been written.
(This indicates the completion of write operation.)

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Setting item Setting details

Cd.30 Simultaneous starting axis

start data No. (axis 1 start
data No.)

Cd.31 Simultaneous starting axis

start data No. (axis 2 start
data No.)
• Use these data items to specify a start data No. for each axis that has to start
simultaneously.
• Set "0" to any axis that should not start simultaneously.
Cd.32 Simultaneous starting axis
start data No. (axis 3 start
data No.)

Cd.33 Simultaneous starting axis

start data No. (axis 4 start
data No.)

• To perform a step operation, use this data item to specify the units by which the
Cd.34 Step mode
stepping should be performed.

Cd.35 Step valid flag • This data item validates or invalidates step operations.

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4

0 1540 1640 1740 1840

Set with a decimal.

0 1541 1641 1741 1841
Setting
value K
Cd.30 to Cd.33
Simultaneous starting
axis start data No.: 0 1542 1642 1742 1842
1 to 600

0 1543 1643 1743 1843

Set with a decimal.

Setting
value K 0 1544 1644 1744 1844
Step mode
0: Stepping by deceleration units
1: Stepping by data No. units

Set with a decimal.

Setting
value K 0 1545 1645 1745 1845
Step valid flag
0: Invalidates step operations
1: Validates step operations

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Setting item Setting details

• During a step operation, this data item determines whether the operation is
Cd.36 Step start information
continued or restarted.

Cd.37 Skip command • To skip the current positioning operation, set "1" in this data item.

Cd.38 Teaching data selection • This data item specifies the teaching result write destination.

• This data item specifies data to be produced by teaching.

• If a value between 1 and 600 is set, a teaching operation is done.
Cd.39 Teaching positioning data No.
• The value is cleared to "0" when the QD75 is initialized, when a teaching
operation completes, and when a illegal value (601 or higher) is entered.

• This data item specifies the ABS moving direction carrying out the position control
Cd.40 ABS direction in degrees
when "degree" is selected as the unit.

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Storage buffer
Default memory address
Setting value
value
Axis 1 Axis 2 Axis 3 Axis 4
Set with a decimal.

Setting
value K
Step start information 0 1546 1646 1746 1846
1: Continues step opration
2: Restarts operation

The QD75 resets the value to "0" automatically

when processing of the step start request completes.

Set with a decimal.

Setting
value K 1
Skip request
1: Issues a skip request to have
0 1547 1647 1747 1847
the machine decelerate, stop,
and then start the next positioning
operation.
The QD75 resets the value to "0" automatically
when processing of the skip request completes.

Set with a decimal.

Setting
value K
0 1548 1648 1748 1848
Teaching data selection
0: Takes the current feed value as a positioning
address.
1: Takes the current feed value as an arc data.

Set with a decimal.

Setting value
K
0 1549 1649 1749 1849
Teaching
positioning
data No.
1 to 600

Set with a decimal.

Setting
value K
ABS direction in degrees
0 1550 1650 1750 1850
0: Takes a shortcut.
(Specified direction ignored.)
1: ABS circular right
2: ABS circular left

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MEMO

5 - 132
Chapter 6 Sequence Program Used for
Positioning Control

The programs required to carry out positioning control with the QD75 are explained
in this chapter.

The sequence program required for control is created allowing for the "start conditions",
"start time chart", "device settings" and general control configuration. (The parameters,
positioning data, block start data and condition data, etc., must be set in the QD75
according to the control to be executed, and program for setting the control data or a
program for starting the various control must be created.)

The first half of this chapter explains the program configuration of general control, and
the latter half explains the program details. Create the required program while referring
to the various control details explained in Section 2, and to Chapter 5 "Data used for
positioning control".

6.1 Precautions for creating program ................................................................................6- 2

6.2 List of devices used ......................................................................................................6- 5
6.3 Creating a program .....................................................................................................6- 11
6.3.1 General configuration of program .................................................................6- 11
6.3.2 Positioning control operation program ..........................................................6- 12
6.4 Positioning program examples................................................................................... 6- 15
6.5 Program details........................................................................................................... 6- 24
6.5.1 Initialization program..................................................................................... 6- 24
6.5.2 Start details setting program......................................................................... 6- 25
6.5.3 Start program ................................................................................................ 6- 27
6.5.4 Continuous operation interrupt program ...................................................... 6- 37
6.5.5 Restart program ............................................................................................ 6- 39
6.5.6 Stop program ................................................................................................ 6- 42

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6.1 Precautions for creating program

The common precautions to be taken when writing data from the PLC CPU to the
QD75 buffer memory are described below.
When diverting any of the program examples introduced in this manual to the actual
system, fully verify that there are no problems in the controllability of the target system.

(1) Reading/writing the data

Setting the data explained in this chapter (various parameters, positioning data,
block start data) should be set using GX Configurator-QP.
When set with the sequence program, many sequence programs and devices
must be used. This will not only complicate the program, but will also increase
the scan time.
When rewriting the positioning data during continuous path control or continuous
positioning control, rewrite the data four positioning data items before the actual
execution. If the positioning data is not rewritten before the positioning data four
items earlier is executed, the process will be carried out as if the data was not
rewritten.

(2) Restrictions to speed change execution interval

Provide an interval of 100ms or more when changing the speed with the QD75.

(3) Process during overrun

Overrun is prevented by the setting of the upper and lower stroke limits with the
detail parameter 1.
However, this applies only when the QD75 is operating correctly.
It is recommended to create an external circuit including a boundary limit switch
to ensure the whole system safety as follows: the external circuit powers OFF the
motor when the boundary limit switch operates.

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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
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(4) System configuration

Unless particularly designated, the sequence program for the following system is
shown in this chapter and subsequent.
Refer to Section 6.2 for the application of the devices to be used.
Q35B

Q Q Q Q Q Q
25 D X X Y 62
Power supply module H 75 41 40 40 D
C P A
P 4
U

00 X20 X40 Y50 60

to to to to to
1F X3F X4F Y5F 6F

X40 to X45
External
devices
X47 to X49 X20 to X3F
(for absolute
position restoration)

Servo-amplifier Y50 to Y52

(for absolute position restoration)
CH.1 output (for torque changing)

Servomotor M

(5) Control unit

In the program, the unit of "0 (mm)" is set for the basic parameter 1.

(6) Communication with QD75

There are two methods for communication with QD75 using the sequence
program: a method using an "intelligent function device" and a method using a
FROM/TO command.
In the sequence program in this chapter and subsequent, the program example
using the "intelligent function device" is shown without using an FROM/TO
command for communication with QD75.
When using the FROM/TO command for communication with QD75, change the
circuit incorporating the "intelligent function device" as follows.
(a) When the circuit uses the "intelligent function device" on the destination (D)
side of a MOV command, change the command to a TO command.
Intelligent function device

X21 U0\
0 MOVP K1 G1505

X21
0 TOP H0 K1505 K1 K1

Designated Designated
value value Number of
at U0 at G1505 write data (1)

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(b) When the circuit uses the "intelligent function device" on the source(s) side
and the destination (D) side of a MOV command, change the command to a
FROM command and a TO command.
X15 X0C U0\ U6\
0 MOVP G826 G1

Set the
same device.
X15 X0C
0 FROMP H0 K826 D100 K1

TOP H6 K1 D100 K1

(c) When the circuit uses the "intelligent function device" for a COMPARISON
command, change the command to a FROM command and a
COMPARISON command.
M0 U0\
0 = G1521 K0 RST M0

M0
0 FROMP H0 K1521 D102 K1

Data read out

= D102 K0 RST M0

(d) When the circuit uses the "intelligent function device" for a WAND command,
change the command to a FROM command and a WAND command.
M2 U0\
0 WANDP G817 H8 D0

M2
0 FROMP H0 K817 D101 K1
Data read out
WANDP D101 H8 D0

REMARK
Refer to QCPU (Q mode) User's Manual (Functions and Programs Basic Part) for
the intelligent function devices.
Refer to QCPU (Q mode) Programming Manual (Common Commands Part) for
detail commands used in those programs shown in this chapter and subsequent.

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6.2 List of devices used

In the sequence programs shown in this chapter and subsequent, the application of the
devices used are as follows.
The I/O numbers for QD75 indicate those when QD75 is mounted in the 0-slot of the
main base.
If it is mounted in the slot other than the 0-slot of the main base, change the I/O
number to that for the position where QD75 was installed.
In addition, change the external inputs, external outputs, internal relays, data resisters,
and timers according to the system used.

(1) Inputs/outputs, external inputs/external outputs, and internal relays

of QD75
Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3 Axis 4
X0 QD75 READY signal Preparation completed
X1 Synchronization flag QD75 buffer memory accessible
X4 X5 X6 X7 M code ON signal M code outputting
Input X8 X9 XA XB Error detection signal Error detected
Inputs/ XC XD XE XF BUSY signal BUSY (operating)
outputs X10 X11 X12 X13 Start complete signal Start completed
of X14 X15 X16 X17 Positioning complete signal Positioning completed
QD75
Y0 PLC READY signal PLC CPU preparation completed
Y4 Y5 Y6 Y7 Axis stop signal Requesting stop
Out-
Y8 YA YC YE Forward run JOG start signal Starting forward run JOG
put
Y9 YB YD YF Reverse run JOG start signal Starting reverse run JOG
Y10 Y11 Y12 Y13 Positioning start signal Requesting start
X20 OPR request OFF command Commanding OPR request OFF
Commanding external command valid
X21 External command valid command
setting
Commanding external command
X22 External command invalid command
invalid
X23 Machine OPR command Commanding machine OPR
X24 Fast OPR command Commanding fast OPR
X25 Positioning start command Commanding positioning start
External Speed-position switching operation Commanding speed-position switching
X26
input — command operation
(command) Speed-position switching enable Commanding speed-position switching
X27
command enable command
Speed-position switching prohibit Commanding speed-position switching
X28
command prohibit
Commanding movement amount
X29 Movement amount change command
change
High-level positioning control start Commanding high-level positioning
X2A
command control start
Positioning start command (dedicated
X2B Commanding positioning start
instruction)

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Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3 Axis 4
X2C M code OFF command Commanding M code OFF
JOG operation speed setting Commanding JOG operation speed
X2D
command setting
Commanding forward run JOG/inching
X2E Forward run JOG/inching command
operation
Commanding reverse run JOG/inching
X2F Reverse run JOG/inching command
operation
Manual pulse generator operation Commanding manual pulse generator
X30
enable command operation enable
Manual pulse generator operation Commanding manual pulse generator
X31
disable command operation disable
X32 Speed change command Commanding speed change
X33 — Override command Commanding override
Acceleration/deceleration time change Commanding acceleration/deceleration
X34
command time change
Acceleration/deceleration time change Commanding acceleration/deceleration
X35
disable command time change disable
X36 Torque change command Commanding torque change
X37 Step operation command Commanding step operation
X38 Skip operation command Commanding skip operation
External
input X39 Teaching command Commanding teaching
(command) Continuous operation interrupt Commanding continuous operation
X3A
command interrupt command
X3B Restart command Commanding restart
X3C Parameter initialization command Commanding parameter initialization
X3D Flash ROM write command Commanding flash ROM write
X3E Error reset command Commanding error reset
X3F Stop command Commanding stop
Position-speed switching operation Position-speed switching operation
X40
command command
Position-speed switching enable Position-speed switching enable
X41
command command
Position-speed switching prohibit Position-speed switching prohibit
X42
— command command
X43 Speed change command Speed change command
Inching movement amount setting Inching movement amount setting
X44
command command
X45 Target position change command Target position change command
Speed-position switching control (ABS Speed-position switching control (ABS
X4D
mode) setting command mode) setting command
X4E Positioning start command (Y start) Positioning start command being given
External X47 ABS data bit 0 —
input
(absolute X48 — ABS data bit 1 —
position
restoration) X49 Transmission data READY flag —
External Y50 Servo ON signal —
output
(absolute Y51 — ABS transmission mode —
position
restoration) Y52 ABS request mode —

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Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3 Axis 4
M0 OPR request OFF command Commanding OPR request OFF
M1 OPR request OFF command pulse OPR request OFF commanded
M2 OPR request OFF command storage OPR request OFF command held
M3 Fast OPR command Commanding fast OPR
M4 Fast OPR command storage Fast OPR command held
M5 Positioning start command pulse Positioning start commanded
M6 Positioning start command storage Positioning start command held
M7 In-JOG/Inching operation flag In-JOG/Inching operation flag
Manual pulse generator operation Commanding manual pulse generator
M8
enable command operation enable
M9 Manual pulse generator operating flag Manual pulse generator operating flag
Manual pulse generator operation Commanding manual pulse generator
M10
disable command operation disable
M11 Speed change command pulse Speed change commanded
—
M12 Speed change command storage Speed change command held
M13 Override command Requesting override
Acceleration/deceleration time change Requesting acceleration/deceleration
M14
command time change
M15 Torque change command Requesting torque change
M16 Step operation command pulse Step operation commanded
M17 Skip command pulse Skip commanded
Internal relay
M18 Skip command storage Skip command held
M19 Teaching command pulse Teaching commanded
M20 Teaching command storage Teaching command held
Continuous operation interrupt Requesting continuous operation
M21
command interrupt
M22 Restart command Requesting restart
M23 Restart command storage Restart command held
Parameter initialization command
M24 Parameter initialization commanded
pulse
Parameter initialization command
M25 Parameter initialization command held
storage
M26 Flash ROM write command pulse Flash ROM write commanded
M27 Flash ROM write command storage Flash ROM write command held
M28 Error reset Error reset completed
M29 Stop command pulse Stop commanded
Target position change command
M30 Target position change commanded
pulse
— Target position change command
M31 Target position change command held
storage
M32 PSTRT1 instruction complete device PSTRT1 instruction completed
PSTRT1 instruction error complete
M33 PSTRT1 instruction error completed
device

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Device Device
Application Details when ON
name Axis 1 Axis 2 Axis 3 Axis 4
M34 ZP.TEACH1 instruction complete device ZP.TEACH1 instruction completed
ZP.TEACH1 instruction error complete ZP.TEACH1 instruction error
M35
device completed
M36 ZP.PINIT instruction complete device ZP.PINIT instruction completed
ZP.PINIT instruction error complete
M37 ZP.PINIT instruction error completed
device
M38 ZP.PFWRT instruction complete device ZP.PFWRT instruction completed
ZP.PFWRT instruction error complete ZP.PFWRT instruction error
M39
device completed
Internal relay M40 — Absolute position restoration instruction Absolute position restoration
pulse commanded
Absolute position restoration instruction Absolute position restoration
M41
storage instruction held
M42 Z.ABRST instruction complete device Z.ABRST instruction completed
Z.ABRST instruction error complete
M43 Z.ABRST instruction error completed
device
Basic parameter 1 setting complete
M50 Basic parameter 1 setting completed
device
OPR basic parameter setting complete OPR basic parameter setting
M51
device completed

(2) Data resisters and timers

Device Device
Application Details of storage
name Axis 1 Axis 2 Axis 3 Axis 4

D0 OPR request flag ( Md.31 Status (bit 3))

D1 Speed (low-order 16 bits) ( Cd.25 Position-speed switching
D2 Speed (high-order 16 bits) control speed change resister)
D3 Movement amount (low-order 16 bits) ( Cd.23 Speed-position switching
D4 Movement amount (high-order 16 bits) control movement amount change
resister)
D5 Inching movement amount ( Cd.16 Inching movement amount)
D6 JOG operation speed (low-order 16 bits)
JOG operation speed (high-order 16 ( Cd.17 JOG operation speed)
D7
bits)
Data register — Manual pulse generator 1 pulse input
D8
magnification (low-order) ( Cd.20 Manual pulse generator 1
Manual pulse generator 1 pulse input pulse input magnification)
D9
magnification (high-order)
Manual pulse generator operation ( Cd.21 Manual pulse generator
D10
enable enable flag)
D11 Speed change value (low-order 16 bits)
( Cd.14 New speed value)
D12 Speed change value (high-order 16 bits)
D13 Speed change request ( Cd.15 Speed change request)

( Cd.13 Positioning operation speed

D14 Override value
override value)

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Device Device
Application Details of storage
name Axis 1 Axis 2 Axis 3 Axis 4
Acceleration time setting
D15
(low-order 16 bits) ( Cd.10 New acceleration time
Acceleration time setting value)
D16
(high-order 16 bits)
Deceleration time setting
D17
(low-order 16 bits) ( Cd.11 New deceleration time
Deceleration time setting value)
D18
(high-order 16 bits)
( Cd.12 Acceleration/deceleration
Acceleration/deceleration time change
D19 time change enable/disable selection
enable
in speed change)
D20 Step valid flag ( Cd.35 step valid flag)

D21 Step mode ( Cd.34 Step mode)

D22 Unused —
D23 Target position (low-order 16 bits) ( Cd.27 New target position value
D24 Target position (high-order 16 bits) (address))
D25 Target speed (low-order 16 bits) ( Cd.28 New target position value
D26 Target speed (high-order 16 bits) (speed))
( Cd.29 New target position change
D27 Target position change request
value flag)
D28 Unused —
D29 Unused —
Data register D30 — ZP.PSTRT1 instruction control data —
D31 Completion status —
D32 Start number —
D33 ZP.TEACH1 instruction control data —
D34 Completion status —
D35 Teaching data —
D36 Positioning data No. —
D37 ZP.PINIT instruction control data —
D38 Completion status —
D39 ZP.PFWRT instruction control data —
D40 Completion status —
D41 Z.ABRST1 control data —
D42 Completion status —
D43 Signals received from servo —
D44 Signals transmitted to servo —
D45 Status —
D46 System area —
D47 System area —
D48 System area —
Error code at absolute position
D49 Error code
restoration
D50 Unit setting ( Pr.1 Unit setting)

D51 No. of pulses per rotation ( Pr.2 No. of pulses per rotation)

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Device Device
Application Details of storage
name Axis 1 Axis 2 Axis 3 Axis 4
( Pr.3 Movement amount per
D52 Movement amount per rotation
rotation)
D53 Unit magnification ( Pr.4 Unit magnification)

D54 Pulse output mode ( Pr.5 Pulse output mode)

D55 Rotation direction setting ( Pr.6 Rotation direction setting)

D56 Bias speed at start (low-order 16 bits)

( Pr.7 Bias speed at start)
D57 Bias speed at start (high-order 16 bits)
D200 OPR method ( Pr.43 OPR method)

D201 OPR direction ( Pr.44 OPR direction)

D202 OP address (low-order 16 bits)
( Pr.45 OP address)
D203 OP address (high-order 16 bits)
D204 OPR speed (low-order 16 bits)
( Pr.46 OPR speed)
D205 OPR speed (high-order 16 bits)
D206 Creep speed (low-order 16 bits)
( Pr.47 Creep speed)
D207 Creep speed (high-order 16 bits)
D208 OPR retry ( Pr.48 OPR retry)
( Da.1 Operation pattern)
( Da.2 Control system)
D58 Positioning identifier ( Da.3 Acceleration time No.)

Data register — ( Da.4 Deceleration time No.)

( Da.5 Axis to be interpolated)
Positioning data No.1

D59 M code ( Da.10 M code)

D60 Dwell time ( Da.9 Dwell time)

D61 (Dummy) —
D62 Command speed (low-order 16 bits)
( Da.8 Command speed)
D63 Command speed (high-order 16 bits)
D64 Positioning (low-order 16 bits)
address/ ( Da.6 Positioning
D65 movement (high-order 16 bits) address/movement amount)
amount
D66 (low-order 16 bits)
Arc address ( Da.7 Arc address)
D67 (high-order 16 bits)
D68 Point 1 (shape, start No.)
D69 Point 2 (shape, start No.)
Block start data (Block 0)

D70 Point 3 (shape, start No.)

( Da.11 Shape)
D71 Point 4 (shape, start No.)
D72 Point 5 (shape, start No.) ( Da.12 Start data No.)
D73 Point 1 (special start instruction) ( Da.13 Specilal start instruction)
D74 Point 2 (special start instruction) ( Da.14 Parameter)
D75 Point 3 (special start instruction)
D76 Point 4 (special start instruction)
D77 Point 5 (special start instruction)
T0 PLC READY signal OFF confirmation
Timer — PLC READY signal OFF
T1 PLC READY signal OFF confirmation

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6.3 Creating a program

The "positioning control operation program" actually used is explained in this chapter.
The functions and programs explained in Section 2 are assembled into the "positioning
control operation program" explained here. (To monitor the control, add the required
monitor program that matches the system. Refer to Section 5.6 "List of monitor data"
for details on the monitor items.)

6.3.1 General configuration of program

The general configuration of the "positioning control operation program" is shown

below.

Start of program creation

Set using the sequence program

Parameter and
data are...

Set using GX Parameter and data setting program

Configurator-QP

Program for carrying out initialization

Initialization program

Program required to carry out "OPR control",

Start details setting program
"major positioning control" and "high-level positioning control"

Start program

Program required to carry out "manual control"

JOG operation program

Inching operation program

Manual pulse generator

operation program

Program required for

Sub program "sub functions" and "common functions"

Program for stopping control

Stop program

Completion of program
creation

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6.3.2 Positioning control operation program

The various programs that configure the "positioning control operation program" are
shown below. When creating the program, refer to the explanation of each program
and Section 6.4 "Positioning program examples", and create an operation program that
matches the positioning system. (Numbers are assigned to the following programs.
Configuring the program in the order of these numbers is recommended.)

Start of program creation

Set using sequence program

(TO command)
Parameter and
data are... Parameter and data
setting program

No.1
Parameter setting program
Set using GX
Configurator-QP
When not carrying out "OPR
control", the OPR parameters
do not need to be set.
No.2
Positioning data setting program

No.3
Block start data setting program

Initialization program

Not carried out

OPR is...

No.4
OPR request OFF program Refer to Section 6.5.1
Carried out

No.5
External command function valid
setting program Refer to Section 6.5.1

No.6
PLC READY signal [Y0] ON program Required

Continued on next page

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Continued from previous page

Start details setting program Program required to carry out

• "OPR control"
• "Major positioning control"
No.7 • "High-level positioning control"
Positioning start No.
setting program Refer to Section 6.5.2

Start program

No.8
Positioning start program Refer to Section 6.5.3

No.9
Program to reset the start
M code OFF program
signal and turn the M code
ON signal OFF

JOG operation program

Program required to carry out
"manual control"

No.10
JOG operation program Refer to Section 11.2.4
No.12

Inching operation program

No.11
Inching operation program Refer to Section 11.3.4
No.12

Manual pulse generator

operation program

No.13
Manual pulse generator
Refer to Section 11.4.4
operation program

Continued on next page

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Continued from previous page

Sub program

Program added according to control details.

No.14 (Create as required.)
Speed change program Refer to Section 12.5.1

No.15
Override program Refer to Section 12.5.2

No.16 Acceleration/deceleration time

change program Refer to Section 12.5.3

No.17
Torque change program Refer to Section 12.5.4

No.18
Step operation program Refer to Section 12.7.1

No.19
Skip program Refer to Section 12.7.2

No.20
Teaching program Refer to Section 12.7.4

No.21
Continuous operation interrupt program Refer to Section 6.5.4

No.22
Target position change program Refer to Section 12.7.5

No.23
Absolute position restoration program Refer to Section 14.3

No.24
Restart program Refer to Section 6.5.5

No.25
Parameter initialization program Refer to Section 13.2

No.26
Flash ROM write program Refer to Section 13.3

No.27 Program required to

Error reset program
reset errors

Stop program
Program used to stop control
No.28
Stop program Refer to Section 6.5.6

End of program creation

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6.4 Positioning program examples

An example of the "Axis 1" positioning program is given in this section.

[No. 1] to [No. 3] parameter and data setting program

When setting the parameters or data with the sequence program, set them in the QD75 using the
TO command from the PLC CPU. (Carry out the settings while the PLC READY signal [Y1D] is
OFF.)
When setting the parameters or data with GX Configurator-QP, the [No. 1] to [No. 3] program
is not necessary.

No. 1 Parameter setting program

(For basic parameters 1 <axis 1>)

<Setting of unit setting (0: mm)>

<Setting of No. of pulses per rotation>

<Setting of movement amount per rotation>

<Setting of unit magnification (1 fold)>

<Setting of pulse output mode (CW/CCW)>

<Setting of rotation direction

(forward rotation for increment)>

<Bias speed (10.00 mm/min) setting>

<Setting of basic parameters 1 to QD75>

<Basic parameter 1 setting completion>

(For OPR basic parameters <axis 1>)

<Setting of near-point dog method to OPR method>

<Setting of foward direction to OPR direction>

<Setting of 0 to OP address>

<Setting of 50.00mm/min to OPR speed>

<Setting of 15.00mm/min to creep speed>

<Setting OPR retry so that it may be performed>

<Setting of OPR basic parameters to the QD75>

<OPR basic parameter setting completion>

Parameter setting program for speed-position switching control (ABS mode)
<For axis 1>
(Not needed when speed-position switching control (ABS mode) is not executed)
<X4D turns ON before startup>

<Setting of unit setting (2: degree)>

<Software stroke limit upper limit = 0>

<Software stroke limit lower limit = 0>

<Current feed value during speed control = 0>

<Speed-position function selection (ABS mode)>

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No. 2 Positioning data setting program

(For positioning data No. 1 <axis 1>)
<Positioning identifier>
Operation pattern: Positioning complete
Control system: 1-axis linear control (ABS)
Acceleration time No.: 1, deceleration time No.: 2

<Setting of positioning identifier>

<Setting of M code (9843)>

<Setting of dwell time (300ms)>

<(Dummy data)>

<Setting of command speed (180.00mm/min)>

<Positioning address (412.6 m) setting>

<Setting of arc address (0.0 m)>

<Setting of positioning data No. 1 to QD75>

No. 3 Block start data setting program

Block start data of start block 0 (axis 1)
For setting of points 1 to 5
(Conditions)
Shape: Continued at points 1 to 4, ended at point 5
Special start instruction: Normal start at all of points 1 to 5
<Positioning data are already preset>

[Setting of shape and start data No.]

<Setting of continue and start data No. 1>

<Setting of continue and start data No. 2>

<Setting of continue and start data No. 5>

<Setting of continue and start data No. 10>

<Setting of end and start data No. 15>

<Setting of block start data to QD75>

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[Setting of special start instruction to normal start]

150 <Setting of normal start>

<Setting of normal start>

<Setting of normal start>

<Setting of normal start>

<Setting of normal start>

<Setting of block start data to QD75>

No. 4 OPR request OFF program

183 <OPR request OFF command pulse>

190 <OPR request OFF command hold>

195 <OPR request flag ON/OFF extraction>

<OPR request OFF command ON>

<OPR request OFF command storage OFF>

211 <OPR request OFF write>

<OPR request OFF command OFF>

No. 5 External command function valid setting program

223 <External command valid write>

232 <External command invalid write>

No. 6 PLC READY signal [Y0] ON program

(M50 contact not required for synchronous mode.)

238 <PLC READY signal ON/OFF>

No. 7 Positioning start No. setting program

(1) Machine OPR

249 <Machine OPR (9001) write>

(2) Fast OPR

258 <OPR requset flag ON/OFF extraction>

<Fast OPR start enable>

<Fast OPR (9002) write>

<Fast OPR command hold>

(3) Positioning with positioning data No. 1

280 <Positioning data No. 1 setting>

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(4) Speed-position switching operation (positioning data No. 2)

(In the ABS mode, new movement amount write is not needed.)

287
<Positioning data No. 2 setting>

295 <Speed-position switching signal enable setting>

301 <Speed-position switching signal prohibit setting>

307
<New movement amount write>

(5) Position-speed switching operation positioning data No. 3

313
<Positioning data No. 3 setting>

320
<Position-speed switching signal enable setting>

326
<Position-speed switching signal prohibit setting>

332
<New speed write>

(6) High-level positioning control

338 <Block positioning (7000) write>

(7) Fast OPR command and fast OPR command storage OFF
(Not required when fast OPR is not used)

345
<Fast OPR command OFF>

<Fast OPR command storage OFF>

No. 8 Positioning start program

(1) When dedicated instruction (PSTRT1) is used
(When fast OPR is not made, contacts of M3 and M4 are not needed.)
(When M code is not used, contact of X04 is not needed.)
(When JOG operation/inching operation is not performed, contact of M7 is not needed.)
(When manual pulse generator operation is not performed, contact of M9 is not needed.)

359
<Positioning start command pulse>

372
<Positioning start command hold>

384
<Positioning start execution>

<Positioning start command storage OFF>

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(2) When positioning start signal (Y10) is used

(When fast OPR is not made, contacts of M3 and M4 are not needed.)
(When M code is not used, contact of X04 is not needed.)
(When JOG operation/inching operation is not performed, contact of M7 is not needed.)
(When manual pulse generator operation is not performed, contact of M9 is not needed.)

397
<Positioning start command pulse>

408
<Positioning start command hold>

421
<Positioning start No. setting>

<Positioning start execution>

<Positioning start command storage OFF>

DX0C
431
<Positioning start signal OFF>

No. 9 M code OFF program

(Not required when M code is not used)

439
<M code OFF request write>
No. 10 JOG operation setting program

449
<JOG operation speed (100.00 mm/min) setting>

<Setting of 0 for inching movement amount>

<JOG operation request write>

No. 11 Inching operation setting program

480
<Inching movement amount (1.0 m) setting>

<Inching movement amount write>

No. 12 JOG operation/inching operation execution program

505
<JOG/inching operating flag ON>

512

<JOG/inching operation completed>

516
<Forward run JOG/inching operation execution>

521
<Reverse run JOG/inching operation execution>

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No. 13 Manual pulse generator operation program

526
<Manual pulse generator operation command
pulse>
533
<Manual pulse generator 1 pulse input
magnification setting>

<Manual pulse generator operation enable

write>

<Manual pulse generator data write>

<Manual pulse generator operating flag ON>

551 <Manual pulse generator operation disable

command pulse>

555 <Manual pulse generator operation disable

write>

<Manual pulse generator operating flag OFF>

No. 14 Speed change program

565
<Speed change command pulse>

572
<Speed change command hold>

576
<New speed value (20.00 mm/min) setting>

<Speed change request setting>

<Speed change write>

<Speed change command storage OFF>

No. 15 Override program

596
<Override command pulse>

603
<Setting of override value to 200 %>

<Override value write>

No. 16 Acceleration/deceleration time change program

613
<Acceleration/deceleration time change
command pulse>
620
<Setting of acceleration time to 2000 ms>

<Setting of deceleration time to without

change (0)>

<Acceleration/deceleration time write>

<Acceleration/deceleration time change enable

write>
639
<Acceleration/deceleration time change disable
write>

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No. 17 Torque change program

645
<Torque change command pulse>

652
<Write of torque limit value in Q62DA>

No. 18 Step operation program

660
<Step operation command pulse>

667
<Step operation run selection>

<Data No. unit step mode selection>

<Step operation command write>

No. 19 Skip program

681
<Skip pulse>

688
<Skip command ON storage>

692
<Skip command write>

<Skip command storage OFF>

No. 20 Teaching program

Positioned manually to target position.

704 <Teaching command pulse>

715
<Teaching command hold>

719
<Teaching data setting>

<Positioning data No. setting>

<Teaching execution>

<Teaching command storage OFF>

No. 21 Continuous operation interrupt program

740
<Continuous operation interrupt command pulse>

747 <Continuous operation interrupt write>

No. 22 Target position change program

754
<Target position change command pulse>

761
<Target position change command hold>

765
<Setting of target position address to 300.0 m>

<Target position change request setting>

<Speed change write>

<Speed change request storage OFF>

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No. 23 Absolute position restoration program

(1) Absolute position restoration command acceptance

788

796

<Status reset>

(2) Setting of transmit data to servo-amplifier and confirmation of absolute position restoration completion
ABRST1 instruction completed when M42 is ON and M43 is OFF.
Absolute position data restoration completed when status = 0.

802

<Error code transmission to D49>

(3) ABS data setting and ABRST1 instruction execution

823
<ABS data bit 0 ON/OFF>

<ABS data bit 1 ON/OFF>

<Transmission data preparation complete

flag ON/OFF>

<ABRST1 instruction execution>

No. 24 Restart program

850
<Restart command pulse>

857
<Restart command ON during stop>

864
<Restart request write>

<Restart command storage OFF>

No. 25 Parameter initialization program

878
<Parameter initialization command pulse>

885
<Parameter initialization command hold>

889
<PLC READY output to QD75 standby>

896
<Parameter initialization execution>

<Parameter initialization command storage OFF>

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No. 26 Flash ROM write program

911 <Flash ROM write command pulse>

918 <Flash ROM write command hold>

922 <PLC READY output to QD75 standby>

929 <Flash ROM write execution>

<Flash ROM write command storage OFF>

No. 27 Error reset program

944
<Error code read>

953
<Error reset command pulse>

957
<Error reset execution>

No. 28 Stop program

964
<Stop command pulse>

971
<Stop execution>

975 <Axis stop signal OFF due to axis stop>

979

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6.5 Program details

6.5.1 Initialization program

[1] OPR request OFF program

This program forcibly turns OFF the "OPR request flag" ( Md.31 Status : b3)
which is ON.
When using a system that does not require OPR, assemble the program to
cancel the "OPR request" made by the QD75 when the power is turned ON, etc.

Data requiring setting

Set the following data to use the OPR request flag OFF request.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4

Cd.19 OPR request flag OFF 1 Set to "1: Turn OPR request flag OFF". 1521 1621 1721 1821
request
Refer to Section 5.7 "List of control data" for details on the setting details.

Time chart for OPR request OFF

ON
OFF
PLC READY signal [Y0]
ON
OFF
QD75 READY signal [X0]
ON
OPR request OFF flag OFF
[ Md. 31 Status: b3]

Cd. 19 OPR request flag OFF request 0 1 0

Fig. 6.1 Time chart for OPR request OFF

[2] External command function valid setting program

This program is used to validate the "external command signal" beforehand when
using the external command functions (external start, speed change, speed-
position switching, position-speed switching, skip). (Set which function to use
beforehand in " Pr.42 External command function selection".)
Set the following data to validate the "external command signal".
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
Cd.8 External command valid 1 Set to "1: Validate external command". 1505 1605 1705 1805

Refer to Section 5.7 "List of control data" for details on the setting details.

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6.5.2 Start details setting program

This program sets which control, out of "OPR", "major positioning control" or "high-level
positioning control" to execute. For " high-level positioning control", "fast OPR", "speed-
position switching control" and "position-speed switching control", add the respectively
required sequence program.
(Refer to Chapter 10 for details on starting the " high-level positioning control.)

Procedures for setting the starting details

(1) Set the "positioning start No." corresponding to the control to be started in
" Cd.3 Positioning start No.".

Setting Buffer memory address

Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
1 to 600 : Positioning data No.
9001 : Machine OPR
9002 : Fast OPR
Cd.3
9003 : Current value changing
Positioning start No. 1500 1600 1700 1800
9004 : Simultaneous start
7000 to 7004 : Block No.
(For "high-level positioning
control")
Refer to Section 5.7 "List of control data" for details on the setting details.

(2) For " high-level positioning control", set the "positioning start point No." of the
block to be started in " Cd.4 Positioning start point No.".

Setting Buffer memory address

Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
Cd.4 Positioning start point No. 1 to 50 : Point No. of block start data 1501 1601 1701 1801

Refer to Section 5.7 "List of control data" for details on the setting details.

(3) Set the following control data for "speed-position switching control (INC
mode)".
(Set " Cd.23 Speed-position switching control movement amount change
register as required". Setting is not required in the ABS mode.)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
Speed-position switching Set the new value when the position control's 1526 1626 1726 1826
Cd.23 control movement amount movement amount is to be changed during
change register speed control. 1527 1627 1727 1827

Cd.24
Speed-position switching When "1" is set, the speed-position switching
1 1528 1628 1728 1828
enable flag signal will be validated.

Refer to Section 5.7 "List of control data" for details on the setting details.

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(4) For "position-speed switching control", set the control data shown below.
(As required, set the " Cd.25 Position-speed switching control speed change
resister".)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
Position-speed switching
Cd.25 Used to set a new value when speed is changed 1530 1630 1730 1830
control speed change
during positioning control. 1531 1631 1731 1831
resister
Cd.26
Position-speed switching To validate position-speed switching signal, this
1 1532 1632 1732 1832
enable flag is set to 1.

Refer to Section 5.7 "List of control data" for details on the setting details.

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6.5.3 Start program

This program is used to start the control with start commands.

The control can be started with the following two methods.
[1] Starting by inputting positioning start signal [Y10, Y11, Y12, Y13]
[2] Starting by inputting external command signal

Buffer memory Drive unit

3)
Control with
positioning data
1) No. 1
1
1500
PLC CPU
2)
ON
When starting positioning with the scan
Input/output signal after the completion of positioning,
insert X10 as an interlock so that
positioning is started after Y10 is turned
Y10 OFF and X10 is turned OFF.

1) Set the "positioning start No." in " Cd.3 Positioning start No." according to the control to
be started.
(In the above example, set positioning data No. "1".)
2) Input the positioning start signal [Y10] or the external command signal.
3) The positioning data No. "1" will start.

Fig. 6.2 Procedures for starting control (for axis 1)

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Starting conditions
To start the control, the following conditions must be satisfied.
The necessary start conditions must be incorporated in the sequence program so
that the control is not started when the conditions are not satisfied.
Device
Signal name Signal state
Axis 1 Axis 2 Axis 3 Axis 4
PLC READY signal ON PLC CPU preparation completed Y0
QD75 READY signal ON QD75 preparation completed X0
QD75 buffer memory
Synchronization flag ON X1
Accessible
Interface Axis stop signal OFF Axis stop signal is OFF. Y4 Y5 Y6 Y7
signal
M code ON signal OFF M code ON signal is OFF. X4 X5 X6 X7
Error detection signal OFF No error is present. X8 X9 XA XB
BUSY signal OFF BUSY signal is OFF. XC XD XE XF
Start complete signal OFF Start complete signal is OFF. X10 X11 X12 X13
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF. –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –

: When the synchronous setting of the PLC CPU is made in the nonsynchronous mode, this must be
provided as an interlock.
When it is made in the synchronous mode, no interlock must be provided in the program because the
flag is turned ON when calculation is run on the PLC CPU.

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[1] Starting by inputting positioning start signal

Operation when starting

(1) When the positioning start signal turns ON, the start complete signal and
BUSY signal turn ON, and the positioning operation starts.
It can be seen that the axis is operating when the BUSY signal is ON.
(2) When the positioning start signal turns OFF, the start complete signal also
turns OFF.
If the positioning start signal is ON even after positioning is completed, the
start complete signal will remain ON.
(3) If the positioning start signal turns ON again while the BUSY signal is ON, the
warning "operating start (warning code: 100)" will occur.
(4) The process taken when positioning is completed will differ according to case
(a) and (b) below.
(a) When next positioning is not to be carried out
• If a dwell time is set, the system will wait for the set time to pass, and then
positioning will be completed.
• When positioning is completed, the BUSY signal will turn OFF and the
positioning complete signal will turn ON. However, when using speed
control or when the positioning complete signal ON time is "0", the signal
will not turn ON.
• When the positioning complete signal ON time is passed, the positioning
complete signal will turn OFF.
(b) When next positioning is to be carried out
• If a dwell time is set, the system will wait for the set time to pass.
• When the set dwell time is passed, the next positioning will start.

V
Dwell time

Positioning t

ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
Start complete signal OFF
[X10, X11, X12, X13]
ON
BUSY signal OFF
[XC, XD, XE, XF]
ON
Positioning complete
OFF
signal
[X14, X15, X16, X17]

Fig. 6.3 ON/OFF timing of each signal at start of positioning

POINTS
The BUSY signal [XC, XD, XE, XF] turns ON even when position control of movement amount 0 is
executed. However, since the ON time is short, the ON status may not be detected in the sequence
program.
(The ON status of the start complete signal [X10, X11, X12, X13], positioning complete signal [X14,
X15, X16, X17] and M code ON signal [X4, X5, X6, X7] can be detected in the sequence program.)
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Starting time chart

The time chart for starting each control is shown below.

(1) Time chart for starting "machine OPR"

Near-point dog

Zero signal
ON
OFF
Positioning start signal [Y10]
ON
OFF
PLC READY signal [Y0]
ON
OFF
QD75 READY signal [X0]
ON
OFF
Start complete signal [X10]
ON
OFF
BUSY signal [XC]

OFF
Error detection signal [X8]

Cd. 3 Positioning start No. 9001

ON
OPR request flag OFF
[ Md. 31 Status: b3]
ON
OPR complete flag OFF
[ Md. 31 Status: b4]

Fig. 6.4 Time chart for starting "machine OPR"

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(2) Time chart for starting "fast OPR"

ON
OFF
Positioning start signal [Y10]
ON
OFF
PLC READY signal [Y0]
ON
OFF
QD75 READY signal [X0]
ON
OFF
Start complete signal [X10]
ON
OFF
BUSY signal [XC]

OFF
Error detection signal [X8]

Cd. 3 Positioning start No. 9002

Fig. 6.5 Time chart for starting "fast OPR"

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(3) Time chart for starting "major positioning control"

Operation pattern
V Dwell time
Positioning data No. 1(11)
2(00)

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

Cd. 3 Positioning start No. 1

Fig. 6.6 Time chart for starting "major positioning control"

(4) Time chart for starting "speed-position switching control"

V Operation pattern(00) Speed control Position control

Dwell time
Positioning data No.(1)

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

Speed-position switching signal

(external)
Cd. 3 Positioning start No. 1
Cd. 24 Speed-position
1 0
switching enable flag

Fig. 6.7 Time chart for starting "speed-position switching control"

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(5) Time chart for starting "position-speed switching control"

V Operation pattern (00) Position control Speed control

Positioning data No. (1)

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

Position-speed switching signal
(external)
Stop command

Cd. 3 Positioning start No. 1

Cd. 26 Position-speed
1 0
switching enable flag

Fig. 6.8 Time chart for starting "position-speed switching control"

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Machine OPR operation timing and process time

Positioning start signal

[Y10, Y11, Y12, Y13]

BUSY signal [XC, XD, XE, XF]

t1

Start complete signal

[X10, X11, X12, X13] t4
Md. 26 Axis operation status Waiting In OPR Waiting

t2
Output pulse to external source
(PULSE)

Positioning operation

OPR request flag

[ Md. 31 Status: b3]

OPR complete flag t3

[ Md. 31 Status: b4]

Fig. 6.9 Machine OPR operation timing and process time

Normal timing time Unit: ms

t1 t2 t3 t4
1.0 to 1.4 2.7 to 4.4 0 to 1.8 0 to 1.8

• The t1 timing time could be delayed depending on the operating conditions of

the other axis.

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Position control operation timing and process time

Positioning start signal

[Y10, Y11, Y12, Y13]

BUSY signal [XC, XD, XE, XF]

t1

M code ON signal
(WITH mode) [X4, X5, X6, X7]
t2

Cd. 7 M code OFF request

Start complete signal

[X10, X11, X12, X13]
t3
Md. 26 Axis operation status Waiting Controlling position Waiting

t4
Output pulse to external source
(PULSE)

Positioning operation
t5
Positioning complete signal
[X14, X15, X16, X17]
t6
M code ON signal
(AFTER mode)
[X4, X5, X6, X7] t2

Cd. 7 M code OFF request

OPR complete flag

[ Md. 31 Status: b4]

Fig. 6.10 Position control operation timing and process time

• When the positioning start signal turns ON, if all signals marked with an
asterisk ( ) are already ON, the signals marked with an asterisk ( ) will turn
OFF when the positioning start signal turns ON.

Normal timing time Unit: ms

t1 t2 t3 t4 t5 t6
Follows
1.2 to 2.3 0 to 1.8 0 to 1.8 2.7 to 4.4 0 to 1.8
parameters

• The t1 timing time could be delayed depending on the operating conditions of

the other axis.

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[2] Starting by inputting external command signal

When starting positioning control by inputting the external command signal, the
start command can be directly input into the QD75. This allows the variation time
equivalent to one scan time of the PLC CPU to be eliminated. This is an effective
procedure when operation is to be started as quickly as possible with the start
command or when the starting variation time is to be suppressed. To start
positioning control by inputting the external command signal, set the "data
required to be set" and then turn ON the external command signal.

Restrictions
When starting by inputting the external command signal, the start complete signal
[X10, X11, X12, X13] will not turn ON.

Data required to be set

To execute positioning start with the external command signal, set parameter
( Pr.42 ) beforehand, and validate the "external command signal" with the
"external command signal validity setting program (program No. 5).
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4

Pr.42 External command

0 Set to "0: External positioning start". 62 212 362 512
function selection
Cd.8 External command valid 1 Set to "1: Validate external command". 1505 1605 1705 1805

Refer to Chapter 5 "Data Used for Positioning Control" for details on the setting details.

Starting time chart

Operation pattern
V Dwell time
Positioning data No. 1(00)

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

External command signal

Pr. 42 External command function selection 0

Cd. 3 Positioning start No. 1

Cd. 8 External command valid 1 0

Fig. 6.11 Time chart for starting with external start signal

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6.5.4 Continuous operation interrupt program

During positioning control, the control can be interrupted during continuous positioning
control and continuous path control (continuous operation interrupt function). When
"continuous operation interruption" is execution, the control will stop when the
operation of the positioning data being executed ends. To execute continuous
operation interruption, set "1: Continuous operation interrupt request" for " Cd.18
Interrupt request during continuous operation".

[1] Operation during continuous operation interruption

Stop process when stop command turns ON

V
Stop command ON or Stop process at continuous operation
continuous operation interrupt request interrupt request

Start

t
Positioning data No. 10 Positioning data No. 11 Positioning data No. 12

Fig. 6.12 Operation during continuous operation interruption

[2] Restrictions
(1) When the "continuous operation interrupt request" is executed, the positioning
will end.
Thus, after stopping, the operation cannot be "restarted".
When " Cd.6 Restart command" is issued, a warning "Restart not possible"
(warning code: 104) will occur.
(2) Even if the stop command is turned ON after executing the "continuous
operation interrupt request", the "continuous operation interrupt request"
cannot be canceled.
Thus, if "restart" is executed after stopping by turning the stop command ON,
the operation will stop when the positioning data No. where "continuous
operation interrupt request" was executed is completed.

Axis 1

Continuous operation
interrupt request

Positioning for positioning data No. 12

is not executed

Positioning ends with continuous

operation interrupt request
Positioning with positioning data No. 11

Axis 2
Positioning with positioning data No. 10

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(3) If the operation cannot be decelerated to a stop because the remaining

distance is insufficient when "continuous operation interrupt request" is
executed with continuous path control, the interruption of the continuous
operation will be postponed until the positioning data shown below.
• Positioning data No. have sufficient remaining distance
• Positioning data No. for positioning complete (pattern: 00)
• Positioning data No. for continuous positioning control (pattern: 01)

Even when the continuous operation interrupt is requested,

the remaining distance is insufficient, and thus, the
operation cannot stop at the positioning No. being executed.

V Continuous operation Stop process when operation cannot stop

interrupt request at positioning data No. 10

Start

t
Positioninig data No. 10 Positioning data No. 11 Positioning data No. 12

(4) When operation is not performed (BUSY signal [XC, XD, XE, XF] is OFF), the
interrupt request during continuous operation is not accepted. It is cleared to 0
at a start or restart.

[3] Control data requiring settings

Set the following data to interrupt continuous operation.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4

Cd.18 Interrupt request during Set "1: Interrupt request during continuous
1 1520 1620 1720 1820
continuous operation operation".
Refer to Section 5.7 "List of control data" for details on the setting details.

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6.5.5 Restart program

When a stop factor occurs during position control and the operation stops, the
positioning can be restarted from the stopped position to the position control end point
by using the "restart command" ( Cd.6 Restart command).
("Restarting" is not possible when "continuous operation is interrupted.")

[1] Restart operation

Axis 1

Positioning with positioning data No. 11

Positioning data No. 11
continues with restart
command
Positioning with positioning data No. 12

Stop with stop command

Positioning with positioning data No. 10

Axis 2

Fig. 6.13 Restart operation

[2] Restrictions
(1) Restarting can be executed only when the " Md.26 Axis operation status" is
"stopped".
If the axis operation is not "stopped", restarting is not possible.
(2) Do not execute restart while the stop command is ON.
If restart is executed while stopped, an error "Stop signal ON at start" (error
code: 106) will occur, and the " Md.26 Axis operation status" will change to
"error occurring".
Thus, even if the error is reset, the operation cannot be restarted.
(3) Restarting can be executed even while the positioning start signal is ON.
However, make sure that the positioning start signal does not change from
OFF to ON while stopped.
If the positioning start signal changes from OFF to ON, positioning will start
from the positioning data No. of designated point's positioning data No. set in
" Cd.3 Positioning start No.".
(4) If positioning is ended with the continuous operation interrupt request, the
operation cannot be restarted.
If restart is requested, a warning "Restart not possible" (warning code: 104)
will occur.
(5) When stopped with interpolation operation, write "1: Restarts" into
" Cd.6 Restart command" for the reference axis, and then restart.
(6) If the " Md.26 Axis operation status" is not "stopped" when restarting, a
warning "Restart not possible" (warning code: 104) will occur, and the process
at that time will be continued.

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REMARK
Restarting after stopping is possible even for the following control.
• Incremental system position control • Continuous positioning control
• Continuous path control • Block start

[3] Control data requiring setting

Set the following data to execute restart.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
Cd.6 Restart command 1 Set "1: Restarts". 1503 1603 1703 1803

Refer to Section 5.7 "List of control data" for details on the setting details.

[4] Starting conditions

The following conditions must be satisfied when restarting. (Assemble the
required conditions into the sequence program as an interlock.)
(1) Operation state
" Md.26 Axis operation status" is "1: Stopped"

(2) Signal state

Device
Signal name Signal state
Axis 1 Axis 2 Axis 3 Axis 4
PLC READY signal ON PLC CPU preparation completed Y0
QD75 READY signal ON QD75 preparation completed X0
QD75 buffer memory
Synchronization flag ON X1
Accessible
Interface Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7
signal
M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7
Error detection signal OFF No error is present X8 X9 XA XB
BUSY signal OFF BUSY signal is OFF XC XD XE XF
Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –

: When the synchronous setting of the PLC CPU is made in the nonsynchronous mode, this must be
provided as an interlock.
When it is made in the synchronous mode, no interlock must be provided in the program because the
flag is turned ON when calculation is run on the PLC CPU.

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(5) Time chart for restarting

V Dwell time

Positioning start signal [Y10]

Axis stop signal [Y4]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

Md. 26 Axis operation status 0 8 1 8 0

Cd. 6 Restart command 0 1 0

Fig. 6.14 Time chart for restarting

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6.5.6 Stop program

The axis stop signal [Y4, Y5, Y6, Y7] or a stop signal from an external source is used
to stop the control.
Create a program to turn ON the axis stop signal [Y4, Y5, Y6, Y7] as the stop program.

The process for stopping control is explained below.

Each control is stopped in the following cases.
(1) When each control is completed normally.
(2) When the drive unit READY signal is turned OFF.
(3) When a PLC CPU error occurs
(4) When the PLC READY signal is turned OFF.
(5) When an error occurs in QD75.
(6) When control is intentionally stopped
(Stop signal from PLC CPU turned ON, stop signal from peripheral devices)

The stop process for the above cases is shown below.

(Excluding item (1) above "When each control is completed normally".)

[1] Stop process

Axis Stop process
M code operation OPR control Manual control
Stop ON status Major High-level Manual
Stop cause Machine JOG/
axis signal ( Md.26 ) Fast OPR positioning positioning pulse
OPR Inching
after stop after control control control generator
control operation
stopping operation
Drive unit
Each No During Deceleration
Forced stop READY signal Immediate stop
axis change error stop
OFF
Hardware stroke Deceleration stop/sudden stop
Fatal stop limit upper/lower Each No During Deceleration
(Select with " Pr.37 Sudden stop group 1 sudden stop
(Stop group 1) limit error axis change error stop
occurrence selection".
PLC CPU error No
occurrence change Delegation stop/sudden stop
Emergency stop PLC READY Turns During Deceleration
All axes (Select with " Pr.38 Sudden stop group 2 sudden stop
(Stop group 2) signal OFF OFF error stop
Error in test No selection".
mode change
Axis error
detection (Error
Relatively safe
other than stop Each No During
stop
group 1 or 2) axis change error
(Stop group 3)
"Stop" input from Deceleration stop/sudden stop
peripheral device Deceleration
(Select with " Pr.39 Sudden stop group 3 sudden stop
"Stop signal" ON stop
During selection".
from external
stop
Intentional stop source Each No
(during
(Stop group 3) "Axis stop signal" axis change
standing
ON from PLC
by)
CPU

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[2] Types of stop processes

The operation can be stopped with deceleration stop, sudden stop or immediate
stop.

(1) Deceleration stop 1

The operation stops with "deceleration time 0 to 3" ( Pr.10 , Pr.28 , Pr.29 ,
Pr.30 ).
Which time from "deceleration time 0 to 3" to use for control is set in positioning
data ( Da.4 ).

(2) Sudden stop

The operation stops with " Pr.36 Sudden stop deceleration time".

(3) Immediate stop

The operation does not decelerate.
The QD75 immediately stops the pulse output, but the operation will coast for
the droop pulses accumulated in the drive unit's deviation counter.

Positioning speed Positioning speed Positioning speed

Actual sudden stop

Actual deceleration time deceleration time

Coast for the droop pulses accumulated

Pr. 36 Sudden stop
in the drive unit's deviation counter.
Set deceleration time deceleration time

Fig. 6.15 Types of stop processes

REMARK
1 "Deceleration stop" and "sudden stop" are selected with the details parameter 2
"stop group 1 to 3 sudden stop selection". (The default setting is "deceleration
stop".)

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[3] Order of priority for stop process

The order of priority for the QD75 stop process is as follows.

Deceleration stop < Sudden stop < Immediate stop

(1) If the deceleration stop command ON (stop signal ON) or deceleration stop
cause occurs during deceleration to speed 0 (including automatic
deceleration), operation changes depending on the setting of " Cd.42 Stop
command processing for deceleration stop selection".
(a) Manual control
Independently of the Cd.42 setting, a deceleration curve is re-processed
from the speed at stop cause occurrence.
(b) OPR control, positioning control
• When Cd.42 = 0 (deceleration curve re-processing):

A deceleration curve is re-processed from the speed at stop cause

occurrence.
• When Cd.42 = 1 (deceleration curve continuation):

The current deceleration curve is continued after stop cause occurrence.

(For details, refer to "Section 12.7.10 Stop command processing for
deceleration stop function".)

(2) If the stop signal ON or stop cause specified for a sudden stop occurs during
deceleration, sudden stop process will start at that point.
However, if the sudden stop deceleration time is longer than the deceleration
time, the deceleration stop process will be continued even if a sudden stop
cause occurs during the deceleration stop process.

Example

The process when a sudden stop cause occurs during deceleration stop is shown below.

Positioning speed Deceleration Positioning speed Deceleration

stop process stop process

Sudden Sudden
stop cause stop cause

Stop Stop

Sudden stop deceleration process Deceleration stop process continues Process for sudden stop

(3) Operation will stop immediately if the target reaches the positioning address
specified in the currently executed positioning data during deceleration of
position control.

6 - 44
Chapter 7 Memory Configuration and Data
Process

7
The QD75 memory configuration and data transmission are explained in this chapter.

The QD75 is configured of two memories. By understanding the configuration and

roles of two memories, the QD75 internal data transmission process, such as "when
the power is turned ON" or "when the PLC READY signal changes from OFF to ON"
can be easily understood. This also allows the transmission process to be carried out
correctly when saving or changing the data.

7.1 Configuration and roles of QD75 memory...................................................................7- 2

7.1.1 Configuration and roles of QD75 memory .....................................................7- 2
7.1.2 Buffer memory area configuration..................................................................7- 5
7.2 Data transmission process...........................................................................................7- 6

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7.1 Configuration and roles of QD75 memory

7.1.1 Configuration and roles of QD75 memory

The QD75 is configured of the following two memories.

Area configuration

PLC CPU memo area

Positioning data area

Block start data area

Backup
Memory

(No.7000 to 7004)
Monitor data area

Control data area

Role
configuration

Parameter area

(No. 1 to 600)
Area that can be directly accessed Not
• Buffer memory with sequence program from PLC pos-
CPU. sible

Area for backing up data required Pos-

• Flash ROM – – –
for positioning. sible

: Setting and storage area provided, Not possible: Data is lost when power is turned OFF
– : Setting and storage area not provided, Possible: Data is held even when power is turned OFF

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Details of areas

• Parameter area
Area where parameters, such as positioning parameters and OPR parameters,
required for positioning control are set and stored.
(Set the items indicated with Pr.1 to Pr.57 , Pr.150 for each axis.)

• Monitor data area

Area where positioning system or QD75 operation state is stored.
(Set the items indicated with Md.1 to Md.48 .)

• Control data area

Area where data for operating and controlling positioning system is set and
stored. (Set the items indicated with Cd.1 to Cd.42 .)

• Positioning data area (No.1 to 600)

Area where positioning data No.1 to 600 is set and stored.
(Set the items indicated with Da.1 to Da.10 for each positioning data.)

• Block start data area (No.7000 to 7004)

Area where information required only when carrying out block No. 7000 to 7004
high-level positioning is set and stored. (Set the items indicated with Da.11 to
Da.19 .)

• PLC CPU memo area

Area where condition judgment values required for special positioning, etc., are
set and stored.

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User accesses
Data is backed up
here.
here.

Flash ROM Buffer memory

Parameter area Parameter area

Positioning data area Positioning data area

(No.1 to 600) (No.1 to 600)
Copy
Block start data area Block start data area
(No.7000 to 7004) (No. 7000 to 7004)
Monitor data area
Control data area
PLC CPU
memo area

QD75

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7.1.2 Buffer memory area configuration

The QD75 buffer memory is configured of the following types of areas.

Buffer memory address Writing
Buffer memory area configuration
Axis 1 Axis 2 Axis 3 Axis 4 possibility
Basic parameter area 0 to 15 150 to 165 300 to 315 450 to 465
Detailed parameter area 17 to 62 167 to 212 317 to 362 467 to 512
Parameter area OPR basic parameter area 70 to 78 220 to 228 370 to 378 520 to 528 Possible
OPR detailed parameter
79 to 89 229 to 239 379 to 389 529 to 539
area
System monitor area 1200 to 1425
Monitor data area 800 to 847, 900 to 947, 1000 to 1100 to Not possible
Axis monitor area
899 999 1047, 1099 1147, 1199
System control data area 1900, 1901, 1905, 1907
Control data area Possible
Axis control data area 1500 to 1550 1600 to 1650 1700 to 1750 1800 to 1850
Positioning data area (No.1 8000 to 14000 to 20000 to
Positioning data area 2000 to 7999
to 600) 13999 19999 25999
26000 to 27000 to 28000 to 29000 to
26049 27049 28049 29049
Block start data area
Block start data area 26050 to 27050 to 28050 to 29050 to
(No.7000) 26099 27099 28099 29099
26100 to 27100 to 28100 to 29100 to
Condition data area
26199 27199 28199 29199
26200 to 27200 to 28200 to 29200 to
26249 27249 28249 29249
Block start data area
Block start data area 26250 to 27250 to 28250 to 29250 to
(No.7001) 26299 27299 28299 29299
26300 to 27300 to 28300 to 29300 to
Condition data area
26399 27399 28399 29399
26400 to 27400 to 28400 to 29400 to
26449 27449 28449 29449
Block start data area Possible
Block start data area 26450 to 27450 to 28450 to 29450 to
(No.7002) 26499 27499 28499 29499
26500 to 27500 to 28500 to 29500 to
Condition data area
26599 27599 28599 29599
26600 to 27600 to 28600 to 29600 to
26649 27649 28649 29649
Block start data area
Block start data area 26650 to 27650 to 28650 to 29650 to
(No.7003) 26699 27699 28699 29699
26700 to 27700 to 28700 to 29700 to
Condition data area
26799 27799 28799 29799
26800 to 27800 to 28800 to 29800 to
26849 27849 28849 29849
Block start data area
Block start data area 26850 to 27850 to 28850 to 29850 to
(No.7004) 26899 27899 28899 29899
26900 to 27900 to 28900 to 29900 to
Condition data area
26999 27999 28999 29999
PLC CPU memo area PLC CPU memo area 30000 to 30099 Possible

Use of address Nos. skipped above is prohibited. If used, the system may not operate correctly.

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7 MEMORY CONFIGURATION AND DATA PROCESS
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7.2 Data transmission process

The data is transmitted between the QD75 memories with steps (1) to (8) shown
below.
The data transmission patterns numbered (1) to (8) on the right page correspond to
the numbers (1) to (8) on the left page.

PLC CPU

(4) FROM command (2) TO command

QD75
Buffer memory Parameter area (a)
Pr.1 to Pr.7
Parameter area (a) Pr.11 to Pr.24
Parameter area (b) Pr.43 to Pr.57

Positioning data area Pr.150

(No.1 to 600) Parameter area (b)
Pr.8 to Pr.10
Block start data area
(No.7000 to 7004) Pr.25 to Pr.42
Monitor data area
Control data area
PLC CPU (3) PLC READY signal
(1) Power supply ON/ memo area [Y0] OFF ON
PLC CPU reset

Flash ROM ROM

Parameter area (a)

Parameter area (b)
Positioning data area
(No.1 to 600)
Block start data area
(No.7000 to 7004)

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7 MEMORY CONFIGURATION AND DATA PROCESS
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(1) Transmitting data when power is turned ON or PLC CPU is reset

( )
When the power is turned ON or the PLC CPU is reset, the "parameters",
"positioning data" and "block start data" stored (backed up) in the flash ROM is
transmitted to the buffer memory.

(2) Transmitting data with TO command from PLC CPU ( )

The parameters or data is written from the PLC CPU to the buffer memory using
the TO command. At this time, when the "parameter area (b) 1", "positioning
data (No. 1 to 600)", "block start data (No. 7000 to 7004)", "control data" and
"PLC CPU memo area" are written into the buffer memory with the TO command,
it is simultaneously valid.
1 Parameter area (b) ...... Parameters validated simultaneously with the writing
to the buffer memory with the TO command.
( Pr.8 to Pr.10 , Pr.25 to Pr.42 )

(3) Validate parameters when PLC READY signal [Y0] changes from
OFF to ON
When the PLC READY signal [Y0] changes from OFF to ON, the data stored in
the buffer memory's "parameter area (a) 2" is validated.
For Pr.5 , however, only the data obtained first after the PLC READY signal [Y0]
changes from OFF to ON when the power is turned ON or PLC CPU is reset
becomes validate.
(Refer to Section 5.2 "List of parameters" for details.)
2: Parameter area (a) .... Parameters validated when PLC READY signal [Y0]
changes from OFF to ON.
( Pr.1 to Pr.7 , Pr.11 to Pr.24 , Pr.43
to Pr.57 , Pr.150 )

POINT
The setting values of the parameters that correspond to parameter area (b) are
valid when written into the buffer memory with the TO command.
However, the setting values of the parameters that correspond to parameter area
(a) are not validated until the PLC READY signal [Y0] changes from OFF to ON.

(4) Accessing with FROM command from PLC CPU ( )

The data is read from the buffer memory to the PLC CPU using the FROM
command.

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Peripheral devices

(6) Flash ROM request (Write)

PLC CPU

(6) Flash ROM request (Write)

(5) Flash ROM write
(Set "1" in Cd.1 with TO command)

QD75
Buffer memory Parameter area (a)
Pr.1 to Pr.7
Parameter area (a)
Pr.11 to Pr.24
Parameter area (b) Pr.43 to Pr.57
Positioning data area Pr.150
(No.1 to 600) Parameter area (b)

Block start data area Pr.8 to Pr.10

(No.7000 to 7004) Pr.25 to Pr.42
Monitor data area
Control data area
PLC CPU
memo area
(5) Flash ROM write

(6) Flash ROM request (Write)

Flash ROM

Parameter area (a)

Parameter area (b)
Positioning data area
(No.1 to 600)
Block start data area
(No.7000 to 7004)

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7 MEMORY CONFIGURATION AND DATA PROCESS
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(5) Flash ROM write ( )

The following transmission process is carried out by setting "1" in " Cd.1 Flash
ROM write request" (buffer memory [1900]).
1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No.
7000 to 7004)" in the buffer memory area are transmitted to the flash ROM.
The writing to the flash ROM may also be carried out using a dedicated
instruction "PFWRT". (Refer to Chapter 14 "Dedicated instructions" for details.)

(6) Flash ROM request (writing) ( )

The following transmission processes are carried out with the [flash ROM
request] (write) from the peripheral device.
1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No.
7000 to 7004)" in the buffer memory area are transmitted to the flash ROM.
Note) This transmission process is the same as (5) above.

IMPORTANT
(1) Do not turn the power OFF or reset the PLC CPU while writing to the flash
ROM. If the power is turned OFF or the PLC CPU is reset to forcibly end the
process, the data backed up in the flash ROM will be lost.
(2) Do not write the data to the buffer memory before writing to the flash ROM is
completed.
(3) The number of writes to the flash ROM with the PLC program is 25 max. while
the power is turned ON.
Writing to the flash ROM beyond 25 times will cause an error (error code: 805).
Refer to Section 15.2 "List of errors" for details.

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7 MEMORY CONFIGURATION AND DATA PROCESS
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QD75
Buffer memory Parameter area (a)
Pr.1 to Pr.7
Parameter area (a) Pr.11 to Pr.24
Parameter area (b) Pr.43 to Pr.57
Pr.150
Positioning data area
(No.1 to 600) Parameter area (b)

Block start data area Pr.8 to Pr.10

(No.7000 to 7004) Pr.25 to Pr.42
Monitor data area
Control data area
PLC CPU
memo area

Flash ROM

Parameter area (a)

Parameter area (b)
Positioning data area
(No.1 to 600)
Block start data area
(No.7000 to 7004)

(7) QD75 read, monitor (8) QD75 write

PLC CPU

(7) QD75 read, monitor (8) QD75 write

Peripheral devices

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7 MEMORY CONFIGURATION AND DATA PROCESS
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(7) Reading data from buffer memory to peripheral device ( )

The following transmission processes are carried out with the [Read from
module] from the peripheral device.
1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No.
7000 to 7004)" in the buffer memory area are transmitted to the peripheral
device via the PLC CPU.
The following transmission processes are carried out with the [monitor] from the
peripheral device.
2) The "monitor data" in the buffer memory area is transmitted to the peripheral
device via the PLC CPU.

(8) Writing data from peripheral device to buffer memory ( )

The following transmission processes are carried out with the [Write to module]
from the peripheral device.
1) The "parameters", "positioning data (No. 1 to 600)" and "block start data (No.
7000 to 7004)" in the peripheral device area transmitted to the buffer memory
via the PLC CPU.
At this time, when [Flash ROM write] is set with the peripheral device, the
transmission processes indicated with the following are carried out.
(5) Flash ROM write

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7 MEMORY CONFIGURATION AND DATA PROCESS
MELSEC-Q

The data transmission is carried out as shown in the previous pages, but the main
method of using this data process is shown below.

(Ex.) Setting the positioning data

The following methods can be used to set the positioning data.

From peripheral device Using sequense program

Write positioning data into buffer

memory using TO command.

Set the data according to the

peripheral device menu.

Write the data set with the

peripheral device into the
buffer memory.

Completion
User work
QD75 state

7 - 12
 Section 2 Control Details and Setting

Section 2 is configured for the following purposes shown in (1) to (3).

(1) Understanding of the operation and restrictions of each control.
(2) Carrying out the required settings in each control
(3) Dealing with errors

The required settings in each control include parameter setting, positioning data setting,
control data setting by a sequence program, etc.
Carry out these settings while referring to Chapter 5 "Data used for positioning".
Also refer to Chapter 6 "Sequence programs used in positioning control" when creating
the sequence programs required in each control, and consider the entire control program
configuration when creating each program.

Section 2
Chapter 8 OPR Control .............................................................................................. 8- 1 to 8- 22
Chapter 9 Major Positioning Control......................................................................... 9- 1 to 9-114
Chapter 10 High-Level Positioning Control ............................................................. 10- 1 to 10- 26
Chapter 11 Manual Control...................................................................................... 11- 1 to 11- 36
Chapter 12 Control Sub Functions .......................................................................... 12- 1 to 12- 98
Chapter 13 Common Functions................................................................................ 13- 1 to 13- 8
Chapter 14 Dedicated instructions........................................................................... 14- 1 to 14- 22
Chapter 15 Troubleshooting .................................................................................... 15- 1 to 15- 38
MEMO
Chapter 8 OPR Control

The details and usage of "OPR control" are explained in this chapter.

OPR control includes "machine OPR" that establish a machine OP without using address
data, and "fast OPR" that store the coordinates established by the machine OPR, and 8
carry out positioning to that position.
OPR carried out by sequence programs from the PLC CPU are explained in this chapter.
Refer to GX Configurator-QP Operating Manual for details on OPR using the
peripheral device.

8.1 Outline of OPR control .................................................................................................8- 2

8.1.1 Two types of OPR control...............................................................................8- 2
8.2 Machine OPR ...............................................................................................................8- 4
8.2.1 Outline of the machine OPR operation ..........................................................8- 4
8.2.2 Machine OPR method ....................................................................................8- 5
8.2.3 OPR method (1): Near-point dog method......................................................8- 6
8.2.4 OPR method (2): Stopper method 1) .............................................................8- 8
8.2.5 OPR method (3): Stopper method 2) ........................................................... 8- 11
8.2.6 OPR method (4): Stopper method 3) ........................................................... 8- 14
8.2.7 OPR method (5): Count method 1) .............................................................. 8- 16
8.2.8 OPR method (6): Count method 2) .............................................................. 8- 18
8.3 Fast OPR .................................................................................................................... 8- 20
8.3.1 Outline of the fast OPR operation ................................................................ 8- 20

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8 OPR CONTROL
MELSEC-Q

8.1 Outline of OPR control

8.1.1 Two types of OPR control

In "OPR control" a position is established as the starting point (or "OP") when carrying out
positioning control, and positioning is carried out toward that starting point.
It is used to return a machine system at any position other than the OP to the OP when the
QD75 issues a "OPR request" with the power turned ON or others, or after a positioning
stop.

In the QD75, the two types of controls shown below are defined as "OPR control", following
the flow of the OPR work.
These two types of OPR control can be executed by setting the "OPR parameters", setting
"Positioning start No. 9001" and "Positioning start No. 9002" prepared beforehand in the
QD75 to " Cd.3 Positioning start No.", and turning ON the positioning start signal.
The ZP.PSTRT start numbers of the dedicated instruction can also be set to 9001 or 9002
to execute the OPR control. (For details, refer to Chapter 14 "Dedicated instructions".)
(1) Establish a positioning control OP
– "Machine OPR" (positioning start No. 9001)
(2) Carry out positioning toward the OP
– "Fast OPR" (positioning start No. 9002).

The "machine OPR" in (1) above must always be carried out before executing the "fast
OPR" in (2).

REMARK
OPR request
The "OPR request flag" ( Md.31 Status: b3) must be turned ON in the QD75, and a
machine OPR must be executed in the following cases.
• When the power is turned ON
• At the ON OFF of the drive unit READY signal ( Md.30 External input/output signal:
b2).
• At the OFF ON of the PLC READY signal [Y0]
The address information stored in the QD75 cannot be guaranteed while the "OPR
request flag" is ON.
The "OPR request flag" turns OFF and the "OPR complete flag" ( Md.31 Status: b4)
turns ON if the machine OPR is executed and is completed normally.

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8 OPR CONTROL
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OPR sub functions

Refer to Section 3.2.4 "Combination of QD75 main functions and sub functions" for
details on "sub functions" that can be combined with OPR control. Also refer to Chapter
12 "Control sub functions" for details on each sub function.

[Remarks]
The following two sub functions are only related to machine OPR.
Sub function name Machine OPR Fast OPR Reference
OPR retry function Section 12.2.1
OP shift function Section 12.2.2
: Combination possible, : Restricted, : Combination not possible

When an OPR is not required

Control can be carried out ignoring the "OPR request flag" ( Md.31 Status: b3) in
systems that do not require an OPR.
In this case, the "OPR parameters ( Pr.43 to Pr.57 )" must all be set to their initial
values or a value at which an error does not occur.

OPR from peripheral devices

"Machine OPR" and "fast OPR" can be executed from the test mode of the peripheral
device.
Refer to GX Configurator-QP Operating Manual for details on OPR from the peripheral
device.

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8 OPR CONTROL
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8.2 Machine OPR

8.2.1 Outline of the machine OPR operation

Important
Use the OPR retry function when the OP position is not always in the same
direction from the workpiece operation area (when the OP is not set near the upper
or lower limit of the machine).
The machine OPR may not complete unless the OPR retry function is used.

Machine OPR operation

In a machine OPR, a machine OP is established.
None of the address information stored in the QD75, PLC CPU, or servo is used at this
time. The position mechanically established after the machine OPR is regarded as the
"OP" to be the starting point for positioning control.
The method for establishing an "OP" by a machine OPR differs according to the method
set in " Pr.43 OPR method".
The following shows the operation when starting a machine OPR.
1) The machine OPR is started.
The operation starts according to the speed and direction set in the OPR parameters
2)
( Pr.43 to Pr.57 ).

The "OP" is established by the method set in " Pr.43 OPR method", and the
3)
machine stops. (Refer to Sections 8.2.2 to 8.2.8)
If "a" is set as " Pr.45 OP address", "a" will be stored as the current position in the
4)
" Md.20 Current feed value" and " Md.21 Machine feed value" which are
monitoring the position.
5) The machine OPR is completed.

The " Pr.45 OP address" is a fixed value set by the user.

M
OP
Machine OPR

Near-point dog

Fig. 8.1 Example of a machine OPR

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8 OPR CONTROL
MELSEC-Q

8.2.2 Machine OPR method

The method by which the machine OP is established (method for judging the OP position and
machine OPR completion) is designated in the machine OPR according to the configuration
and application of the positioning method.
The following table shows the six methods that can be used for this OPR method.
(The OPR method is one of the items set in the OPR parameters. It is set in " Pr.43 OPR
method" of the basic parameters for OPR.)
Pr.43 OPR method Operation details
Deceleration starts by the OFF ON of the near-point dog. (Speed is reduced to
" Pr.47 Creep speed".)
Near-point dog method The operation stops at the first zero signal after the near-point dog turns from ON
OFF. When a "deviation counter clear output" is completed, the machine OPR is
completed.
The stopper position is regarded as the OP.
After the deceleration starts by the OFF ON of the near-point dog, the machine presses

Stopper method 1) against the stopper at the " Pr.47 Creep speed" and stops.
The machine OPR is regarded as completed on completion of the deviation counter clear
output provided after " Pr.49 OPR dwell time" passed after stoppage.
The stopper position is regarded as the OP.
After the deceleration starts by the OFF ON of the near-point dog, the machine presses
Stopper method 2) against the stopper at the " Pr.47 Creep speed" and stops.
The machine OPR is regarded as completed on completion of the deviation counter clear
output provided after the zero signal is detected after stoppage.
The stopper position is regarded as the OP.
The machine starts at the " Pr.47 Creep speed" from the beginning, then presses
Stopper method 3) against the stopper at the " Pr.47 Creep speed" and stops.
The machine OPR is regarded as completed on completion of the deviation counter clear
output provided after the zero signal is detected after stoppage.
The deceleration starts by the OFF ON of the near-point dog, and the machine moves
at the " Pr.47 Creep speed".

Count method 1) The machine stops at the zero signal after moving the distance set in the " Pr.50
Setting for the movement amount after near-point dog ON" from the near point dog OFF
ON position. When a "deviation counter clear signal output" is completed, the machine
OPR is regarded as completed.
The deceleration starts by the OFF ON of the near-point dog, and the machine moves
at the " Pr.47 Creep speed".
Count method 2) The machine moves the distance set in the " Pr.50 Setting for the movement amount
after near-point dog ON" from the near point dog OFF ON position, and stops at that
position. The machine OPR is then regarded as completed.
: The following are the signals input as the zero signals of the QD75 in the corresponding OPR methods.
Near-point dog method, count method 1): Signal that is output as a single pulse at one motor revolution (e.g. Z-phase signal
output from the drive unit)
Stopper method 2), 3) : Signal that is output on detection of contact with the stopper. (Input externally)

REMARK
Creep speed
The stopping accuracy is poor when the machine suddenly stops from fast speeds. To
improve the machine's stopping accuracy, its must change over to a slow speed before
stopping. This speed is set in the " Pr.47 Creep speed".

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8.2.3 OPR method (1): Near-point dog method

The following shows an operation outline of the "near-point dog method" OPR method.

Operation chart
The machine OPR is started.
(The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction
1)
designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is
completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
3) (At this time, the near-point dog must be ON. The workpiece will continue decelerating and stop if the near-point dog is
OFF.)
After the near-point dog turns OFF, the pulse output from the QD75 will stop at the first zero signal,
4) outputting a "deviation counter clear signal" to the drive unit.
(The "deviation counter clear signal output time" is set in Pr.55 .)

After a "deviation counter clear signal" is output to the drive unit, the OPR complete flag ( Md.31 Status:
5)
b4) turns from OFF to ON and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.

V
Pr.46 OPR speed Deceleration at the near-point dog ON

Pr.47 Creep speed

t
1) 2) 3) 4) 5)
1
Md.34 Movement amount after near-point dog ON

ON
Adjust so the near-point dog OFF position is
Near-point dog OFF as close as possible to the center of the zero
signal HIGH level.
If the near-point dog OFF position overlaps with
the zero signal, the machine OPR stop position
Zero signal may deviate by one servomotor rotation.

One servomotor rotation

ON

Machine OPR start OFF

(Positioning start signal)
ON

OPR request flag OFF

Md.31 Status: b3
ON
OPR complete flag
OFF
Md.31 Status: b4

Deviation counter clear

Deviation counter clear output
Pr.55 signal output time

Md.26 Axis operation status Standing by In OPR Standing by

Md.34 Movement amount after Inconsistent 0 Value of 1

near-point dog ON

Md.20 Current feed value Inconsistent Value of the machine moved is stored. OP address
Md.21 Machine feed value

Fig. 8.2 Near-point dog method machine OPR

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8 OPR CONTROL
MELSEC-Q

Restrictions
A pulse generator with a zero signal is required.
When using a pulse generator without a zero signal, generate a zero signal using an
external signal.

Precautions during operation

(1) An error "Start at OP (error code: 201)" will occur if another machine OPR is
attempted after a machine OPR completion when the OPR retry function is not set
("0" is set in " Pr.48 OPR retry").
(2) Machine OPR carried out from the near-point dog ON position will start at the
" Pr.47 Creep speed".
(3) The near-point dog must be ON during deceleration from the OPR speed " Pr.47
Creep speed".
The workpiece will continue decelerating and stop if the near-point dog is turned OFF
before it has decelerated to the creep speed, thus causing an error "Dog detection
timing fault (error code: 203)".

V
Pr. 46 OPR speed

Pr. 47 Creep speed

ON
Near-point dog OFF

ON
Machine OPR start OFF
(Positioning start signal)
ON
OPR request flag OFF
[ Md.31 Status : b3]

OPR complete flag OFF

[ Md.31 Status : b4]

Md.26 Axis operation status Standing by In OPR In error

Md.34 Movement amount Inconsistent 0

after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored Address at stop
Md.21 Machine feed value

Fig. 8.3 Operation when the near-point dog is turned OFF before the creep speed is reached

(4) When a machine OPR is stopped with the stop signal, perform a machine OPR again.
If the restart command is turned ON after a stop with the stop signal, an error "OPR
restart not possible" (error code: 209) occurs.

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8 OPR CONTROL
MELSEC-Q

8.2.4 OPR method (2): Stopper method 1)

The following shows an operation outline of the "stopper method 1)" OPR method.
Operation chart
The machine OPR is started.
(The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in
1)
" Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.

The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
3)
(Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).)
4) The machine presses against the stopper at the creep speed and stops.

The pulse output from the QD75 will stop when the " Pr.49 OPR dwell time" has elapsed after the near-point dog turns ON,
5) outputting the "deviation counter clear output" to the drive unit.
(A "deviation counter clear signal output time" is set in the Pr.55 .)

After a "deviation counter clear output" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON,
6)
and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.

V
Pr. 46 OPR speed

Pr. 47 Creep speed

Stops at stopper

t
1) 2) 3) 4) 5) 6)
Range in which the servomotor rotation
is forcibly stopped by the stopper

Valid torque limit range

Torque limit

ON
Near-point dog OFF
Time out of dwell time
Dwell time measurement

ON

Machine OPR start OFF

(Positioning start signal)
ON

OPR request flag OFF

[ Md.31 Status : b3]
ON
OPR complete flag OFF
[ Md.31 Status : b4]

Deviation counter clear output Deviation counter clear signal

Pr.55
output time

Md.26 Axis operation status Standing by In OPR Standing by

Md.34 Movement amount Inconsistent 0

after near-point dog ON
Md.20 Current feed value
Inconsistent Value the machine moved is stored OP address
Md.21 Machine feed value

Fig. 8.4 Stopper method 1) machine OPR

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8 OPR CONTROL
MELSEC-Q

Restrictions
(1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the
torque is not limited, the servomotor may fail when the machine presses against the
stopper. (Refer to Section 12.4.2 "Torque limit function".)
(2) In the "stopper method 1)", the OPR retry function is unusable.

Precautions during operation

(1) Set a value in the " Pr.49 OPR dwell time" that is equal to or higher than the
movement time from the near-point dog ON to the time the machine presses against
the stopper.
(2) The workpiece will continue decelerating and stop if the " Pr.49 OPR dwell time"
elapses during deceleration from the " Pr.46 OPR speed", thus causing an error
"Dwell time fault (error code: 205)".

V
Pr. 46 OPR speed

Pr. 47 Creep speed

Stops at stopper

t
" Pr.49 OPR
dwell time" setting

ON
Machine OPR start OFF
(Positioning start signal)
ON
OPR request flag OFF
[ Md.31 Status : b3]

OPR complete flag OFF

[ Md.31 Status : b4]

Md.26 Axis operation status Standing by In OPR In error

Md.34 Movement amount Inconsistent 0

after near-point dog ON

Md.20 Current feed value Inconsistent Value the machine moved is stored Address at stop
Md.21 Machine feed value

Fig. 8.5 Operation when the dwell time elapses during deceleration from the OPR speed

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8 OPR CONTROL
MELSEC-Q

(3) If the " Pr.49 OPR dwell time" elapses before the stop at the stopper, the workpiece
will stop at that position, and that position will be regarded as the OP.
At this time, an error will not occur.

V Pr. 46 OPR speed

Pr. 47 Creep speed

Stops at stopper

Valid torque limit range

Torque limit

ON
Near-point dog OFF
Time out of dwell time
Dwell time measurement

ON
Machine OPR start OFF
(Positioning start signal)
ON
OPR request flag OFF
[ Md.31 Status : b3]
ON
OPR complete flag OFF
[ Md.31 Status : b4]

Deviation counter clear output

Pr.55 Deviation counter clear signal
output time

Md.26 Axis operation status Standing by In OPR Standing by

Md.34 Movement amount Inconsistent 0

after near-point dog ON
Md.20 Current feed value OP address
Inconsistent Value the machine moved is stored
Md.21 Machine feed value

Fig. 8.6 Operation when the dwell time elapses before the stop at the stopper

(4) Machine OPR started while the near-point dog is ON will start at the " Pr.47 Creep
speed".
(5) When a machine OPR is stopped with the stop signal, perform a machine OPR again.
If the restart command is turned ON after a stop with the stop signal, an error "OPR
restart not possible" (error code: 209) occurs.

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8 OPR CONTROL
MELSEC-Q

8.2.5 OPR method (3): Stopper method 2)

The following shows an operation outline of the "stopper method 2)" OPR method.
Operation chart
The machine OPR is started.
(The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction designated in
1)
" Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
3)
(Torque limiting is required at this time. If the torque is not limited, the servomotor may fail in step 4).)
4) The machine presses against the stopper at the creep speed and stops.
The pulse output from the QD75 will stop at the zero signal after the machine stops, outputting the "deviation counter clear output" to the
drive unit.
5)
(A "deviation counter clear signal output time" is set in the Pr.55 .)

After a "deviation counter clear output" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns from OFF to ON,
6)
and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.

V Pr. 46 OPR speed Pr. 47 Creep speed

Stops at stopper

1) 2) 3) 4) 5) 6) t

Zero signal
Valid torque limit range

Torque limit

ON
Near-point dog OFF

ON
Machine OPR start OFF
(Positioning start signal)
ON
OPR request flag OFF
[ Md.31 Status : b3]
ON
OPR complete flag OFF
[ Md.31 Status : b4]

Deviation counter clear output

Pr.55 Deviation counter clear signal
output time

Md.26 Axis operation status Standing by In OPR Standing by

Md.34 Movement amount Inconsistent 0

after near-point dog ON
Md.20 Current feed value
Inconsistent Value the machine moved is stored OP address
Md.21 Machine feed value

Fig. 8.7 Stopper method 2) machine OPR

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8 OPR CONTROL
MELSEC-Q

Restrictions
(1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the
torque is not limited, the servomotor may fail when the machine presses against the
stopper. (Refer to Section 12.4.2 "Torque limit function".)
(2) Use an external input signal as the zero signal.
(3) In the "stopper method 2)", the OPR retry function is unusable.

Precautions during operation

(1) Input a zero signal from an external source after the machine presses against the
stopper.
The workpiece will continue decelerating and stop if a zero signal is input before
deceleration to the " Pr.47 Creep speed". An error "OP detection timing fault (error
code: 204)" will occur after the machine stops.
(2) The near-point dog must be turned ON until it presses against the stopper.

V
Pr. 46 OPR speed

Pr. 47 Creep speed

Stops at stopper

Zero signal

ON
Near-point dog OFF

ON
Machine OPR start OFF
(Positioning start signal)
ON

OPR request flag OFF

[ Md.31 Status : b3]

OPR complete flag OFF

[Md.31 Status : b4]

Md.26 Axis operation status Standing by In OPR In error

Md.34 Movement amount Inconsistent 0

after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored Address at stop
Md.21 Machine feed value

Fig. 8.8 Operation when a zero signal is input before the creep speed is reached

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8 OPR CONTROL
MELSEC-Q

(3) If the zero signal is input before the workpiece stops at the stopper, the workpiece
will stop at that position, and that position will be regarded as the OP.

V Pr. 46 OPR speed

Pr. 47 Creep speed

Stops at stopper

Zero signal

Valid torque limit range

Torque limit

ON
Near-point dog OFF

ON

Machine OPR start OFF

(Positioning start signal)
ON

OPR request flag OFF

[ Md.31 Status : b3]
ON

OPR complete flag OFF

[ Md.31 Status : b4]

Deviation counter clear output

Pr.55 Deviation counter clear signal
output time

Md.26 Axis operation status Standing by In OPR Standing by

Md.34 Movement amount Inconsistent 0

after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored OP address
Md.21 Machine feed value

Fig. 8.9 Operation when the zero signal is input before the stop at the stopper

(4) Machine OPR started while the near-point dog is ON will start at the " Pr.47 Creep
speed".
(5) When a machine OPR is stopped with the stop signal, perform a machine OPR again.
If the restart command is turned ON after a stop with the stop signal, an error "OPR
restart not possible" (error code: 209) occurs.

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8 OPR CONTROL
MELSEC-Q

8.2.6 OPR method (4): Stopper method 3)

The following shows an operation outline of the "stopper method 3)" OPR method.
The "stopper method 3)" method is effective when a near-point dog has not been installed.
(Note that the operation is carried out from the start at the " Pr.47 Creep speed", so it will
take some time until the machine OPR completion.)

Operation chart
The machine OPR is started.
(The machine moves at the " Pr.47 Creep speed", in the direction designated in " Pr.44 OPR direction". Torque
1)
limiting is required at this time. If the torque is not limited, the servomotor may fail when the machine presses against
the stopper in step 2.)
2) The machine presses against the stopper at the " Pr.47 Creep speed" and stops.
The pulse output from the QD75 will stop at the zero signal after the machine stops, outputting the "deviation counter
3) clear output" to the drive unit.
(A "deviation counter clear signal output time" is set in the Pr.55 .)

After a "deviation counter clear output" is output to the drive unit, the OPR complete flag ( Md.31 Status: b4) turns
4)
from OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.

V
Pr. 47 Creep speed
Stops at stopper

Zero signal

Valid torque limit range

Torque limit

ON
Machine OPR start OFF
(Positioning start signal)
ON

OPR request flag OFF

[ Md.31 Status : b3]
ON
OPR complete flag OFF
[ Md.31 Status : b4]

Deviation counter clear output

Pr.55 Deviation counter clear signal
output time

Md.26 Axis operation status Standing by In OPR Standing by

Md.34 Movement amount Inconsistent 0

after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored OP address
Md.21 Machine feed value

Fig. 8.10 Stopper method 3) machine OPR

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8 OPR CONTROL
MELSEC-Q

Restrictions
(1) Always limit the servomotor torque after the " Pr.47 Creep speed" is reached. If the
torque is not limited, the servomotor may fail when the machine presses against the
stopper. (Refer to Section 12.4.2 "Torque limit function".)
(2) Use an external input signal as the zero signal.
(3) The OPR retry function cannot be used in "stopper stop method 3)".

Precautions during operation

(1) If the zero signal is input before the workpiece stops at the stopper, the workpiece
will stop at that position, and that position will become the OP.
At this time an error will not occur.

Pr. 47 Creep speed

Stops at stopper

Zero signal

Valid torque limit range

Torque limit

ON

Machine OPR start OFF

(Positioning start signal)
ON
OPR request flag OFF
[ Md.31 Status : b3]
ON

OPR complete flag OFF

[ Md.31 Status : b4]

Deviation counter clear output

Pr.55 Deviation counter clear signal
output time

Md.26 Axis operation status Standing by In OPR Standing by

Md.34 Movement amount Inconsistent 0

after near-point dog ON
Md.20 Current feed value
Inconsistent Value the machine moved is stored OP address
Md.21 Machine feed value

Fig. 8.11 When the zero signal is input before the stop at the stopper

(2) When a machine OPR is stopped with the stop signal, perform a machine OPR again.
If the restart command is turned ON after a stop with the stop signal, an error "OPR
restart not possible" (error code: 209) occurs.

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8 OPR CONTROL
MELSEC-Q

8.2.7 OPR method (5): Count method1)

The following shows an operation outline of the "count method 1)" OPR method.
In the "count method 1)" machine OPR, the following can be performed:
• Machine OPR on near-point dog ON
• Second machine OPR after completion of first machine OPR

Operation chart
The machine OPR is started.
(The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the direction
1)
designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the acceleration is
completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.

On detection of the first zero signal after the axis has traveled the movement amount set in " Pr.50 Setting for the
movement amount after near-point dog ON" after near-point dog ON, the pulse output from the QD75 stops and the
4)
"deviation counter clear output" is output to the drive unit.
(A "deviation counter clear signal output time" is set in Pr.55 .)

After a "deviation counter clear output" is output to the drive unit, the OPR complete flag Md.31 Status: b4) turns from
5)
OFF to ON, and the OPR request flag ( Md.31 Status: b3) turns from ON to OFF.

Pr. 46 OPR speed

V Pr. 50 Setting for the movement amount
after near-point dog ON
Pr. 47 Creep speed

t
Md.34 Movement amount after near-point dog ON 1

Leave sufficient distance from the zero point

ON position to the near-point dog OFF
Near-point dog OFF
Adjust the setting for the movement amount after First zero signal after travel of the movement
near-point dog ON to be as near as possible to amount set to " Pr. 50 Setting for the movement
the center of the zero signal HIGH. amount after near-point dog ON"
If the setting for the movement amount after Zero signal
near-point dog ON falls within the zero signal,
One servomotor rotation
there may be produced an error of one servomotor
rotation in the machine OPR stop position. ON

Machine OPR start OFF

(Positioning start signal)
ON
OPR request flag OFF
[ Md.31 Status : b3]
ON
OPR complete flag OFF
[ Md.31 Status : b4]

Deviation counter clear output

Pr.55 Deviation counter clear
signal output time
Md.26 Axis operation status Standing by In OPR Standing by

Md.34 Movement amount Inconsistent 0 Value of 1.

after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored OP address
Md.21 Machine feed value

Fig. 8.12 Count method1) machine OPR

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8 OPR CONTROL
MELSEC-Q

Restrictions
A pulse generator with a zero signal is required.
When using a pulse generator without a zero signal, generate a zero signal using
an external signal.

Precautions during operation

(1) An error "Count method movement amount fault (error code: 206)" will occur
and the operation will not start if the " Pr.50 Setting for the movement
amount after near-point dog ON" is smaller than the deceleration distance
from the " Pr.46 OPR speed" to " Pr.47 Creep speed".
A deceleration stop will be carried out if the speed is changed during the
operation and an error occurs.
(2) The following shows the operation when a machine OPR is started while the
near-point dog is ON.

Pr. 50 Setting for the movement

amount after near-point dog ON
[Operation when a machine OPR is started at
the near-point dog ON position]
4)
1) 5)
1) A machine OPR is started.
2) The machine moves at the OPR speed in the
opposite direction of an OPR.
3) Deceleration processing is carried out by
" Pr.39 Stop group 3 sudden stop
3)
2) selection" when the near-point dog OFF is
detected.
4) After the machine stops, a machine OPR is
ON carried out in the OPR direction.
Near-point dog OFF
5) The machine OPR is completed after the
deviation counter clear output is provided on
detection of the first zero signal after the
Zero signal
travel of the movement amount set to
" Pr.50 Setting for the movement amount
after near-point dog ON" on detection of the
near-point dog signal ON.

Fig. 8.13 Count method 1) machine OPR on the near-point dog ON position

(3) Turn OFF the near-point dog at a sufficient distance from the OP.
Although there is no harm in operation if the near-point dog is turned OFF
during a machine OPR, it is recommended to leave a sufficient distance from
the OP when the near-point dog is turned OFF for the following reason.
If machine OPRs are performed consecutively after the near-point dog is
turned OFF at the time of machine OPR completion, operation will be
performed at the OPR speed until the hardware stroke limit (upper/lower limit)
is reached.
(4) When a machine OPR is stopped with the stop signal, perform a machine
OPR again.
If the restart command is turned ON after a stop with the stop signal, an error
"OPR restart not possible" (error code: 209) occurs.

8 - 17
8 OPR CONTROL
MELSEC-Q

8.2.8 OPR method (6): Count method 2)

The following shows an operation outline of the "method 2)" OPR method.
The "count method 2)" method is effective when a "zero signal" cannot be received.
(Note that compared to the "count method 1)" method, using this method will result in
more deviation in the stop position during machine OPR.)

Operation chart
The machine OPR is started.
(The machine begins the acceleration designated in " Pr.51 OPR acceleration time selection", in the
1)
direction designated in " Pr.44 OPR direction". It then moves at the " Pr.46 OPR speed" when the
acceleration is completed.)
2) The machine begins decelerating when the near-point dog ON is detected.
3) The machine decelerates to the " Pr.47 Creep speed", and subsequently moves at that speed.
The pulse output from the QD75 will stop and the machine OPR will be completed when the machine
4) moves the movement amount set in " Pr.50 Setting for the movement amount after near-point dog ON "
from the near-point dog ON position.

Pr. 46 OPR speed

V Pr.50 Setting for the movement amount
after near-point dog ON
Pr. 47 Creep speed

t
Md.34 Movement amount after near-point dog ON 1

Leave sufficient distance from the OP

ON position to the near-point dog OFF
Near-point dog OFF

ON
Machine OPR start OFF
(Positioning start signal)
ON
OPR request flag OFF
[ Md.31 Status : b3]
ON
OPR complete flag OFF
[ Md.31 Status : b4]

Md.26 Axis operation status Standing by In OPR Standing by

Md.34 Movement amount Inconsistent 0 Value of 1.

after near-point dog ON
Md.20 Current feed value Inconsistent Value the machine moved is stored OP address
Md.21 Machine feed value

Fig. 8.14 Count method 2) machine OPR

8 - 18
8 OPR CONTROL
MELSEC-Q

Restrictions
When this method is used, a deviation will occur in the stop position (OP)
compared to other OPR methods because an error of about 1 ms occurs in taking
in the near-point dog ON.

Precautions during operation

(1) An error "Count method movement amount fault (error code: 206)" will occur
and the operation will not start if the " Pr.50 Setting for the movement
amount after near-point dog ON" is smaller than the deceleration distance
from the " Pr.46 OPR speed" to " Pr.47 Creep speed".
A deceleration stop will be carried out if the speed is changed during the
operation and an error occurs.
(2) The following shows the operation when a machine OPR is started while the
near-point dog is ON.

Pr.50 Setting for the movement amount after

near-point dog ON [Operation when a machine OPR is started at
4)
1) 5)
the near-point dog ON position]
1) A machine OPR is started.
2) The machine moves at the OPR speed in the
opposite direction of an OPR.
3) Deceleration processing is carried out by
3)
2) " Pr.39 Stop group 3 sudden stop
selection" when the near-point dog OFF is
ON detected.
Near-point dog OFF 4) After the machine stops, a machine OPR is
carried out in the OPR direction.

5) The machine OPR is completed after moving

the movement amount set in the " Pr.50
Setting for the movement amount after near-
point dog ON".

Fig. 8.15 Count method 2) machine OPR on the near-point dog ON position

(3) Turn OFF the near-point dog at a sufficient distance from the OP.
Although there is no harm in operation if the near-point dog is turned OFF
during a machine OPR, it is recommended to leave a sufficient distance from
the OP when the near-point dog is turned OFF for the following reason.
If machine OPRs are performed consecutively after the near-point dog is
turned OFF at the time of machine OPR completion, operation will be
performed at the OPR speed until the hardware stroke limit (upper/lower limit)
is reached.
(4) When a machine OPR is stopped with the stop signal, perform a machine
OPR again.
If the restart command is turned ON after a stop with the stop signal, an error
"OPR restart not possible" (error code: 209) occurs.

8 - 19
8 OPR CONTROL
MELSEC-Q

8.3 Fast OPR

8.3.1 Outline of the fast OPR operation

Fast OPR operation

In a fast OPR, positioning is carried out by a machine OPR to the " Md.21
Machine feed value" stored in the QD75.
The following shows the operation during a fast OPR start.
1) The fast OPR is started.
2) Positioning control to the " Md.21 Machine feed value" begins at the speed set
in the OPR parameters ( Pr.43 to Pr.57 ).
3) The fast OPR is completed.

Pr. 46 OPR speed

Machine OP
(OP position)

Fast OPR start

(Positioning start signal)

Md.26 Axis operation status Standing by In position control Standing by

M
OP
Positioning to the OP

Fig. 8.16 Fast OPR

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8 OPR CONTROL
MELSEC-Q

Operation timing and processing time of fast OPR

The following shows details about the operation timing and time during fast OPR.

Positioning start signal

[Y10,Y11,Y12,Y13]

BUSY signal [XC,XD,XE,XF]

t1

Start complete signal

[X10,X11,X12,X13] t3
Md.26 Axis operation status Standing by In position control Standing by
t2
Output pulse to external source
(PULSE)

Positioning operation

Fig. 8.17 Operation timing and processing time of fast OPR

Normal timing time Unit: ms

t1 t2 t3
1.0 to 1.3 2.7 to 4.4 0 to 1.8

•The t1 timing time could be delayed by the operation state of other axes.

Operating restrictions
When the OPR complete flag ( Md.31 Status: b3) is ON, executing a fast OPR start
will result in an error "OPR request ON" (error code: 207)".

8 - 21
8 OPR CONTROL
MELSEC-Q

MEMO

8 - 22
Chapter 9 Major Positioning Control

The details and usage of the major positioning controls (control functions using the
"positioning data") are explained in this chapter.
The major positioning controls include such controls as "positioning control" in which
positioning is carried out to a designated position using the address information,
"speed control" in which a rotating object is controlled at a constant speed,
"speed-position switching control" in which the operation is shifted from "speed control"
to "position control" and "position-speed switching control" in which the operation is
shifted from "position control" to "speed control".
Carry out the required settings to match each control.

9.1 Outline of major positioning controls............................................................................9- 2

9.1.1 Data required for major positioning control....................................................9- 4
9.1.2 Operation patterns of major positioning controls ...........................................9- 5
9.1.3 Designating the positioning address ............................................................ 9- 15
9.1.4 Confirming the current value ........................................................................ 9- 16
9.1.5 Control unit "degree" handling...................................................................... 9- 18
9.1.6 Interpolation control ...................................................................................... 9- 21 9
9.2 Setting the positioning data ....................................................................................... 9- 25
9.2.1 Relation between each control and positioning data................................... 9- 25
9.2.2 1-axis linear control....................................................................................... 9- 27
9.2.3 2-axis linear interpolation control.................................................................. 9- 29
9.2.4 3-axis linear interpolation control.................................................................. 9- 33
9.2.5 4-axis linear interpolation control.................................................................. 9 -39
9.2.6 1-axis fixed-feed control................................................................................ 9- 43
9.2.7 2-axis fixed-feed control (interpolation) ........................................................ 9- 45
9.2.8 3-axis fixed-feed control (interpolation) ........................................................ 9- 47
9.2.9 4-axis fixed-feed control (interpolation) ....................................................... 9- 51
9.2.10 2-axis circular interpolation control with sub point designation ................... 9- 53
9.2.11 2-axis circular interpolation control with center point designation............... 9- 59
9.2.12 1-axis speed control...................................................................................... 9- 67
9.2.13 2-axis speed control...................................................................................... 9- 70
9.2.14 3-axis speed control...................................................................................... 9- 73
9.2.15 4-axis speed control...................................................................................... 9- 77
9.2.16 Speed-position switching control (INC mode).............................................. 9- 82
9.2.17 Speed-position switching control (ABS mode) ............................................ 9- 90
9.2.18 Position-speed switching control.................................................................. 9- 98
9.2.19 Current value changing................................................................................. 9-105
9.2.20 NOP instruction............................................................................................. 9-110
9.2.21 JUMP instruction........................................................................................... 9-111
9.2.22 LOOP ............................................................................................................ 9-113
9.2.23 LEND............................................................................................................. 9-114

9-1
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9.1 Outline of major positioning controls

"Major positioning controls" are carried out using the "positioning data" stored in the
QD75.
The basic controls such as position control and speed control are executed by setting
the required items in this "positioning data", and then starting that positioning data.
The control system for the "major positioning controls" is set in setting item " Da.2
Control system" of the positioning data.
Control defined as a "major positioning control" carries out the following types of
control according to the " Da.2 Control system" setting.

Major positioning control Details

Da.2 Control system
Positioning of a designated 1 axis is carried out from the
1-axis linear ABS Linear 1
start address (current stop position) to the designated
control INC Linear 1
position.
2-axis linear Using a designated 2 axes, linear interpolation control is
ABS Linear 2
interpolation carried out from the start address (current stop position) to
INC Linear 2
control the designated position.
Linear control
3-axis linear Using a designated 3 axes, linear interpolation control is
ABS Linear 3
interpolation carried out from the start address (current stop position) to
INC Linear 3
control the designated position.
4-axis linear Using a designated 4 axes, linear interpolation control is
ABS Linear 4
interpolation carried out from the start address (current stop position) to
INC Linear 4
control the designated position.
Positioning of a designated 1 axis is carried out from the
1-axis fixed- start address (current stop position).
Fixed-feed 1
feed control
Position control

(The " Md.20 Current feed value" is set to "0" at the start.)
Using a designated 2 axes, linear interpolation control is
2-axis fixed- carried out from the start address (current stop position).
Fixed-feed 2
feed control (The " Md.20 Current feed value" is set to "0" at the start.)
Fixed-feed
control Using a designated 3 axes, linear interpolation control is
3-axis fixed- carried out from the start address (current stop position).
Fixed-feed 3
feed control
(The " Md.20 Current feed value" is set to "0" at the start.)
Using a designated 4 axes, linear interpolation control is
4-axis fixed- carried out from the start address (current stop position).
Fixed-feed 4
feed control
(The " Md.20 Current feed value" is set to "0" at the start.)
Sub point ABS Circular sub
designation INC Circular sub The axis in which the interpolation control system is set is
2-axis circular regarded as the reference axis. Positioning is carried out in
interpolation ABS Circular right an arc path to a designated position, while controlling the
control Center point ABS Circular left other axis (interpolation axis) to match the positioning data
designation INC Circular right set in the reference axis.
INC Circular left
1-axis speed Forward run speed 1
The speed control of the designated 1 axis is carried out.
control Reverse run speed 1
2-axis speed Forward run speed 2
The speed control of the designated 2 axes is carried out.
control Reverse run speed 2
Speed control
3-axis speed Forward run speed 3
The speed control of the designated 3 axes is carried out.
control Reverse run speed 3
4-axis speed Forward run speed 4
The speed control of the 4 axes is carried out.
control Reverse run speed 4

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Major positioning control Details

Da.2 Control system
Forward run The control is continued as position control (positioning for
speed/position the designated address or movement amount) by turning
Speed-position switching control
Reverse run ON the "speed-position switching signal" after first carrying
speed/position out speed control.
Forward run
The control is continued as speed control by turning ON
position/speed
Position-speed switching control the "position-speed switching signal" after first carrying out
Reverse run
position control.
position/speed
A nonexecutable control system. When this instruction is
NOP
NOP instruction set, the operation is transferred to the next data operation,
instruction
and the instruction is not executed.
The current feed value ( Md.20 ) is changed to an address
set in the positioning data.
This can be carried out by either of the following 2
Current value methods.
Current value changing
changing (The machine feed value cannot be changed.)
Other control • Current value changing using the control system
• Current value changing using the current value
changing start No. (No. 9003).
JUMP An unconditional or conditional JUMP is carried out to a
JUMP instruction
instruction designated positioning data No.
LOOP LOOP A repeat control is carried out by repeat LOOP to LEND.
Control is returned to the top of the repeat control by
LEND LEND repeat LOOP to LEND. After the repeat operation is
completed specified times, the next positioning data is run.
In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis linear interpolation control", "2-axis
fixed-feed control", "3-axis fixed-feed control", "4-axis fixed-feed control", "2-axis circular interpolation control", "2-axis
speed control", "3-axis speed control" and "4-axis speed control", control is carried out so that linear and arc paths are
drawn using a motor set in two or more axes directions. This kind of control is called "interpolation control". (Refer to
Section 9.1.6 "Interpolation control" for details.)

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9.1.1 Data required for major positioning control

The following table shows an outline of the "positioning data" configuration and setting
details required to carry out the "major positioning controls".
Setting item Setting details
Set the method by which the continuous positioning data (Ex: positioning data No. 1,
Da.1 Operation pattern
No. 2, No. 3) will be controlled. (Refer to Section 9.1.2.)
Da.2 Control system Set the control system defined as a "major positioning control". (Refer to Section 9.1.)
Select and set the acceleration time at control start. (Select one of the four values set
Da.3 Acceleration time No.
in Pr.9 , Pr.25 , Pr.26 , and Pr.27 for the acceleration time.)
Select and set the deceleration time at control stop. (Select one of the four values set
Positioning data No. 1

Da.4 Deceleration time No.

in Pr.10 , Pr.28 , Pr.29 , and Pr.30 for the deceleration time.)
Axis to be Set an axis to be interpolated (partner axis) during the 2-axis interpolation operation
Da.5
interpolated (Refer to Section 9.1.6).
Positioning address/
Da.6 Set the target value during position control. (Refer to Section 9.1.3.)
movement amount
Da.7 Arc address Set the sub point or center point address during circular interpolation control.
Da.8 Command speed Set the speed during the control execution.
Set the time the machine waits from the completion of the executed positioning control
Da.9 Dwell time and the stopping of the workpiece until the judgment of the QD75 positioning
completion.
Set this item when carrying out sub work (clamp and drill stops, tool replacement, etc.)
Da.10 M code
corresponding to the code No. related to the positioning data execution.

The settings and setting requirement for the setting details of Da.1 to Da.10 differ according to the
" Da.2 Control system". (Refer to Section 9.2 "Setting the positioning data".)

Major positioning control sub functions

Refer to Section 3.2.4 "Combination of QD75 major functions and sub functions"
for details on "sub functions" that can be combined with the major positioning
control.
Also refer to Chapter 12 "Control sub Functions" for details on each sub function.

Major positioning control from peripheral devices

"Major positioning control" can be executed from the peripheral device test mode.
Refer to GX Configurator-QP Operating Manual for details on carrying out major
positioning control from the peripheral device.

REMARK
• 600 positioning data (positioning data No. 1 to 600) items can be set per axis.

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9.1.2 Operation patterns of major positioning controls

In "major positioning control" (high-level positioning control), " Da.1 Operation

pattern" can be set to designate whether to continue executing positioning data after
the started positioning data. The "operation pattern" includes the following 3 types.
Positioning complete (1) Independent positioning control
(operation pattern: 00)
Positioning continue (2) Continuous positioning control
(operation pattern: 01)
(3) Continuous path control
(operation pattern: 11)
The following shows examples of operation patterns when "1-axis linear control (ABS
linear 1)" is set in positioning data No. 1 to No. 6 of axis 1. Details of each operation
pattern are shown on the following pages.

< Operation example when "1-axis linear positioning" is set in the positioning data of axis 1 >
(Setting details)
No.1 Start
Positioning data No.1 Positioning to address [A] at command speed [a] Operation pattern = 11: Continuous path control

No.2 Positioning to address [B] at command speed [b] Operation pattern = 11: Continuous path control

No.3 Positioning to address [C] at command speed [a] Operation pattern = 01: Continuous positioning control

No.4 Positioning to address [D] at command speed [b] Operation pattern = 01: Continuous positioning control

No.5 Operation pattern = 00: Independent positioning control

Positioning to address [E] at command speed [a]
(Positioning complete)
Control stop
No.6 Positioning to address [F] at command speed [a] Operation pattern = 11: Continuous path control

Speed Da. 1 Operation pattern

11 01
b

11 01 00
a The machine stops, and
then continues the next
positioning.
Speed is changed Positioning is terminated
without stopping

Time

0 NO.1 No.2 No.3 No.4 No.5

A B C D E F Address
(Positioning data) (Direction in which axis 1 addresses increase)
For 1-axis linear control

(One motor is driven, and positioning is carried out to an addresses designated in one direction.)

POINT
The BUSY signal [XC, XD, XE, XF] turns ON even when position control of
movement amount 0 is executed. However, since the ON time is short, the ON
status may not be detected in the sequence program.
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[1] Independent positioning control (Positioning complete)

This control is set when executing only one designated data item of positioning. If
a dwell time is designated, the positioning will complete after the designated time
elapses.
This data (operation pattern [00] data) becomes the end of block data when
carrying out block positioning. (The positioning stops after this data is executed.)

V
Positioning complete (00)

Dwell time

Time

ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
Start complete signal ON
[X10, X11, X12, X13] OFF

ON
BUSY signal [XC, XD, XE, XF] OFF

ON
Positioning complete signal OFF
[X14, X15, X16, X17]

Fig. 9.1 Operation during independent positioning control

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[2] Continuous positioning control

(1) The machine always automatically decelerates each time the positioning is
completed. Acceleration is then carried out after the QD75 command speed
reaches 0 to carry out the next positioning data operation. If a dwell time is
designated, the acceleration is carried out after the designated time elapses.
(2) In operation by continuous positioning control (operation pattern "01"), the
next positioning No. is automatically executed. Always set operation pattern
"00" in the last positioning data to complete the positioning.
If the operation pattern is set to positioning continue ("01" or "11"), the
operation will continue until operation pattern "00" is found.
If the operation pattern "00" cannot be found, the operation may be carried
out until the positioning data No. 600. If the operation pattern of the
positioning data No. 600 is not completed, the operation will be started again
from the positioning data No. 1.

Dwell
time
Positioning continue (01)
Positioning continue (01)
Address (+) direction

Time
Dwell time
Address (-) direction not designated
Positioning
complete (00)

ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
Start complete signal ON
[X10, X11, X12, X13] OFF

ON
BUSY signal [XC, XD, XE, XF] OFF

ON
Positioning complete signal OFF
[X14, X15, X16, X17]

Fig. 9.2 Operation during continuous positioning control

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[3] Continuous path control

(1) Continuous path control
(a) The speed is changed without deceleration stop between the
command speed of the positioning data currently being run and the
speed of the positioning data that will be run next.
The speed is not changed if the current speed and the next speed are
equal.
(b) The speed will become the speed used in the previous positioning
operation if the command speed is set to "-1".
(c) Dwell time will be ignored, even if set.
(d) The next positioning No. is executed automatically in operations by
continuous path control (operation pattern "11"). Always complete the
positioning by setting operation pattern "00" in the last positioning data.
If the operation pattern is set to positioning continue ("01" or "11"), the
operation will continue until operation pattern "00" is found.
If the operation pattern "00" cannot be found, the operation may be
carried out until the positioning data No. 600. If the operation pattern of
the positioning data No. 600 is not completed, the operation will be
started again from the positioning data No. 1.
(e) The speed switching patterns include the "front-loading speed
switching pattern" in which the speed is changed at the end of the
current positioning side, and the "standard speed switching pattern" in
which the speed is at the start of the next positioning side. (Refer to
" Pr.19 Speed switching mode".)

Continuous path control Standard speed switching mode

Front-loading speed switching mode
(f) In the continuous path control, the positioning may be completed
before the set address/movement amount and the current data may be
switched to the "positioning data that will be run next".
This is because a preference is given to the positioning at a command
speed. In actuality, the positioning is completed before the set
address/movement amount by an amount of remaining distance at
speeds less than the command speed. The remaining distance ( )
at speeds less than the command speed is 0 (distance
moved in 1.8ms at a speed at the time of completion of the
positioning).

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Positioning continue (11)

Dwell time
Positioning continue (11)
Positioning
Address (+) direction complete (00)

Time

Address (-) direction

ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
Start complete signal OFF
[X10, X11, X12, X13]
ON
BUSY signal [XC, XD, XE, XF] OFF

ON
Positioning complete signal OFF
[X14, X15, X16, X17]

Fig. 9.3 Operation during continuous path control (Standard speed switching mode)

POINT
In the continuous path control, a speed variation will not occur using the near-pass
function when the positioning data No. is switched (Refer to Section 12.3.3 "Near-
pass function").

(2) Deceleration stop conditions during continuous path control

Deceleration stops are basically not carried out in continuous path control,
but the machine will carry out a deceleration stop to speed "0" in the
following cases (a) to (d).
(a) When the operation pattern of the positioning data currently being
executed is "continuous path control: 11", and the movement direction
of the positioning data currently being executed differs from that of the
next positioning data. (Only for 1-axis positioning control (Refer to the
"Point" in the next page.))

Positioning data No.1

Operation pattern : 11

Speed becomes 0

Positioning data No.2

Operation pattern : 00

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(b) When the operation pattern of the positioning data currently being
executed is "continuous path control: 11", and the movement amount
of the next positioning data is "0".
(c) During operation by step operation.
(Refer to Section 12.7.1 Step function".)
(d) When there is an error in the positioning data to carry out the next
operation.

POINTS
(1) The movement direction is not checked during interpolation operations. Thus, automatic deceleration to a stop will
not be carried out even if the movement direction is changed (See the figures below).
Because of this, the interpolation axis may suddenly reverse direction.
To avoid this sudden direction reversal in the interpolation axis, set the pass point to continuous positioning control
"01" instead of setting it to continuous path control "11".
[Positioning by interpolation] [Reference axis operation] [Interpolation axis operation]
V V
Positioning data Positioning data
No.1 No.2
Interpola-
tion axis
t

Reference axis
Positioning data No.1 • • • Continuous path control t
Positioning data Positioning data
No.1 No.2 Positioning data Positioning data
No.1 No.2

(2) When the interpolation axis reveres direction suddenly, the command pulses from QD75 are output as shown in the
figure below.

Forward run command

Reverse run command

t1

t2

The t1 and t2 are calculated using the following expressions, where a command frequency is f (pps).
t1 = 1/2 f (s) t2 = 1/f (s)
A time of t1 must be maintained by the drive unit for a specified period T (s).
(T depends on the drive unit specifications.)
If t1 cannot be maintained for T or longer, lower the " Da.8 Command speed" of the positioning data.

(3) When a "0" is set in the " Da.6 Positioning address/movement amount" of the continuous path control positioning
data, the command speed of about 2 ms is reduced to 0.
When a "0" is set in the " Da.6 Positioning address/movement amount" to increase the number of speed change
points in the future, change the " Da.2 Control system" to the "NOP instruction" to make the control
nonexecutable.
(Refer to Section 9.2.20 "NOP instruction".)
(4) In the continuous path control positioning data, assure a movement distance so that the execution time with that
data is 100 ms or longer, or lower the command speed.

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(3) Speed handling

(a) Continuous path control command speeds are set with each
positioning data.
The QD75 then carries out the positioning at the speed designated
with each positioning data.
(b) The command speed can be set to "–1" in continuous path control.
The control will be carried out at the speed used in the previous
1
positioning data No. if the command speed is set to "–1". *
(The "current speed" will be displayed in the command speed when
the positioning data is set with a peripheral device. The current speed
is the speed of the positioning control being executed currently.)
1) The speed does not need to be set in each positioning data when
carrying out uniform speed control if "–1" is set beforehand in the
command speed.
2) If the speed is changed in the previous positioning data when "–1"
is set in the command speed, the operation can be continued at
the new speed.
3) An error "no command speed" (error code: 503) occurs and
positioning cannot be started if "–1" is set in the command speed
of the first positioning data at start.

[Relation between the command speed and current speed]

*1 *2
Speed P1 P2 P3 P4 P5 Speed P1 P2 P3 P4 P5

3000 3000
2000 2000
1000 1000

Da. 7 Command speed 1000 3000 -1 -1 -1 Da. 7 Command speed 1000 3000 -1 -1 -1
Md. 36 Current speed 1000 3000 3000 3000 3000 Md. 36 Current speed 1000 3000 3000 3000 3000

The current speed is

changed even if the command
speed is not reached in P2.

POINTS
(1) In the continuous path control, a speed variation will not occur using the near-pass function when the
positioning data is switched (Refer to Section 12.3.3 "Near-pass function").
(2) The QD75 holds the command speed set with the positioning data, and the latest value of the speed
set with the speed change request as the " Md.27 Current speed". It controls the operation at the
"current speed" when "-1" is set in the command speed.
(Depending on the relation between the movement amount and the speed, the feedrate may not reach
2
the command speed value, but even then the current speed will be updated. * )
(3) When the address for speed change is identified beforehand, generate and execute the positioning
data for speed change by the continuous path control to carry out the speed change without requesting
the speed change with a sequence program.

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(4) Speed switching

(Refer to " Pr.19 Speed switching mode".)

(a) Standard speed switching mode

1) If the respective command speeds differ in the "positioning data
currently being executed" and the "positioning data to carry out
the next operation", the machine will accelerate or decelerate
after reaching the positioning point set in the "positioning data
currently being executed" and the speed will change over to the
speed set in the "positioning data to carry out the next operation".
2) The parameters used in acceleration/deceleration to the
command speed set in the "positioning data to carry out the next
operation" are those of the positioning data to carry out
acceleration/deceleration.
Speed switching will not be carried out if the command speeds
are the same.

Speed
V switching Dwell time Dwell time

Positioning t

Da. 1 Operation pattern 11 11 11 01 00

ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
Start complete signal
[X10, X11, X12, X13] OFF

ON
BUSY signal [XC, XD, XE, XF] OFF

ON
Positioning complete signal
OFF
[X14, X15, X16, X17]

Fig. 9.4 Operation for the standard speed switching mode

3) Speed switching condition

If the movement amount is small in regard to the target speed, the
current speed may not reach the target speed even if
acceleration/deceleration is carried out. In this case, the machine
is accelerated/decelerated so that it nears the target speed.
If the movement amount will be exceeded when automatic
deceleration is required (Ex. Operation patterns "00", "01"), the
machine will immediately stop at the designated positioning
address, and a "insufficient movement distance warning (warning
code: 513)" will occur.

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[When the speed cannot change over in P2] [When the movement amount is small during
When the relation of the speeds is P1 = automatic deceleration]
P4, P2 = P3, P1 < P2. The movement amount required to carry out the
automatic deceleration cannot be secured, so the
machine immediately stops in a speed ≠ 0 status.
P1 P2 P3 P4

Positioning address.

(b) Front-loading speed switching mode

1) If the respective command speeds differ in the "positioning data
currently being executed" and the "positioning data to carry out
the next operation", the speed will change over to the speed set in
the "positioning data to carry out the next operation" at the end of
the "positioning data currently being executed".
2) The parameters used in acceleration/deceleration to the
command speed set in the "positioning data to carry out the next
operation" are those of the positioning data to carry out
acceleration/deceleration.
Speed switching will not be carried out if the command speeds
are the same.

V
Dwell time Dwell time

Positioning t

Da. 1 Operation pattern 11 11 11 01 00

ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
Start complete signal
[X10, X11, X12, X13] OFF

ON
BUSY signal [XC, XD, XE, XF] OFF

ON
Positioning complete signal OFF
[X14, X15, X16, X17]

Fig. 9.5 Operation for the front-loading speed switching mode

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3) Speed switching condition

If the movement amount is small in regard to the target speed, the
current speed may not reach the target speed even if
acceleration/deceleration is carried out. In this case, the machine
is accelerated/decelerated so that it nears the target speed.
If the movement amount will be exceeded when automatic
deceleration is required (Ex. Operation patterns "00", "01"), the
machine will immediately stop at the designated positioning
address, and a "insufficient movement distance warning (warning
code: 513)" will occur.

[When the speed cannot change over to the [When the movement amount is small during
P2 speed in P1] automatic deceleration]
When the relation of the speeds is P1 = The movement amount required to carry out the
P4, P2 = P3, P1 < P2. automatic deceleration cannot be secured, so the
machine immediately stops in a speed ≠ 0 status.
P1 P2 P3 P4

Positioning address

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9.1.3 Designating the positioning address

The following shows the two methods for commanding the position in control using
positioning data.

Absolute system
Positioning is carried out to a designated position (absolute address) having the
OP as a reference. This address is regarded as the positioning address. (The
start point can be anywhere.)

Address Start point

Address 100 End point
100 Address
150 Address
300
Address 150
Address 100
Address 150

100 150 300

OP
A point B point C point
(Reference point)

Within the stroke limit range

Fig. 9.6 Absolute system positioning

Incremental system
The position where the machine is currently stopped is regarded as the start point,
and positioning is carried out for a designated movement amount in a designated
movement direction.

Movement amount Start point

Movement amount -100 End point
+100
Movement amount +100 Movement amount
Movement
+100
amount -150
Movement amount-100 Movement amount+50

100 150 300

A point B point C point

Within the stroke limit range

Fig. 9.7 Incremental system positioning

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9.1.4 Confirming the current value

Values showing the current value

The following two types of addresses are used as values to show the position in
the QD75.
These addresses ("current feed value" and "machine feed value") are stored in the
monitor data area, and used in monitoring the current value display, etc.

• This is the value stored in " Md.20 Current feed value".

• This value has an address established with a "machine OPR" as a
Current feed value reference, but the address can be changed by changing the current
value to a new value.
• This value is updated every 1.8ms.

• This is the value stored in " Md.21 Machine feed value".

• This value always has an address established with a "machine OPR"
Machine feed value as a reference. The address cannot be changed, even if the current
value is changed to a new value.
• This value is updated every 56.8ms.

The "current feed value" and "machine feed value" are used in monitoring the
current value display, etc.

OP Current value changed to

20000 with current value
changing instruction
t
Address after the current
value is changed is stored

Md. 20 Current feed value 0 1 to 10000 20000

Md. 21 Machine feed value 0 1 to 10000

Address does not change even

after the current value is changed

Fig. 9.8 Current feed value and machine feed value

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Restrictions
(1) A 1.8ms error will occur in the current value update timing when the stored
"current feed value" is used in the control.
A 56.8ms error will occur in the current value update timing when the stored
"machine feed value" is used in the control.
(2) The "current feed value" and "machine feed value" may differ from the values
set in " Da.6 Positioning address/movement amount" of the positioning data if
the movement amount per pulse is not set to "1".

Monitoring the current value

The "current feed value" and "machine feed value" are stored in the following
buffer memory addresses, and can be read using a "DFRO (P) command" from
the PLC CPU.
Buffer memory addresses
Axis 1 Axis 2 Axis 3 Axis 4
Md.20 Current feed value 800, 801 900, 900 1000, 1001 1100, 1101

Md.21 Machine feed value 802, 803 902, 903 1002, 1003 1102, 1103

Example
Program in which the axis 1 current feed value is read to D104 and D105

<Read current feed value to D104 and D105>

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9.1.5 Control unit "degree" handling

When the control unit is set to "degree", the following items differ from when other
control units are set.

[1] Current feed value and machine feed value addresses

The address of “ Md.20 Current feed value” becomes a ring address from 0 to
359.99999°.
But the address of “ Md.21 Machine feed value” doesn’t become a ring address.

359.99999° 359.99999°

0° 0° 0°

[2] Software stroke limit valid/invalid setting

With the control unit set to "degree", the software stroke limit upper and lower
limit values are 0 to 359.99999.
(a) Setting to validate software stroke limit
To validate the software stroke limit, set the software stroke limit lower limit
value and the upper limit value in a clockwise direction.

0
Clockwise direction
315.00000
Section A

90.00000

Section B

1) To set the movement range A, set as follows.

• Software stroke limit lower limit value..................................315.00000º
• Software stroke limit upper limit value ...................................90.00000º
2) To set the movement range B, set as follows.
• Software stroke limit lower limit value....................................90.00000º
• Software stroke limit upper limit value .................................315.00000º

(b) Setting to invalidate software stroke limit

To invalidate the software stroke limit, set the software stroke limit lower
limit value equal to the software stroke limit upper limit value.
The control can be carried out irrespective of the setting of the software
stroke limit.

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[3] Positioning control method when the control unit is set to "degree"
1) Absolute system
(a) When the software stroke limit is invalid
Positioning is carried out in the nearest direction to the designated
address, using the current value as a reference.
(This is called "shortcut control".)

Example

1) Positioning is carried out in a clockwise direction when the current value is moved from 315° to 45°.
2) Positioning is carried out in a counterclockwise direction when the current value is moved from 45° to 315°.

Moved from 315° to 45° Moved from 45° to 315°

315° 45° 315° 45°

Using the " Cd.40 ABS direction in degrees", the shortcut control can be invalidated
to carry out positioning in the designated direction.
This function can be performed when the software stroke limit is invalid.
When the software stroke limit is valid, an error "ABS direction in degrees illegal" (error
code: 546) occurs and positioning is not started.
To designate the movement direction for the ABS control, write 1 or 2 to the " Cd.40
ABS direction in degrees" of the buffer memory. (The initial value is 0).
The value written to the " Cd.40 ABS direction in degrees" becomes valid only when
the positioning control is started.
In the continuous positioning control or continuous path control, the operation is
continued with the setting made at a start if the setting is changed during the operation.

Buffer memory address Initial

Name Function
Axis 1 Axis 2 Axis 3 Axis 4 value
Cd.40 ABS direction in degrees The ABS movement direction in the
unit of degree is designated.
0: Shortcut (direction setting
1550 1650 1750 1850 0
invalid)
1: ABS clockwise
2: ABS counterclockwise

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(b) When the software stroke limit is valid

The positioning is carried out in a clockwise/counterclockwise direction
depending on the software stroke limit range setting method.
Because of this, positioning with "shortcut control" may not be
possible.

Example
When the current value is moved from 0° to 315°, positioning is carried out in the clockwise direction
if the software stroke limit lower limit value is 0° and the upper limit value is 345°.

345.00000° 0°
315.00000°

Positioning carried out in the clockwise direction.

POINT
Positioning addresses are within a range of 0° to 359.99999°.
Use the incremental system to carry out positioning of one rotation or more.

2) Incremental system
Positioning is carried out for a designated movement amount in a
designated movement direction when in the incremental system of
positioning.
The movement direction is determined by the sign (+, –) of the movement
amount.
• For a positive (+) movement direction ......Clockwise
• For a negative (–) movement direction.....Counterclockwise

POINT
Positioning of 360° or more can be carried out with the incremental system.
At this time, set as shown below to invalidate the software stroke limit.
[Software stroke limit upper limit value = Software stroke limit lower limit value]

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9.1.6 Interpolation control

Meaning of interpolation control

In "2-axis linear interpolation control", "3-axis linear interpolation control", "4-axis
linear interpolation control", "2-axis fixed-feed control", "3-axis fixed-feed control",
"4-axis fixed-feed control", “2-axis speed control”, “3-axis speed control”, “4-axis
speed control”, and "2-axis circular interpolation control", control is carried out so
that linear and arc paths are drawn using a motor set in two to four axis directions.
This kind of control is called "interpolation control".
In interpolation control, the axis in which the control system is set is defined as the
"reference axis", and the other axis is defined as the "interpolation axis".
The QD75 controls the "reference axis" following the positioning data set in the
"reference axis", and controls the "interpolation axis" corresponding to the
reference axis control so that a linear or arc path is drawn.
The following table shows the reference axis and interpolation axis combinations.
Axis definition
Axis set to interpolation Reference axis Interpolation axis
control in " Da.2 Control method"
2-axis linear interpolation control, "2-axis fixed-feed "Axes to be
Any of axes 1, 2,
control, 2-axis circular interpolation control, 2-axis interpolated" set in
3, and 4
speed control reference axis
Axis 1 Axis 2, Axis 3
3-axis linear interpolation control, "3-axis fixed-feed Axis 2 Axis 3, Axis 4
control, 3-axis speed control Axis 3 Axis 4, Axis 1
Axis 4 Axis 1, Axis 2
Axis 1 Axis 2, Axis 3, Axis 4

4-axis linear interpolation control, "4-axis fixed-feed Axis 2 Axis 3, Axis 4, Axis 1
control, 4-axis speed control Axis 3 Axis 4, Axis 1, Axis 2
Axis 4 Axis 1, Axis 2, Axis 3

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Setting the positioning data during interpolation control

When carrying out interpolation control, the same positioning data Nos. are set for
the "reference axis" and the "interpolation axis".
The following table shows the "positioning data" setting items for the reference
axis and interpolation axis.
Axis
Reference axis setting item Interpolation axis setting item
Setting item
Da.1 Operation pattern –
Linear 2, 3, 4, Fixed-feed 2, 3, 4,
Circular sub, Circular right,
Da.2 Control system Circular left –
Forward run speed 2, 3, 4
Reverse run speed 2, 3, 4
Da.3 Acceleration time No. –
Same positioning data Nos

Da.4 Deceleration time No. –

Axis to be
Da.5 –
interpolated.

Positioning address/ Forward run speed 2, 3, and 4. Forward run speed 2, 3, and 4.
Da.6
movement amount Reverse run speed 2, 3, and 4 not Reverse run speed 2, 3, and 4 not
required. required.

Da.7 Arc address (Only during circular sub, circular (Only during circular sub, circular
right, and circular left). right, and circular left).

Da.8 Command speed Only during forward run speed 2,

3, 4 and reverse run speed 2, 3, 4.
Da.9 Dwell time –
Da.10 M code –

: Setting always required

: Set according to requirements (Set to "–" when not used.)
: Setting restrictions exist
– : Setting not required (Unrelated setting item, so any setting value will be ignored. Use the initial
value or a value within the setting range.)
: For 2-axis interpolation, the partner axis is set. If the self-axis is set, an error "Illegal interpolation
description command (error code: 521)" will occur. For 3- and 4-axis interpolation, the axis setting
is not required.
: Refer to Section 5.3 "List of positioning data" for information on the setting details.

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Starting the interpolation control

The positioning data Nos. of the reference axis (axis in which interpolation control
was set in " Da.2 Control system") are started when starting the interpolation
control. (Starting of the interpolation axis is not required.)
The following errors or warnings will occur and the positioning will not start if both
reference axis and the interpolation axis are started.
• Reference axis : Interpolation while interpolation axis BUSY (error code:
519)
• Interpolation axis : Control system setting error (error code: 524), start during
operation (warning code: 100).

Interpolation control continuous positioning

When carrying out interpolation control in which "continuous positioning control"
and "continuous path control" are designated in the operation pattern, the
positioning method for all positioning data from the started positioning data to the
positioning data in which "positioning complete" is set must be set to interpolation
control.
The QD75 may malfunction if a control system other than interpolation control is
set.

Speed during interpolation control

Either the "composite speed" or "reference axis speed" can be designated as the
speed during interpolation control.
( Pr.20 Interpolation speed designation method)
Only the "Reference axis speed" can be designated in the following interpolation
control.
When a "composite speed" is set and positioning is started, the "Interpolation
mode error (error code: 523)" occurs, and the system will not start.
• 4-axis linear interpolation
• 2-axis speed control
• 3-axis speed control
• 4-axis speed control

Cautions in interpolation control

(1) If a stepping motor is used, the circular interpolation control cannot be carried
out.
Ensure to use a servomotor when the circular interpolation control is carried
out.
(2) If either of the axes exceeds the " Pr.8 Speed limit value" in the 2 to 4 axes
speed control, the axis which exceeded the speed limit value is controlled by
the speed limit value.
For the other axes which perform interpolation, the speed can be suppressed
by the ratio of a command speed.
If the reference axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis
linear interpolation control, 2- to 4-axis fixed-feed control or 2-axis circular
interpolation control, the reference axis is controlled at the speed limit value.
(The speed limit does not function on the interpolation axis side.)
(3) In 2-axis interpolation, you cannot change the combination of interpolated axes
midway through operation.

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POINT
• When the "reference axis speed" is set during interpolation control, set so the
major axis side becomes the reference axis. If the minor axis side is set as the
reference axis, the major axis side speed may exceed the " Pr.8 Speed limit
value".

Limits to interpolation control

There are limits to the interpolation control that can be executed and speed
( Pr.20 Interpolation speed designation method) that can be set, depending on
the " Pr.1 Unit setting" of the reference axis and interpolation axis. (For example,
circular interpolation control cannot be executed if the reference axis and
interpolation axis units differ.)
The following table shows the interpolation control and speed designation limits.
Pr.1 Unit setting 1

" Da.2 Control system" Pr.20 Interpolation speed Reference axis and interpolation
axis units are the same, or a Reference axis and
interpolation control designation method
combination of "mm" and "inch". interpolation axis units
differ 3
3
Linear 2 (ABS, INC) Composite speed
Fixed-feed 2 Reference axis speed
Circular sub (ABS, INC) Composite speed 2
Circular right (ABS, INC)
Circular left (ABS, INC) Reference axis speed

Linear 3 (ABS, INC) Composite speed

Fixed-feed 3 Reference axis speed
Linear 4 (ABS, INC) Composite speed
Fixed-feed 4 Reference axis speed

: Setting possible, : Setting not possible.

1 "mm" and "inch" unit mix possible.
2 "degree" setting not possible. A "Circular interpolation not possible (error code: 535)" will occur and the position
cannot start if circular interpolation control is set when the unit is "degree". The machine will immediately stop if
"degree" is set during positioning control.
3 The unit set in the reference axis will be used for the speed unit during control if the units differ or if "mm" and "inch"
are combined.

Axis operation status during interpolation control

"In interpolation" will be stored in the " Md.26 Axis operation status" during
interpolation control. "Standing by" will be stored when the interpolation operation
is terminated. Both the reference axis and interpolation axis will carry out a
deceleration stop if an error occurs during control, and "error occurring" will be
stored in the operation status.

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9.2 Setting the positioning data

9.2.1 Relation between each control and positioning data

The setting requirements and details for the setting items of the positioning data to be
set differ according to the " Da.2 Control system".
The following table shows the positioning data setting items corresponding to the
different types of control. Details and settings for the operation of each control are
shown in Section 9.2.2 and subsequent sections.
(In this section, it is assumed that the positioning data setting is carried out using GX
Configurator-QP.)
Major positioning control Position control Speed control
1-axis linear
control
1-axis fixed-feed
2-axis linear
interpolation
control Speed- Position-
2-axis fixed-feed position speed
control 2-axis circular 1-axis, 2-axis,
control switching switching
3-axis linear
3-axis fixed-feed interpolation 3-axis, 4-axis
interpolation control Speed control control control
control
control
4-axis fixed-feed
4-axis linear
control
Positioning data setting items interpolation
control

Independent
positioning control
(Positioning complete)
Operation
Da.1 Continuous positioning
pattern
control
Continuous path
control
Forward run
speed 1
Reverse run
speed 1
Forward run
Forward run
speed 2
Linear 1 Fixed-feed 1 speed/posi- Forward run
Circular sub Reverse run
Linear 2 Fixed-feed 2 tion position/speed
Circular right speed 2
Da.2 Control system Linear 3 Fixed-feed 3 Reverse run
Circular left Forward run
Linear 4 Fixed-feed 4 speed/posi- Reverse run
speed 3 tion position/speed
Reverse run
speed 3
Forward run
speed 4
Reverse run
speed 4
Da.3 Acceleration time No.
Da.4 Deceleration time No.
Da.5 Axis to be interpolated : 2 - a x i s –: 1, 3, 4-axis – –
Positioning address/movement
Da.6 –
amount
Da.7 Arc address – – – – –
Da.8 Command speed
Da.9 Dwell time
Da.10 M code

: Always set : Set as required ("–" when not set)

: Setting not possible (If setting is made, an error (error code: 516) will occur at a start.)
– : Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error occurs.)
: The "ABS (absolute) system" or "INC (incremental) system" can be used for the control system.

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REMARK
• It is recommended that the "positioning data" be set whenever possible with GX Configurator-QP.
Execution by sequence program uses many sequence programs and devices. The execution becomes
complicated, and the scan times will increase.

Major positioning control Other control

Current value
NOP instruction JUMP instruction LOOP instruction LEND instruction
changing

Positioning data setting items

Independent
positioning control – – – –
(Positioning complete)
Operation
Da.1 Continuous positioning
pattern – – – –
control
Continuous path
control – – – –

Current value
Da.2 Control system NOP instruction JUMP instruction LOOP instruction LEND instruction
changing
Da.3 Acceleration time No. – – – – –
Da.4 Deceleration time No. – – – – –
Da.5 Axis to be interpolated – – – – –
Change
Positioning address/movement
Da.6 – destination – – –
amount
address
Da.7 Arc address – – – – –
Da.8 Command speed – – – – –
JUMP
destination-
Da.9 Dwell time – – – –
positioning data
No.
Condition data
Da.10 M code – No. of repetition –
No. at JUMP

: Always set : Set as required ("–" when not set)

: Setting not possible (If setting is made, an error (error code: 515) will occur.)
– : Setting not required (Setting value is invalid. Use the initial values or setting values within a range where no error occurs.)

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9.2.2 1-axis linear control

In "1-axis linear control" (" Da.2 Control system" = ABS linear 1, INC linear 1), one
motor is used to carry out position control in a set axis direction.
[1] 1-axis linear control (ABS linear 1)
Operation chart
In absolute system 1-axis linear control, addresses established by a machine OPR
are used. Positioning is carried out from the current stop position (start point
address) to the address (end point address) set in " Da.6 Positioning
address/movement amount".
Example

When the start point address (current stop position) is 1000, and the end point address (positioning address) is 8000,
positioning is carried out in the positive direction for a movement amount of 7000 (8000-1000)

Start point address End point address

(current stop position) (positioning address)

0 1000 8000

Positioning control (movement amount 7000)

Positioning data setting example

The following table shows setting examples when "1-axis linear control (ABS linear
1)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Positioning Set "Positioning complete" assuming the next positioning data will not
Da.1 Operation pattern
complete be executed.
Da.2 Control system ABS linear 1 Set absolute system 1-axis linear control.
Acceleration time Designate the value set in " Pr.25 Acceleration time 1" as the
Da.3 1
No.
Axis 1 Positioning data No. 1

acceleration time at start.

Deceleration time Designate the value set in " Pr.10 Deceleration time 0" as the
Da.4 0
No. deceleration time at deceleration.
Axis to be
Da.5 – Setting not required (setting value will be ignored).
interpolated
Positioning address/ Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit
Da.6 8 0 0 0 . 0 µm
movement amount setting".)
Da.7 Arc address – Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Set the time the machine dwells after the positioning stop (pulse output
Da.9 Dwell time 500ms
stop) to the output of the positioning complete signal.
Set this when other sub operation commands are issued in combination
Da.10 M code 10
with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.
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[2] 1-axis linear control (INC linear 1)

Operation chart
In incremental system 1-axis linear control, addresses established by a machine
OPR are used. Positioning is carried out from the current stop position (start point
address) to a position at the end of the movement amount set in " Da.6
Positioning address/movement amount". The movement direction is determined by
the sign of the movement amount.
Start point address
(current stop position)

Reverese direction Forward direction

Movement direction for Movement direction for

a negative movement amount a positive movement amount

Example
When the start point address is 5000, and the movement amount is -7000, positioning is carried out to
the -2000 position.

Address after positioning control Start point address

(current stop position)

-3000 -2000 -1000 0 1000 2000 3000 4000 5000 6000

Positioning control in the reverse direction (movement amount -7000)

Positioning data setting example

The following table shows setting examples when "1-axis linear control (INC linear
1)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Positioning Set "Positioning complete" assuming the next positioning data will not
Da.1 Operation pattern
complete be executed.
Da.2 Control system INC linear 1 Set incremental system 1-axis linear control.

Da.3
Acceleration time
1 Designate the value set in " Pr.25 Acceleration time 1" as the
No.
Axis 1 Positioning data No. 1

acceleration time at start.

Da.4
Deceleration time
0 Designate the value set in " Pr.10 Deceleration time 0" as the
No. deceleration time at deceleration.
Axis to be
Da.5 – Setting not required (setting value will be ignored).
interpolated
Positioning address/ Set the movement amount. (Assuming "mm" is set in " Pr.1 Unit
Da.6 - 7 0 0 0 . 0 µm
movement amount setting".)
Da.7 Arc address – Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/min Set the speed during movement.
Set the time the machine dwells after the positioning stop (pulse output
Da.9 Dwell time 500ms
stop) to the output of the positioning complete signal.
Set this when other sub operation commands are issued in combination
Da.10 M code 10
with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.
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9.2.3 2-axis linear interpolation control

In "2-axis linear interpolation control" (" Da.2 Control system" = ABS linear 2, INC
linear 2), two motors are used to carry out position control in a linear path while
carrying out interpolation for the axis directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

[1] 2-axis linear interpolation control (ABS linear 2)

Operation chart
In absolute system 2-axis linear control, addresses established by a machine OPR
on a 2-axis coordinate plane are used. Linear interpolation positioning is carried
out from the current stop position (start point address) to the address (end point
address) set in " Da.6 Positioning address/movement amount".

Forward direction (Y axis)

Start point address (X1,Y1)

(current stop position)
End point address (X2,Y2)
Y2
(positioning address)

Y axis movement
amount Movement by linear interpolation of the X axis and Y axis

Y1

Reverse direction Forward direction (X axis)

X1 X2

X axis movement amount

Reverse direction

Example
When the start point address (current stop position) is (1000, 1000) and the end point address
(positioning address) is (10000, 4000), positioning is carried out as follows.

Axis 2 Start point address

(current stop position)
4000 End point address
(positioning address)
Axis 2 movement amount
(4000-1000=3000)
1000

Axis 1
0 1000 5000 10000

Axis 1 movement amount (10000-1000=9000)

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Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning control.
• If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in " Pr.20 Interpolation speed designation method"
... The "Outside linear movement amount range error (error code: 504)" occurs
at a positioning start.
(The maximum movement amount that can be set in " Da.6 Positioning
30
address/movement amount" is "1073741824 (=2 )".)

Positioning data setting example

[Reference axis and interpolation axis are designated as axis 1 and axis 2,
respectively.]
The following table shows setting examples when "2-axis linear interpolation
control (ABS linear 2)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
Da.2 Control system ABS linear 2 – Set absolute system 2-axis linear interpolation control.
Acceleration time Designate the value set in " Pr.25 Acceleration time 1" as
Da.3 1 –
No. the acceleration time at start.
Axis 1 Positioning data No. 1

Deceleration time Designate the value set in " Pr.10 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Axis to be Set the axis to be interpolated (partner axis).
Da.5 1 –
interpolated If the self-axis is set, an error will occur.
Positioning address/ Set the end point address. (Assuming "mm" is set in
Da.6 10000.0 µm 4000.0 µm
movement amount " Pr.1 Unit setting".)

Da.7 Arc address – – Setting not required (setting value will be ignored).
6000.00
Da.8 Command speed – Set the speed during movement to the end point address.
mm/min
Set the time the machine dwells after the positioning stop
Da.9 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other sub operation commands are issued in
Da.10 M code 10 –
combination with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINT
• When the "reference axis speed" is set during 2-axis linear intrpolation control, set
so the major axis side becomes the reference axis. If the minor axis side is set as
the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit
value".

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[2] 2-axis linear interpolation control (INC linear 2)

Operation chart
In incremental system 2-axis linear interpolation control, addresses established by
a machine OPR on a 2-axis coordinate plane are used. Linear interpolation
positioning is carried out from the current stop position (start point address) to a
position at the end of the movement amount set in " Da.6 Positioning
address/movement amount". The movement direction is determined by the sign of
the movement amount.

Forward direction (Y axis)

Start point address (X1,Y1)

(current stop position)
Y2

Y axis movement
amount Movement by linear interpolation
positioning of the X axis and Y axis
Y1

Reverse direction Forward direction (X axis)

X1 X2

X axis movement amount

Reverse direction

Example
When the axis 1 movement amount is 9000 and the axis 2 movement amount is -3000, positioning
is carried out as follows.

Start point address

Axis 2 (current stop position)
4000

Axis 2 movement amount

(-3000)
1000 Stop address after the
positioning control
Axis 1
0 1000 5000 10000

Axis 1 movement amount (9000)

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Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning
operation.
• If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in " Pr.20 Interpolation speed designation method"
... The "Outside linear movement amount range error (error code: 504)" occurs
at a positioning start.
(The maximum movement amount that can be set in " Da.6 Positioning
30
address/movement amount" is "1073741824 (=2 )".)

Positioning data setting example

[Reference axis and interpolation axis are designated as axis 1 and axis 2,
respectively.]
The following table shows setting examples when "2-axis linear interpolation
control (INC linear 2)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
Da.2 Control system INC linear 2 – Set incremental system 2-axis linear interpolation control.

Da.3
Acceleration time
1 – Designate the value set in " Pr.25 Acceleration time 1" as
No. the acceleration time at start.
Axis 1 Positioning data No. 1

Da.4
Deceleration time
0 – Designate the value set in " Pr.10 Deceleration time 0" as
No. the deceleration time at deceleration.
Axis to be Set the axis to be interpolated (partner axis).
Da.5 1 –
interpolated If the self-axis is set, an error will occur.
Positioning address/ Set the movement amount. (Assuming "mm" is set in
Da.6 9000.0 µm -3000.0 µm
movement amount " Pr.1 Unit setting".)
Da.7 Arc address – – Setting not required (setting value will be ignored).
6000.00
Da.8 Command speed – Set the speed during movement.
mm/min
Set the time the machine dwells after the positioning stop
Da.9 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other sub operation commands are issued in
Da.10 M code 10 –
combination with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINT
• When the "reference axis speed" is set during 2-axis linear intrpolation control, set
so the major axis side becomes the reference axis. If the minor axis side is set as
the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit
value".

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9.2.4 3-axis linear interpolation control

In "3-axis linear interpolation control" (" Da.2 Control system" = ABS linear 3, INC
linear 3), three motors are used to carry out position control in a linear path while
carrying out interpolation for the axis directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

[1] 3-axis linear interpolation control (ABS linear 3)

Operation chart
In the absolute system 3-axis linear control, using an address established by a
machine OPR in the 3-axis coordinate space, a linear interpolation positioning is
carried out from the current stop position (start point address) to the address (end
point address) set in the " Da.6 Positioning address/movement amount".

Forward direction
(Y axis) End point address (X2,Y2,Z2)
(Positioning address)
Movement by linear interpolation
of the X axis, Y axis and Z axis
Y axis movement amount
Forward direction (Z axis)
Za
xi s
mo Start point address (X1,Y1,Z1)
vem
en (Current stop position)
ta
mo
un X axis movement amount
t
Reverse direction Forward direction (X axis)

Reverse direction Reverse direction

Example
When the start point address (current stop positon) is (1000, 2000, 1000) and the end point address
(positioning address) is (4000, 8000, 4000), positioning is carried out as follows.
End point address
(positioning address)
Axis 2

8000
Axis 2 movement amount (8000-2000=6000)

Start point address

(current stop position)
Axis 3

4000 2000
Axis 3 movement amount
(4000-1000=3000)
1000 Axis 1
0 1000 4000

Axis 1 movement amount

(4000-1000=3000)

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Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning control.
• If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in " Pr.20 Interpolation speed designation method"
... The "Outside linear movement amount range error (error code: 504)" occurs
at a positioning start.
(The maximum movement amount that can be set in " Da.6 Positioning
30
address/movement amount" is "1073741824 (=2 )".)

Positioning data setting example

[Reference axis is designated as axis 1.]
The following table shows setting examples when "3-axis linear interpolation
control (ABS linear 3)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2 and axis 3.)
Axis Axis 1 Axis 2 Axis 3
(reference (interpolation (interpolation
Setting details
axis) setting axis) setting axis) setting
Setting item example example example
Positioning Set "Positioning complete" assuming the next
Da.1 Operation pattern – –
complete positioning data will not be executed.
Set absolute system 3-axis linear interpolation
Da.2 Control system ABS linear 3 – –
control.

Acceleration time Designate the value set in " Pr.25

Da.3 1 – – Acceleration time 1" as the acceleration time
No.
at start.

Deceleration time Designate the value set in " Pr.10

Axis 1 Positioning data No. 1

Da.4 0 – – Deceleration time 0" as the deceleration time

No.
at deceleration.
Setting not required (setting value will be
Axis to be ignored).
Da.5 – – –
interpolated When axis 1 is used as a reference axis, the
interpolation axes are axes 2 and 3.
Positioning address/ Set the end point address. (Assuming "mm" is
Da.6 µ 8000.0 µm 4000.0 µm
movement amount 4000.0 m set in " Pr.1 Unit setting".)
Setting not required (setting value will be
Da.7 Arc address – – –
ignored).
6000.00 Set the speed during movement to the end
Da.8 Command speed – –
mm/min point address.
Set the time the machine dwells after the
Da.9 Dwell time 500ms – – positioning stop (pulse output stop) to the
output of the positioning complete signal.
Set this when other sub operation commands
Da.10 M code 10 – – are issued in combination with the No. 1
positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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POINTS
• When the "reference axis speed" is set during 3-axis linear intrpolation control, set
so the major axis side becomes the reference axis. If the minor axis side is set as
the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit
value".
• Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.

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[2] 3-axis linear interpolation control (INC linear 3)

Operation chart
In the incremental system 3-axis linear interpolation control, using an address
established by a machine OPR in the 3-axis coordinate space, a linear
interpolation positioning is carried out from the current stop position (start point
address) to a position at the end of the movement amount set in the " Da.6
Positioning address/movement amount". The movement direction depends on the
sign (+ or -) of the movement amount.
Forward direction

Movement by linear interpolation

positioning of the X axis, Y axis and Z axis

Y2

Forward direction

Y axis movement amount

Z2
Z axis
movement amount

X2

Reverse direction Forward direction

Start point address (X1, Y1, Z1)
X axis movement (current stop position)
amount

Reverse direction

Reverse direction

Example
When the axis 1 movement amount is 10000, the axis 2 movement amount is 5000 and the axis
3 movement amount is 6000, positioning is carried out as follows.

Stop address after the positioning control

Axis 2

Axis 3

5000
Axis 2 movement amount
6000
Axis 3 movement (5000)
amount (6000) Start point address
(current stop position)

Axis 1
5000 10000

Axis 1 movement amount (10000)

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Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning
operation.
• If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in " Pr.20 Interpolation speed designation method"
... The "Outside linear movement amount range error (error code: 504)" occurs
at a positioning start.
(The maximum movement amount that can be set in " Da.6 Positioning
30
address/movement amount" is "1073741824 (=2 )".)

Positioning data setting example

[Reference axis is designated as axis 1.]
The following table shows setting examples when "3-axis linear interpolation
control (INC linear 3)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2 and axis 3.)
Axis Axis 1 Axis 2 Axis 3
(reference (interpolation (interpolation
Setting details
axis) setting axis) setting axis) setting
Setting item example example example
Positioning Set "Positioning complete" assuming the next
Da.1 Operation pattern – –
complete positioning data will not be executed.
Set incremental system 3-axis linear
Da.2 Control system INC linear 3 – –
interpolation control.

Acceleration time Designate the value set in " Pr.25

Da.3 1 – – Acceleration time 1" as the acceleration time
No.
at start.

Deceleration time Designate the value set in " Pr.10

Axis 1 Positioning data No. 1

Da.4 0 – – Deceleration time 0" as the deceleration time

No.
at deceleration.
Setting not required (setting value will be
Axis to be ignored).
Da.5 – – –
interpolated When axis 1 is used as a reference axis, the
interpolation axes are axes 2 and 3.
Positioning address/ Set the movement amount. (Assuming "mm"
Da.6 10000.0 µm 5000.0 µm 6000.0 µm
movement amount is set in " Pr.1 Unit setting".)
Setting not required (setting value will be
Da.7 Arc address – – –
ignored).
6000.00
Da.8 Command speed – – Set the speed during movement.
mm/min
Set the time the machine dwells after the
Da.9 Dwell time 500ms – – positioning stop (pulse output stop) to the
output of the positioning complete signal.
Set this when other sub operation commands
Da.10 M code 10 – – are issued in combination with the No. 1
positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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POINTS
(1) When the "reference axis speed" is set during 3-axis linear intrpolation control,
set so the major axis side becomes the reference axis. If the minor axis side is
set as the reference axis, the major axis side speed may exceed the " Pr.8
Speed limit value".
(2) Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.

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9.2.5 4-axis linear interpolation control

In "4-axis linear interpolation control" (" Da.2 Control system" = ABS linear 4, INC
linear 4), four motors are used to carry out position control in a linear path while
carrying out interpolation for the axis directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

[1] 4-axis linear interpolation control (ABS linear 4)

In the absolute system 4-axis linear control, using an address established by a
machine OPR in the 4-axis coordinate space, a linear interpolation positioning is
carried out from the current stop position (start point address) to the address (end
point address) set in the " Da.6 Positioning address/movement amount".

Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning control.
• If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in " Pr.20 Interpolation speed designation method"
... The "Outside linear movement amount range error (error code: 504)" occurs
at a positioning start.
(The maximum movement amount that can be set in " Da.6 Positioning
30
address/movement amount" is "1073741824 (=2 )".)

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Positioning data setting example

[Reference axis is designated as axis 1.]
The following table shows setting examples when "4-axis linear interpolation
control (ABS linear 4)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.)

Axis Axis 1 Axis 2 Axis 3 Axis 4

(reference (interpolation (interpolation (interpolation
Setting details
axis) setting axis) setting axis) setting axis) setting
Setting item example example example example
Set "Positioning complete"
Positioning
Da.1 Operation pattern – – – assuming the next positioning
complete
data will not be executed.
Set absolute system 4-axis
Da.2 Control system ABS linear 4 – – –
linear interpolation control.
Designate the value set in
Acceleration time
Da.3
No.
1 – – – " Pr.25 Acceleration time 1"
as the acceleration time at start.
Designate the value set in

Da.4
Deceleration time
0 – – – " Pr.10 Deceleration time 0"
No. as the deceleration time at
Axis 1 Positioning data No. 1

deceleration.
Setting not required (setting
value will be ignored).
Axis to be
Da.5 – – – – When axis 1 is used as a
interpolated
reference axis, the interpolation
axes are axes 2, 3 and 4.
Set the end point address.
Positioning address/ (Assuming "mm" is set in
Da.6 4000.0 µm 8000.0 µm 4000.0 µm 3000.0 µm
movement amount
" Pr.1 Unit setting".)
Setting not required (setting
Da.7 Arc address – – – –
value will be ignored).
6000.00 Set the speed during movement
Da.8 Command speed – – –
mm/min to the end point address.
Set the time the machine dwells
after the positioning stop (pulse
Da.9 Dwell time 500ms – – –
output stop) to the output of the
positioning complete signal.
Set this when other sub
operation commands are issued
Da.10 M code 10 – – –
in combination with the No. 1
positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINTS
• When the "reference axis speed" is set during 4-axis linear intrpolation control, set
so the major axis side becomes the reference axis. If the minor axis side is set as
the reference axis, the major axis side speed may exceed the " Pr.8 Speed limit
value".
• Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.

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[2] 4-axis linear interpolation control (INC linear 4)

Operation chart
In the incremental system 4-axis linear interpolation control, using an address
established by a machine OPR in the 4-axis coordinate plane, a linear interpolation
positioning is carried out from the current stop position (start point address) to a
position at the end of the movement amount set in the " Da.6 Positioning
address/movement amount". The movement direction depends on the sign (+ or -)
of the movement amount.

Restrictions
An error will occur and the positioning will not start in the following cases. The
machine will immediately stop if the error is detected during a positioning
operation.
• If the movement amount of each axis exceeds "1073741824 (=230)" when "0:
Composite speed" is set in " Pr.20 Interpolation speed designation method"
... The "Outside linear movement amount range error (error code: 504)" occurs
at a positioning start.
(The maximum movement amount that can be set in " Da.6 Positioning
30
address/movement amount" is "1073741824 (=2 )".)

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Positioning data setting example

[Reference axis is designated as axis 1.]
The following table shows setting examples when "4-axis linear interpolation
control (INC linear 4)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2, axis 3 and axis 4.)
Axis Axis 1 Axis 2 Axis 3 Axis 4
(reference (interpolation (interpolation (interpolation
Setting details
axis) setting axis) setting axis) setting axis) setting
Setting item example example example example
Set "Positioning complete"
Positioning
Da.1 Operation pattern – – – assuming the next positioning
complete
data will not be executed.
Set incremental system 4-axis
Da.2 Control system INC linear 4 – – –
linear interpolation control.
Designate the value set in
Acceleration time
Da.3 1 – – – " Pr.25 Acceleration time 1"
No.
as the acceleration time at start.
Designate the value set in
Deceleration time " Pr.10 Deceleration time 0"
Da.4 0 – – –
No. as the deceleration time at
Axis 1 Positioning data No. 1

deceleration.
Setting not required (setting
value will be ignored).
Axis to be
Da.5 – – – – When axis 1 is used as a
interpolated
reference axis, the interpolation
axes are axes 2, 3 and 4.
Set the movement amount.
Positioning address/
Da.6 4000.0 µm 8000.0 µm 4000.0 µm 3000.0 µm (Assuming "mm" is set in
movement amount
" Pr.1 Unit setting".)
Setting not required (setting
Da.7 Arc address – – – –
value will be ignored).
6000.00 Set the speed during
Da.8 Command speed – – –
mm/min movement.
Set the time the machine dwells
after the positioning stop (pulse
Da.9 Dwell time 500ms – – –
output stop) to the output of the
positioning complete signal.
Set this when other sub
operation commands are issued
Da.10 M code 10 – – –
in combination with the No. 1
positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINTS
(1) When the "reference axis speed" is set during 4-axis linear interpolation control,
set so the major axis side becomes the reference axis. If the minor axis side is
set as the reference axis, the major axis side speed may exceed the " Pr.8
Speed limit value".
(2) Refer to Section 9.1.6 "Interpolation control" for the reference axis and
interpolation axis combinations.

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9.2.6 1-axis fixed-feed control

In "1-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 1), one motor is
used to carry out fixed-feed control in a set axis direction.
In fixed-feed control, any remainder of the movement amount designated in the
positioning data is rounded down if less than that required for control accuracy to
output the same amount of pulses. (The remainder of the movement amount with an
accuracy below the control accuracy does not affect the regular controls.)

Operation chart
In 1-axis fixed-feed control, the address ( Md.20 Current feed value) of the current
stop position (start point address) is set to "0". Positioning is then carried out to a
position at the end of the movement amount set in " Da.6 Positioning
address/movement amount".
The movement direction is determined by the movement amount sign.

" Md. 20 Current feed

value" is set to "0" at
the positioning start
0 0 0 0 0

Positioning Designated movement

amount
start

Stop position

Reverse direction Forward direction

Movement direction for Movement direction for

a negative movement amount a positive movement amount

Restrictions
(1) An axis error "Continuous path control not possible (error code: 516)" will
occur and the operation cannot start if "continuous path control" is set in
" Da.1 Operation pattern". ("Continuous path control" cannot be set in fixed-
feed control.)
(2) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data
when "continuous path control" has been set in " Da.1 Operation pattern" of
the immediately prior positioning data. (For example, if the operation pattern of
positioning data No. 1 is "continuous path control", fixed-feed control cannot
be set in positioning data No. 2.) An axis error "Continuous path control not
possible (error code: 516)" will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.

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Positioning data setting example

The following table shows setting examples when "1-axis fixed-feed control (fixed-
feed 1)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Positioning Set "Positioning complete" assuming the next positioning data will not
Da.1 Operation pattern
complete be executed.
Da.2 Control system Fixed-feed 1 Set 1-axis fixed-feed control.
Acceleration time Designate the value set in " Pr.25 Acceleration time 1" as the
Da.3 1
No.
Axis 1 Positioning data No. 1

acceleration time at start.

Deceleration time Designate the value set in " Pr.10 Deceleration time 0" as the
Da.4 0
No. deceleration time at deceleration.
Axis to be
Da.5 – Setting not required (setting value will be ignored).
interpolated
Positioning address/ Set the positioning address. (Assuming "mm" is set in " Pr.1 Unit
Da.6
movement amount 8 0 0 0 . 0 µm
setting".)
Da.7 Arc address – Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/min Set the speed during movement to the positioning address.
Set the time the machine dwells after the positioning stop (pulse output
Da.9 Dwell time 500ms
stop) to the output of the positioning complete signal.
Set this when other sub operation commands are issued in
Da.10 M code 10
combination with the No. 1 positioning data.

* Refer to Section 5.3 "List of positioning data" for information on the setting details.

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9.2.7 2-axis fixed-feed control (interpolation)

In "2-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 2), two motors are
used to carry out fixed-feed control in a linear path while carrying out interpolation for
the axis directions set in each axis.
In fixed-feed control, any remainder of the movement amount designated in the
positioning data is rounded down if less than that required for control accuracy to
output the same amount of pulses. (The remainder of the movement amount with an
accuracy below the control accuracy does not affect the regular controls.)
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

Operation chart
In incremental system 2-axis fixed-feed control, the addresses ( Md.20 Current
feed value) of the current stop position (start addresses) of both axes are set to
"0". Linear interpolation positioning is then carried out from that position to a
position at the end of the movement amount set in " Da.6 Positioning
address/movement amount". The movement direction is determined by the sign of
the movement amount.
Y axis

" Md. 20 Current feed value" of each axis

is set to "0" at the positioning start

(0,0)

Designated movement
(0,0)
amount

(0,0)
X axis
Designated movement
amount

Restrictions
(1) An axis error "Continuous path control not possible (error code: 516)" will
occur and the operation cannot start if "continuous path control" is set in
" Da.1 Operation pattern". ("Continuous path control" cannot be set in fixed-
feed control.)
30
(2) If the movement amount of each axis exceeds "1073741824 (=2 )" when "0:
Composite speed" is set in " Pr.20 Interpolation speed designation method",
the "Outside linear movement amount range error (error code: 504)" occurs at
a positioning start and positioning cannot be started. (The maximum
movement amount that can be set in " Da.6 Positioning address/movement
30
amount" is "1073741824 (= 2 )".
(3) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data
when "continuous path control" has been set in " Da.1 Operation pattern" of
the immediately prior positioning data. (For example, if the operation pattern of
positioning data No. 1 is "continuous path control", fixed-feed control cannot
be set in positioning data No. 2.) An axis error "Continuous path control not
possible (error code: 516)" will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.

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Positioning data setting example

[Reference axis and interpolation axis are designated as axis 1 and axis 2,
respectively.]
The following table shows setting examples when "2-axis fixed-dimension feed
control (fixed-feed 2)" is set in positioning data No. 1 of axis 1. (The required
values are also set in positioning data No. 1 of axis 2.)
Axis Axis 1 Axis 2
(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
Da.2 Control method Fixed-feed 2 – Set 2-axis fixed-feed control.
Acceleration time Designate the value set in " Pr.25 Acceleration time 1" as
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.10 Deceleration time 0" as
Axis 1 Positioning data No. 1

Da.4 0 –
No. the deceleration time at deceleration.
Axis to be Set the axis to be interpolated (partner axis).
Da.5 1 –
interpolated If the self-axis is set, an error will occur.
Positioning address/ Set the positioning address. (Assuming "mm" is set in
Da.6 8000.0 µm 6000.0 µm
movement amount " Pr.1 Unit setting".)

Da.7 Arc address – – Setting not required (setting value will be ignored).
Set the speed during movement. (Designate the composite
6000.00
Da.8 Command speed – speed of reference axis speed in " Pr.20 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.9 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other sub operation commands are issued in
Da.10 M code 10 –
combination with the No. 1 positioning data.

* Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINT
• When the "reference axis speed" is set during 2-axis fixed-feed control, set so the major axis side
becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side
speed may exceed the " Pr.8 Speed limit value".

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9.2.8 3-axis fixed-feed control (interpolation)

In "3-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 3), three motors are
used to carry out fixed-feed control in a linear path while carrying out interpolation for
the axis directions set in each axis.
In fixed-feed control, any remainder of the movement amount designated in the
positioning data is rounded down if less than that required for control accuracy to
output the same amount of pulses. (The remainder of the movement amount with an
accuracy below the control accuracy does not affect the regular controls.)
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

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Operation chart
In incremental system 3-axis fixed-feed control, the addresses ( Md.20 Current
feed value) of the current stop position (start addresses) of every axes are set to
"0". Linear interpolation positioning is then carried out from that position to a
position at the end of the movement amount set in " Da.6 Positioning
address/movement amount". The movement direction is determined by the sign of
the movement amount.
Y axis

(0,0,0)

(0,0,0)

Z axis

Designated movement amount

Designated movement
amount (0,0,0)

X axis
" Md.20 Current feed value" of each axis
is set to "0" at the positioning start.
Designated movement
amount

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Restrictions
(1) An axis error "Continuous path control not possible (error code: 516)" will
occur and the operation cannot start if "continuous path control" is set in
" Da.1 Operation pattern". ("Continuous path control" cannot be set in fixed-
feed control.)
30
(2) If the movement amount of each axis exceeds "1073741824 (=2 )" when "0:
Composite speed" is set in " Pr.20 Interpolation speed designation method",
the "Outside linear movement amount range error (error code: 504)" occurs at
a positioning start and positioning cannot be started. (The maximum
movement amount that can be set in " Da.6 Positioning address/movement
30
amount" is "1073741824 (= 2 )".
(3) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data
when "continuous path control" has been set in " Da.1 Operation pattern" of
the immediately prior positioning data. (For example, if the operation pattern of
positioning data No. 1 is "continuous path control", fixed-feed control cannot
be set in positioning data No. 2.) An axis error "Continuous path control not
possible (error code: 516)" will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.

Positioning data setting example

[Reference axis is designated as axis 1.]
The following table shows setting examples when "3-axis fixed-feed control (fixed-
feed 3)" is set in positioning data No. 1 of axis 1. (The required values are also set
in positioning data No. 1 of axis 2 and axis 3.)

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Axis Axis 1 Axis 2 Axis 3

(reference (interpolation (interpolation
Setting details
axis) setting axis) setting axis) setting
Setting item example example example
Positioning Set "Positioning complete" assuming the next
Da.1 Operation pattern – –
complete positioning data will not be executed.
Da.2 Control method Fixed-feed 3 – – Set 3-axis fixed-feed control.
Designate the value set in " Pr.25
Acceleration time
Da.3 1 – – Acceleration time 1" as the acceleration time
No.
at start.
Designate the value set in " Pr.10
Deceleration time
Da.4 0 – –
Axis 1 Positioning data No. 1

No. Deceleration time 0" as the deceleration time

at deceleration.
Setting not required (setting value will be
Axis to be ignored).
Da.5 – – –
interpolated When axis 1 is used as a reference axis, the
interpolation axes are axes 2 and 3.
Positioning address/ Set the positioning address. (Assuming "mm"
Da.6 10000.0 µm 5000.0 µm 6000.0 µm
movement amount is set in " Pr.1 Unit setting".)

Setting not required (setting value will be

Da.7 Arc address – – –
ignored).
6000.00
Da.8 Command speed – – Set the speed during movement.
mm/min
Set the time the machine dwells after the
Da.9 Dwell time 500ms – – positioning stop (pulse output stop) to the
output of the positioning complete signal.
Set this when other sub operation commands
Da.10 M code 10 – – are issued in combination with the No. 1
positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINTS
(1) When the "reference axis speed" is set during 3-axis fixed-feed control, set so the major axis side
becomes the reference axis. If the minor axis side is set as the reference axis, the major axis side
speed may exceed the " Pr.8 Speed limit value".
(2)Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis
combinations.

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9.2.9 4-axis fixed-feed control (interpolation)

In "4-axis fixed-feed control" (" Da.2 Control system" = fixed-feed 4), four motors are
used to carry out fixed-feed control in a linear path while carrying out interpolation for
the axis directions set in each axis.
In fixed-feed control, any remainder of the movement amount designated in the
positioning data is rounded down if less than that required for control accuracy to
output the same amount of pulses. (The remainder of the movement amount with an
accuracy below the control accuracy does not affect the regular controls.)
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

Operation chart
In incremental system 4-axis fixed-feed control, the addresses ( Md.20 Current
feed value) of the current stop position (start addresses) of every axes are set to
"0". Linear interpolation positioning is then carried out from that position to a
position at the end of the movement amount set in " Da.6 Positioning
address/movement amount". The movement direction is determined by the sign of
the movement amount.

Restrictions
(1) An axis error "Continuous path control not possible (error code: 516)" will
occur and the operation cannot start if "continuous path control" is set in
" Da.1 Operation pattern". ("Continuous path control" cannot be set in fixed-
feed control.)
(2) "Fixed-feed" cannot be set in " Da.2 Control system" in the positioning data
when "continuous path control" has been set in " Da.1 Operation pattern" of
the immediately prior positioning data. (For example, if the operation pattern of
positioning data No. 1 is "continuous path control", fixed-feed control cannot
be set in positioning data No. 2.) An axis error "Continuous path control not
possible (error code: 516)" will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.

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Positioning data setting example

[Reference axis is designated as axis 1.]
The following table shows setting examples when "4-axis fixed-feed control (fixed-
feed 4)" is set in positioning data No. 1 of axis 1. (The required values are also set
in positioning data No. 1 of axis 2, axis 3 and axis 4.)
Axis Axis 1 Axis 2 Axis 3 Axis 4
(reference (interpolation (interpolation (interpolation
Setting details
axis) setting axis) setting axis) setting axis) setting
Setting item example example example example
Set "Positioning complete"
Positioning
Da.1 Operation pattern – – – assuming the next positioning
complete
data will not be executed.
Da.2 Control method Fixed-feed 4 – – – Set 4-axis fixed-feed control.
Designate the value set in
Acceleration time
Da.3 1 – – – " Pr.25 Acceleration time 1"
No.
as the acceleration time at start.
Designate the value set in
Deceleration time " Pr.10 Deceleration time 0"
Da.4 0 – – –
No. as the deceleration time at
Axis 1 Positioning data No. 1

deceleration.
Setting not required (setting
value will be ignored).
Axis to be
Da.5 – – – – When axis 1 is used as a
interpolated
reference axis, the interpolation
axes are axes 2, 3 and 4.
Set the positioning address.
Positioning address/
Da.6 4000.0 µm 8000.0 µm 4000.0 µm 3000.0 µm (Assuming "mm" is set in
movement amount
" Pr.1 Unit setting".)

Setting not required (setting

Da.7 Arc address – – – –
value will be ignored).
6000.00 Set the speed during
Da.8 Command speed – – –
mm/min movement.
Set the time the machine dwells
after the positioning stop (pulse
Da.9 Dwell time 500ms – – –
output stop) to the output of the
positioning complete signal.
Set this when other sub
operation commands are issued
Da.10 M code 10 – – –
in combination with the No. 1
positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINTS
(1) For 4-axis fixed-feed control, set the "reference axis speed" and make setting so that the major
axis side becomes the reference axis. If the minor axis side is set as the reference axis, the major
axis side speed may exceed the " Pr.8 Speed limit value".
(2)Refer to Section 9.1.6 "Interpolation control" for the reference axis and interpolation axis
combinations.

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9.2.10 2-axis circular interpolation control with sub point designation

In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular sub,
INC circular sub), two motors are used to carry out position control in an arc path
passing through designated sub points, while carrying out interpolation for the axis
directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on
interpolation control.)

[1] 2-axis circular interpolation control with sub point designation (ABS
circular sub)

Operation chart
In the absolute system, 2-axis circular interpolation control with sub point
designation, addresses established by a machine OPR on a 2-axis coordinate
plane are used. Positioning is carried out from the current stop position (start point
address) to the address (end point address) set in " Da.6 Positioning
address/movement amount", in an arc path that passes through the sub point
address set in " Da.7 Arc address".

The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of a straight line between the start point address (current
stop position) and sub point address (arc address), and a straight line between the
sub point address (arc address) and end point address (positioning address).

Forward direction

Movement by circular interpolation

Sub point address
(arc address) End point address
(positioning address)

Start point address Arc center point

(current stop position)
Reverse direction Forward direction

OP
Reverse direction

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Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "reference axis speed" is set in " Pr.20 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (=2 )". (The maximum radius for
29
which circular interpolation control is possible is "536870912 (=2 )"
... An error "Outside radius range" (error code: 544) will occur at positioning
start.
31
• When the center point address is outside the range of "–2147483648 (–2 ) to
31
2147483647 (2 –1)"
... A "Sub point setting error" (error code: 525) will occur at positioning start.
• When the start point address is the same as the end point address
... An "End point setting error" (error code: 526) will occur.
• When the start point address is the same as the sub point address
... A "Sub point setting error" (error code: 525) will occur.
• When the end point address is the same as the sub point address
... A "Sub point setting error" (error code: 525) will occur.
• When the start point address, sub point address, and end point address are in
a straight line
... A "Sub point setting error" (error code: 525) will occur.

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Positioning data setting example

[Reference axis and interpolation axis are designated as axis 1 and axis 2,
respectively.]
The following table shows setting examples when "2-axis circular interpolation
control with sub point designation (ABS circular sub)" is set in positioning data No.
1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.)

Axis Axis 1 Axis 2

(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
ABS circular Set absolute system, 2-axis circular interpolation control with
Da.2 Control system –
sub sub point designation.
Acceleration time Designate the value set in " Pr.25 Acceleration time 1" as
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.10 Deceleration time 0" as
Da.4 0 –
Axis 1 Positioning data No. 1

No. the deceleration time at deceleration.

Axis to be Set the axis to be interpolated (partner axis).
Da.5 1 –
interpolated If the self-axis is set, an error will occur.
Positioning address/ Set the positioning address. (Assuming "mm" is set in
Da.6 8000.0 µm 6000.0 µm
movement amount " Pr.1 Unit setting".)

Set the sub point address. (Assuming that the " Pr.1 Unit
Da.7 Arc address 4000.0 µm 3000.0 µm
setting" is set to "mm".)
Set the speed when moving to the end point address.
6000.00
Da.8 Command speed – (Designate the composite speed in " Pr.20 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.9 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other sub operation commands are issued in
Da.10 M code 10 –
combination with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINT
Set a value in " Da.8 Command speed" so that the speed of each axis does not
exceed the " Pr.8 Speed limit value". (The speed limit does not function for the
speed calculated by the QD75 during interpolation control.)

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[2] 2-axis circular interpolation control with sub point designation (INC
circular sub)

Operation chart
In the incremental system, 2-axis circular interpolation control with sub point
designation, positioning is carried out from the current stop position (start point
address) to a position at the end of the movement amount set in " Da.6
Positioning address/movement amount" in an arc path that passes through the sub
point address set in " Da.7 Arc address". The movement direction depends on
the sign (+ or -) of the movement amount.
The resulting control path is an arc having as its center the intersection point of
perpendicular bisectors of the straight line between the start point address (current
stop position) and sub point address (arc address) calculated from the movement
amount to the sub point, and a straight line between the sub point address (arc
address) and end point address (positioning address) calculated from the
movement amount to the end point.
Forward direction
Sub point address
Movement by circular interpolation
(arc address)

Movement amount Start point

Movement amount
address
to sub point to the end point

Arc center
Reverse direction Forward direction
Movement
amount to the
sub point

Movement amount to the end point

Reverse direction

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Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "reference axis speed" is set in " Pr.20 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (=2 )". (The maximum radius for
29
which circular interpolation control is possible is "536870912 (=2 )"
... An error "Outside radius range" (error code: 544) will occur at positioning
start.
• When the auxiliary point address is outside the range of -2147483648 (–231)
31
to 2147483647 (2 –1).
... An error 525 will occur.
• When the end point address is outside the range of -2147483648 (–231) to
31
2147483647 (2 –1).
... An error 526 will occur.
• When the auxiliary point address, center point address is outside the range of
31 31
"–2147483648 (–2 ) to 2147483647 (2 –1)"
... A "Sub point setting error" (error code: 525) will occur at positioning start.
• When the start point address is the same as the end point address
... An "End point setting error" (error code: 526) will occur.
• When the start point address is the same as the sub point address
... A "Sub point setting error" (error code: 525) will occur.
• When the end point address is the same as the sub point address
... A "Sub point setting error" (error code: 525) will occur.
• When the start point address, sub point address, and end point address are in
a straight line
... A "Sub point setting error" (error code: 525) will occur.

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Positioning data setting example

[Reference axis and interpolation axis are designated as axis 1 and axis 2,
respectively.]
The following table shows setting examples when "2-axis circular interpolation
control with sub point designation (INC circular sub)" is set in positioning data No.
1 of axis 1. (The required values are also set in positioning data No. 1 of axis 2.)

Axis Axis 1 Axis 2

(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
INC circular Set incremental system, 2-axis circular interpolation control
Da.2 Control system –
sub with sub point designation.
Acceleration time Designate the value set in " Pr.25 Acceleration time 1" as
Da.3 1 –
No. the acceleration time at start.
Deceleration time Designate the value set in " Pr.10 Deceleration time 0" as
Da.4 0 –
Axis 1 Positioning data No. 1

No. the deceleration time at deceleration.

Axis to be Set the axis to be interpolated (partner axis).
Da.5 1 –
interpolated If the self-axis is set, an error will occur.
Positioning address/ Set the movement amount. (Assuming that the " Pr.1 Unit
Da.6 8000.0 µm 6000.0 µm
movement amount setting" is set to "mm".)
Set the sub point address. (Assuming that the " Pr.1 Unit
Da.7 Arc address 4000.0 µm 3000.0 µm
setting" is set to "mm".)
Set the speed during movement. (Designate the composite
6000.00
Da.8 Command speed – speed in " Pr.20 Interpolation speed designation
mm/min
method".)
Set the time the machine dwells after the positioning stop
Da.9 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other sub operation commands are issued in
Da.10 M code 10 –
combination with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINT
Set a value in " Da.8 Command speed" so that the speed of each axis does not
exceed the " Pr.8 Speed limit value". (The speed limit does not function for the
speed calculated by the QD75 during interpolation control.)

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9.2.11 2-axis circular interpolation control with center point designation

In "2-axis circular interpolation control" (" Da.2 Control system" = ABS circular right,
INC circular right, ABS circular left, INC circular left), two motors are used to carry out
position control in an arc path having a designated center point, while carrying out
interpolation for the axis directions set in each axis.
(Refer to Section 9.1.6 "Interpolation control" for details on interpolation control.)

The following table shows the rotation directions, arc center angles that can be
controlled, and positioning paths for the different control systems.
Arc center angle that
Control system Rotation direction Positioning path
can be controlled

Positioning path

ABS circular right

Clockwise Start point End point

(current stop 0° < < 360° (positioning address)
position)
INC circular right
Center point

0° < θ ≤ 360°
Center point

ABS circular left

0°< < 360°

Counterclockwise
Start point End point
(current stop (positioning address)
INC circular left position)
Positioning path

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Circular interpolation error compensation

In circular interpolation control with center point designation, the arc path
calculated from the start point address and arc address may deviate from the
position of the end point address set in " Da.6 Positioning address/movement
amount".
(Refer to " Pr.41 Allowable circular interpolation error width".)

(1) Calculated error < " Pr.41 Allowable circular interpolation error width"
Circular interpolation control to the set end point address is carried out while
the error compensation is carried out. (This is called "spiral interpolation".)

Path using spiral interpolation Error

Calculated end point

address
End point address

Start point address Center point address

In circular interpolation control with center point designation, an angular

velocity is calculated on the assumption that operation is carried out at a
command speed on the arc using the radius calculated from the start point
address and center point address, and the radius is compensated in proportion
to the angular velocity deviated from that at the start point.
Thus, when there is a difference (error) between a radius calculated from the
start point address and center point address (start point radius) and a radius
calculated from the end point address and center point address (end point
radius), the composite speed differs from the command speed as follows.

Start point radius > End point radius: As compared with the speed without
error, the speed becomes slower as
end point address is reached.
Start point radius < End point radius: As compared with the speed without
error, the speed becomes faster as
end point address is reached.

(2) Calculated error > " Pr.41 Allowable circular interpolation error width"
At the positioning start, an error "Large arc error deviation" (error code: 506)
will occur and the control will not start. The machine will immediately stop if the
error is detected during positioning control.

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[1] 2-axis circular interpolation control with center point designation

(ABS circular right, ABS circular left)

Operation chart
In the absolute system, 2-axis circular interpolation control with center point
designation, addresses established by a machine OPR on a 2-axis coordinate
plane are used. Positioning is carried out from the current stop position (start point
address) to the address (end point address) set in " Da.6 Positioning
address/movement amount", in an arc path having as its center the address (arc
address) of the center point set in " Da.7 Arc address".

Forward direction Movement by circular interpolation

Start point address

End point address
(current stop position)
(positioning address)

Radius

Reverse direction Forward direction

Arc address
Reverse direction

Positioning of a complete round with a radius from the start point address to the
arc center point can be carried out by setting the end point address (positioning
address) to the same address as the start point address.

Forward direction

Arc center point (Arc address)

Start point address End point address
=
(current stop position) (positioning address)

Reverese direction Forward direction

Reverese direction

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In circular interpolation control with center point designation, an angular velocity is

calculated on the assumption that operation is carried out at a command speed on
the arc using the radius calculated from the start point address and center point
address, and the radius is compensated in proportion to the angular velocity
deviated from that at the start point.
Thus, when there is a difference (error) between a radius calculated from the start
point address and center point address (start point radius) and a radius calculated
from the end point address and center point address (end point radius), the
composite speed differs from the command speed as follows.

Start point radius > End point radius: As compared with the speed without error,
the speed becomes slower as end point
address is reached.
Start point radius < End point radius: As compared with the speed without error,
the speed becomes faster as end point
address is reached.

Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "reference axis speed" is set in " Pr.20 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (=2 )". (The maximum radius for
29
which circular interpolation control is possible is "536870912 (=2 )"
... An error "Outside radius range " (error code: 544) will occur at
positioning start.
• When the start point address is the same as the center point address
... A "Center point setting error" (error code: 527) will occur.
• When the end point address is the same as the center point address
... A "Center point setting error" (error code: 527) will occur.
• When the center point address is outside the range of -231 to 231-1
... A "Center point setting error" (error code: 527) will occur.

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Positioning data setting examples

[Reference axis and interpolation axis are designated as axis 1 and axis 2,
respectively.]
The following table shows setting examples when "2-axis circular interpolation
control with center point designation (ABS right arc, ABS left arc)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning
data No. 1 of axis 2.)

Axis Axis 1 Axis 2

(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
ABS circular
Set absolute system, 2-axis circular interpolation control with
right
Da.2 Control system – center point designation. (Select clockwise or
ABS circular
counterclockwise according to the control.)
left
Acceleration time Designate the value set in " Pr.25 Acceleration time 1" as
Da.3 1 –
No. the acceleration time at start.
Axis 1 Positioning data No. 1

Deceleration time Designate the value set in " Pr.10 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Axis to be Set the axis to be interpolated (partner axis).
Da.5 1 –
interpolated If the self-axis is set, an error will occur.
Positioning address/ Set the positioning address. (Assuming "mm" is set in
Da.6 8000.0 µm 6000.0 µm
movement amount " Pr.1 Unit setting".)

Set the arc address. (Assuming that the " Pr.1 Unit
Da.7 Arc address 4000.0 µm 3000.0 µm
setting" is set to "mm".)
Set the speed when moving to the end point address.
6000.00
Da.8 Command speed – (Designate the composite speed in " Pr.20 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.9 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other sub operation commands are issued in
Da.10 M code 10 –
combination with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINT
Set a value in " Da.8 Command speed" so that the speed of each axis does not
exceed the " Pr.8 Speed limit value". (The speed limit does not function for the
speed calculated by the QD75 during interpolation control.)

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[2] 2-axis circular interpolation control with center point designation

(INC circular right, INC circular left)

Operation chart
In the incremental system, 2-axis circular interpolation control with center point
designation, addresses established by a machine OPR on a 2-axis coordinate
plane are used. Positioning is carried out from the current stop position (start point
address) to a position at the end of the movement amount set in " Da.6
Positioning address/movement amount", in an arc path having as its center the
address (arc address) of the center point set in " Da.7 Arc address".

Forward direction
Start point address Movement by circular interpolation
(Current stop position)

Movement amount
to the end point

Radius

Reverse
direction Forward direction
Arc center point

Reverse (Arc address)

direction Movement amount to the end point

Positioning of a complete round with a radius of the distance from the start point
address to the arc center point can be carried out by setting the movement amount
to "0".

Forward direction

Arc center point (Arc address)

Movement amount = 0

Reverese direction Forward direction

Reverese direction

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In circular interpolation control with center point designation, an angular velocity is

calculated on the assumption that operation is carried out at a command speed on
the arc using the radius calculated from the start point address and center point
address, and the radius is compensated in proportion to the angular velocity
deviated from that at the start point.
Thus, when there is a difference (error) between a radius calculated from the start
point address and center point address (start point radius) and a radius calculated
from the end point address and center point address (end point radius), the
composite speed differs from the command speed as follows.

Start point radius > End point radius: As compared with the speed without error,
the speed becomes slower as end point
address is reached.
Start point radius < End point radius: As compared with the speed without error,
the speed becomes faster as end point
address is reached.

Restrictions
(1) 2-axis circular interpolation control cannot be set in the following cases.
• When "degree" is set in " Pr.1 Unit setting"
• When the units set in " Pr.1 Unit setting" are different for the reference axis
and interpolation axis. ("mm" and "inch" combinations are possible.)
• When "reference axis speed" is set in " Pr.20 Interpolation speed
designation method"
(2) An error will occur and the positioning start will not be possible in the following
cases. The machine will immediately stop if the error is detected during
positioning control.
29
• When the radius exceeds "536870912 (=2 )". (The maximum radius for
29
which circular interpolation control is possible is "536870912 (=2 )"
... An error "Outside radius range" (error code: 544) will occur at positioning
start.
• When the end point address is outside the range of -231 to 231-1
... An "End point setting error" (error code: 526) will occur.
• When the start point address is the same as the center point address
... A "Center point setting error" (error code: 527) will occur.
• When the end point address is the same as the center point address
... A "Center point setting error" (error code: 527) will occur.
• When the center point address is outside the range of -231 to 231-1
... A "Center point setting error" (error code: 527) will occur.

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Positioning data setting examples

[Reference axis and interpolation axis are designated as axis 1 and axis 2,
respectively.]
The following table shows setting examples when "2-axis circular interpolation
control with center point designation (INC circular right, INC circular left)" is set in
positioning data No. 1 of axis 1. (The required values are also set in positioning
data No. 1 of axis 2.)

Axis Axis 1 Axis 2

(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example
Positioning Set "Positioning complete" assuming the next positioning
Da.1 Operation pattern –
complete data will not be executed.
INC circular
Set incremental system, 2-axis circular interpolation control
right
Da.2 Control system – with center point designation. (Select clockwise or
INC circular
counterclockwise according to the control.)
left
Acceleration time Designate the value set in " Pr.25 Acceleration time 1" as
Da.3 1 –
No. the acceleration time at start.
Axis 1 Positioning data No. 1

Deceleration time Designate the value set in " Pr.10 Deceleration time 0" as
Da.4 0 –
No. the deceleration time at deceleration.
Axis to be Set the axis to be interpolated (partner axis).
Da.5 1 –
interpolated If the self-axis is set, an error will occur.
Positioning address/ Set the movement amount. (Assuming that the " Pr.1 Unit
Da.6 µ 6000.0 µm
movement amount 8000.0 m setting" is set to "mm".)
Set the center point address. (Assuming that the " Pr.1
Da.7 Arc address 4000.0 µm 3000.0 µm
Unit setting" is set to "mm".)
Set the speed when moving to the end point address.
6000.00
Da.8 Command speed – (Designate the composite speed in " Pr.20 Interpolation
mm/min
speed designation method".)
Set the time the machine dwells after the positioning stop
Da.9 Dwell time 500ms – (pulse output stop) to the output of the positioning complete
signal.
Set this when other sub operation commands are issued in
Da.10 M code 10 –
combination with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

POINT
Set a value in " Da.8 Command speed" so that the speed of each axis does not
exceed the " Pr.8 Speed limit value". (The speed limit does not function for the
speed calculated by the QD75 during interpolation control.)

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9.2.12 1-axis speed control

In "1-axis speed control" (" Da.2 Control system" = Forward run: speed 1, Reverse
run: speed 1), control is carried out in the axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in " Da.8 Command
speed" until the input of a stop command.
The two types of 1-axis speed control are "Forward run: speed 1" in which the control
starts in the forward run direction, and "Reverse run: speed 1" in which control starts in
the reverse run direction.

Operation chart
The following chart shows the operation timing for 1-axis speed control with axis 1
as the reference axis.
The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control.
The "Positioning complete signal" is not turned ON.

Da. 8 Command speed

ON
OFF
Positioning start signal
[Y10]
ON
OFF
BUSY signal
[XC]
Does not turn ON even
when control is stopped
by stop command.
OFF
Positioning complete signal
[X14]
ON
Axis stop signal OFF
(stop command) [Y4]

ON
In speed control flag
Md.31 Status:b0 OFF

Fig.9.9 1-axis speed control operation timing

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Current feed value during 1-axis speed control

The following table shows the " Md.20 Current feed value" during 1-axis speed
control corresponding to the " Pr.21 Current feed value during speed control"
settings.

" Pr.21 Current feed value during speed Md.20 Current feed value
control" setting
The current feed value at speed control start
0: Do not update current feed value
is maintained.
1: Update current feed value The current feed value is updated.
2: Zero clear current feed value The current feed value is fixed at 0.

Speed In speed control Speed In speed control Speed In speed control

t t t

Current feed value during speed control start is maintained Current feed value is updated 0

(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared

Restrictions
(1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible (error code: 516)" will occur and the
operation cannot start if "continuous positioning control" or "continuous path
control" is set in " Da.1 Operation pattern".
("Continuous positioning control" and "continuous path control" cannot be set
in speed control.)
(2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using
an M code. The M code will not be output, and the M code ON signal will not
turn ON if the AFTER mode is set.
(3) An error "No command speed" (error code: 503) will occur if the current speed
(-1) is set in " Da.8 command speed".
(4) The software stroke limit check will not carried out if the control unit is set to
"degree".

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Positioning data setting examples

The following table shows the setting examples when "1-axis speed control
(forward run: speed 1)" is set in the positioning data No. 1 of axis 1.

Setting item Setting example Setting details

Da.1 Operation pattern Positioning Setting other than "Positioning complete" is not possible in speed
complete control.
Forward run
Da.2 Control system Set 1-axis speed control.
speed 1

Da.3 Acceleration time 1 Designate the value set in " Pr.25 Acceleration time 1" as the
No. acceleration time at start.
Axis 1 Positioning data No. 1

Da.4 Deceleration time 0 Designate the value set in " Pr.10 Deceleration time 0" as the
No. deceleration time at deceleration.
Axis to be
Da.5 – Setting not required (setting value will be ignored).
interpolated
Positioning address/
Da.6 – Setting not required (setting value will be ignored).
movement amount
Da.7 Arc address – Setting not required (setting value will be ignored).
Da.8 Command speed 6000.00mm/min Set the speed to be commanded.

Da.9 Dwell time – Setting not required (setting value will be ignored).
Set this when other sub operation commands are issued in combination
Da.10 M code 10 with the No. 1 positioning data. (" Pr.18 M code ON signal output
timing" setting only possible in the WITH mode.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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9.2.13 2-axis speed control

In "2-axis speed control" (" Da.2 Control system" = Forward run: speed 2, Reverse
run: speed 2), control is carried out in the 2-axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in " Da.8 Command
speed" until the input of a stop command.
The two types of 2-axis speed control are "Forward run: speed 2" in which the control
starts in the forward run direction, and "Reverse run: speed 2" in which control starts in
the reverse run direction.
(Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis
with the interpolation axis.)

Operation chart
The following chart shows the operation timing for 2-axis (axes 1 and 2) speed
control with axis 1 as the reference axis. The "in speed control" flag
( Md.31 Status: b0) is turned ON during speed control.
The "positioning complete signal" is not turned ON.

Interpolation axis (axis 2)

Da. 8 Command speed

V
Referense axis (axis1)
Da. 8 Command speed

ON

OFF
Positioning start signal
[Y10]

ON

OFF
BUSY signal
[XC,XD]
Does not turn ON even
when control is stopped
by stop command.
OFF
Positioning complete signal
[X14,X15]
ON

OFF
Axis stop signal (stop command)
(Either Y4 or Y5)

ON
In speed control flag
OFF
Md.31 Status: b0

Fig. 9.10 2-axis speed control operation timing

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Current feed value during 2-axis speed control

The following table shows the " Md.20 Current feed value" during 2-axis speed
control corresponding to the " Pr.21 Current feed value during speed control"
settings. (Note that the reference axis setting values are used for parameters.)

" Pr.21 Current feed value during speed Md.20 Current feed value
control" setting
The current feed value at speed control start
0: Do not update current feed value
is maintained.
1: Update current feed value The current feed value is updated.
2: Zero clear current feed value The current feed value is fixed at 0.

Speed In speed control Speed In speed control Speed In speed control

t t t

Current feed value during speed control start is maintained Current feed value is updated 0

(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared

Restrictions
(1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible (error code: 516)" will occur and the
operation cannot start if "continuous positioning control" or "continuous path
control" is set.
("Continuous positioning control" and "continuous path control" cannot be set
in speed control.)
(2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using
an M code. The M code will not be output, and the M code ON signal will not
turn ON if the AFTER mode is set.
(3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation
method". An "Interpolation mode error (error code: 523)" will occur and the
operation cannot start if a composite speed is set.
(4) When either of two axes exceeds the speed limit, that axis is controlled with
the speed limit value. The speeds of the other axes are limited at the ratios of
" Da.8 Command speed".
(Examples)
Axis
Axis 1 setting Axis 2 setting
Setting item
Pr.8 Speed limit value 4000.00mm/min 5000.00mm/min

Da.8 Command speed 8000.00mm/min 6000.00mm/min

With the settings shown above, the operation speed in speed control is as
follows.
Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ).
Axis 2: 3000.00 mm/min (Speed is limited at an ratio of an axis 1 command
speed to an axis 2 command speed).
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(5) An error "No command speed" (error code: 503) occurs if a current speed (-1)
is set in " Da.8 Command speed".
(6) The software stroke limit check is not carried out when the control unit is set to
"degree".

Positioning data setting examples

[Setting examples when the reference axis and interpolation axis are designated
as axes 1 and 2, respectively.]
The following table shows the setting examples when "2-axis speed control
(forward run: speed 2)" is set in the positioning data No. 1 of axis 1 (reference
axis).

Axis Axis 1 Axis 2

(reference (interpolation
Setting details
axis) setting axis) setting
Setting item example example

Da.1 Operation pattern Positioning Setting other than "Positioning complete" is not possible in
–
complete speed control.
Forward run
Da.2 Control system – Set 2-axis speed control.
speed 2

Da.3
Acceleration time
1 – Designate the value set in " Pr.25 Acceleration time 1" as
No. the acceleration time at start.
Axis 1 Positioning data No. 1

Da.4
Deceleration time
0 – Designate the value set in " Pr.10 Deceleration time 0" as
No. the deceleration time at deceleration.
Set the axis to be interpolated (partner axis).
Da.5 Axis to be 1 –
interpolated If the self-axis is set, an error will occur.
Positioning address/
Da.6 – – Setting not required (setting value will be ignored).
movement amount
Da.7 Arc address – – Setting not required (setting value will be ignored).
6000.00 3000.00
Da.8 Command speed Set the speed to be commanded.
mm/min mm/min
Da.9 Dwell time – – Setting not required (setting value will be ignored).
Set this when other sub operation commands are issued in
combination with the No. 1 positioning data. (" Pr.18 M
Da.10 M code 10 –
code ON signal output timing" setting only possible in the
WITH mode.)
Refer to Section 5.3 "List of positioning data" for information on the setting details.

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9.2.14 3-axis speed control

In "3-axis speed control" (" Da.2 Control system" = Forward run: speed 3, Reverse
run: speed 3), control is carried out in the 3-axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in " Da.8 Command
speed" until the input of a stop command.
The two types of 3-axis speed control are "Forward run: speed 3" in which the control
starts in the forward run direction, and "Reverse run: speed 3" in which control starts in
the reverse run direction.
(Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis
with the interpolation axes.)

Operation chart
The following chart shows the operation timing for 3-axis (axes 1, 2, and 3) speed
control with axis 1 as the reference axis.
The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control.
The "positioning complete signal" is not turned ON.

Interpolation axis (axis 3)

Da. 8 Command speed
t
V

Interpolation axis (axis 2)

Da. 8 Command speed
t
V
Referense axis (axis 1)
Da. 8 Command speed

ON

OFF
Positioning start signal
[Y10]

ON

OFF
BUSY signal
[XC,XD,XE] Does not turn ON even
when control is stopped
by stop command.
OFF
Positioning complete signal
[X14,X15,X16]

ON
Axis stop signal
OFF
(stop command)
(Either Y4,Y5 or Y6)

ON
In speed control flag
OFF
Md.31 Status: b0

Fig. 9.11 3-axis speed control operation timing

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Current feed value during 3-axis speed control

The following table shows the " Md.20 Current feed value" during 3-axis speed
control corresponding to the " Pr.21 Current feed value during speed control"
settings. (Note that the reference axis setting values are used for parameters.)

" Pr.21 Current feed value during speed Md.20 Current feed value
control" setting
The current feed value at speed control start
0: Do not update current feed value
is maintained.
1: Update current feed value The current feed value is updated.
2: Zero clear current feed value The current feed value is fixed at 0.

Speed In speed control Speed In speed control Speed In speed control

t t t

Current feed value during speed control start is maintained Current feed value is updated 0

(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared

Restrictions
(1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible (error code: 516)" will occur and the
operation cannot start if "continuous positioning control" or "continuous path
control" is set. ("Continuous positioning control" and "continuous path control"
cannot be set in speed control.)
(2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using
an M code. The M code will not be output, and the M code ON signal will not
turn ON if the AFTER mode is set.
(3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation
method". An "Interpolation mode error (error code: 523)" will occur and the
operation cannot start if a composite speed is set.

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(4) When either of three axes exceeds the speed limit, that axis is controlled with
the speed limit value. The speeds of the other axes are limited at the ratios of
" Da.8 Command speed".
(Examples)
Axis
Axis 1 setting Axis 2 setting Axis 3 setting
Setting item

Pr.8 Speed limit

4000.00mm/min 5000.00mm/min 6000.00mm/min
value

Da.8 Command
8000.00mm/min 6000.00mm/min 4000.00mm/min
speed
With the settings shown above, the operation speed in speed control is as
follows.
Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ).
Axis 2: 3000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3
command speeds).
Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, and 3
command speeds).
(5) An error "No command speed" (error code: 503) will occur if a current speed
(-1) is set in " Da.8 Command speed".
(6) The software stroke limit check is not carried out when the control unit is set to
"degree".

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Positioning data setting examples

The following table shows the setting examples when "3-axis speed control
(forward run: speed 3)" is set in the positioning data No. 1 of axis 1 (reference
axis).

Axis Axis 1 Axis 2 Axis 3

(reference (interpolation (interpolation
Setting details
axis) setting axis) setting axis) setting
Setting item example example example

Da.1 Operation pattern Positioning Setting other than "Positioning complete" is

– –
complete not possible in speed control.
Forward run
Da.2 Control system – – Set 3-axis speed control.
speed 3

Designate the value set in " Pr.25

Da.3 Acceleration time 1 – –
No. Acceleration time 1" as the acceleration time
at start.

Designate the value set in " Pr.10

Da.4 Deceleration time 0 – –
Axis 1 Positioning data No. 1

No. Deceleration time 0" as the deceleration time

at deceleration.
Setting not required (setting value will be
ignored).
Da.5 Axis to be – – –
interpolated When axis 1 is used as a reference axis, the
interpolation axes are axes 2 and 3.
Positioning address/ Setting not required (setting value will be
Da.6 – – –
movement amount ignored).
Setting not required (setting value will be
Da.7 Arc address – – –
ignored).
6000.00 3000.00 2000.00
Da.8 Command speed Set the speed to be commanded.
mm/min mm/min mm/min
Setting not required (setting value will be
Da.9 Dwell time – – –
ignored).
Set this when other sub operation commands
are issued in combination with the No. 1
Da.10 M code 10 – – positioning data. (" Pr.18 M code ON signal
output timing" setting only possible in the
WITH mode.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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9.2.15 4-axis speed control

In "4-axis speed control" (" Da.2 Control system" = Forward run: speed 4, Reverse
run: speed 4), control is carried out in the 4-axis direction in which the positioning data
has been set by continuously outputting pulses for the speed set in " Da.8 Command
speed" until the input of a stop command.
The two types of 4-axis speed control are "Forward run: speed 4" in which the control
starts in the forward run direction, and "Reverse run: speed 4" in which control starts in
the reverse run direction.
(Refer to Section 9.1.6 "Interpolation control" for the combination of the reference axis
with the interpolation axes.)

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Operation chart
The following chart shows the operation timing for 4-axis speed control with axis 1
as the reference axis.
The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control.
The "positioning complete signal" is not turned ON.
V

Interpolation axis (axis 4)

Da. 8 Command speed
t

Interpolation axis (axis 3)

Da. 8 Command speed
t

Interpolation axis (axis 2)

Da. 8 Command speed

Referense axis (axis 1)

Da. 8 Command speed

ON

OFF
Positioning start signal
[Y10]

ON

OFF
BUSY signal
[XC,XD,XE,XF]
Does not turn ON even
when control is stopped
by stop command.
OFF
Positioning complete signal
[X14,X15,X16,X17]

ON

Axis stop signal (stop command) OFF

(Either Y4,Y5,Y6 or Y7)

ON
In speed control flag
OFF
Md.31 Status: b0

Fig. 9.12 4-axis speed control operation timing

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Current feed value during 4-axis speed control

The following table shows the " Md.20 Current feed value" during 4-axis speed
control corresponding to the " Pr.21 Current feed value during speed control"
settings. (Note that the reference axis setting values are used for parameters.)

" Pr.21 Current feed value during speed Md.20 Current feed value
control" setting
The current feed value at speed control start
0: Do not update current feed value
is maintained.
1: Update current feed value The current feed value is updated.
2: Zero clear current feed value The current feed value is fixed at 0.

Speed In speed control Speed In speed control Speed In speed control

t t t

Current feed value during speed control start is maintained Current feed value is updated 0

(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared

Restrictions
(1) Set "Positioning complete" in " Da.1 Operation pattern". An axis error
"Continuous path control not possible (error code: 516)" will occur and the
operation cannot start if "continuous positioning control" or "continuous path
control" is set. ("Continuous positioning control" and "continuous path control"
cannot be set in speed control.)
(2) Set the WITH mode in " Pr.18 M code ON signal output timing" when using
an M code. The M code will not be output, and the M code ON signal will not
turn ON if the AFTER mode is set.
(3) Set the "reference axis speed" in " Pr.20 Interpolation speed designation
method". An "Interpolation mode error (error code: 523)" will occur and the
operation cannot start if a composite speed is set.

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(4) When either of four axes exceeds the speed limit, that axis is controlled with
the speed limit value. The speeds of the other axes are limited at the ratios of
" Da.8 Command speed".
(Examples)
Axis
Axis 1 Axis 2 Axis 3 Axis 4
setting setting setting setting
Setting item

Pr.8 Speed limit 4000.00mm/ 5000.00mm/ 6000.00mm/ 8000.00mm/

value min min min min

Da.8 Command 8000.00mm/ 6000.00mm/ 4000.00mm/ 1500.00mm/

speed min min min min
With the settings shown above, the operation speed in speed control is as
follows.
Axis 1: 4000.00 mm/min (Speed is limited by Pr.8 ).
Axis 2: 3000.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4
command speeds).
Axis 3: 2000.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4
command speeds).
Axis 4: 750.00 mm/min (Speed is limited at ratios in axes 1, 2, 3 and 4
command speeds).
(5) An error "No command speed" (error code: 503) will occur if a current speed
(-1) is set in " Da.8 Command speed".
(6) The software stroke limit check is not carried out when the control unit is set to
"degree".

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Positioning data setting examples

The following table shows the setting examples when "4-axis speed control
(forward run: speed 4)" is set in the positioning data No. 1 of axis 1 (reference
axis).

Axis Axis 1 Axis 2 Axis 3 Axis 4

(reference (interpolation (interpolation (interpolation
Setting details
axis) setting axis) setting axis) setting axis) setting
Setting item example example example example
Setting other than "Positioning
Da.1 Operation pattern Positioning
– – – complete" is not possible in
complete
speed control.
Forward run
Da.2 Control system – – – Set 4-axis speed control.
speed 4
Designate the value set in
Da.3 Acceleration time 1 – – – " Pr.25 Acceleration time 1"
No.
as the acceleration time at start.
Designate the value set in

Da.4 Deceleration time 0 – – – " Pr.10 Deceleration time 0"

No. as the deceleration time at
Axis 1 Positioning data No. 1

deceleration.
Setting not required (setting
value will be ignored).
Da.5 Axis to be – – – – When axis 1 is used as a
interpolated
reference axis, the interpolation
axes are axes 2, 3 and 4.
Positioning address/ Setting not required (setting
Da.6 – – – –
movement amount value will be ignored).
Setting not required (setting
Da.7 Arc address – – – –
value will be ignored).
6000.00 3000.00 2000.00 1000.00 Set the speed to be
Da.8 Command speed
mm/min mm/min mm/min mm/min commanded.
Setting not required (setting
Da.9 Dwell time – – – –
value will be ignored).
Set this when other sub
operation commands are issued
in combination with the No. 1
Da.10 M code 10 – – – positioning data. (" Pr.18 M
code ON signal output timing"
setting only possible in the
WITH mode.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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9.2.16 Speed-position switching control (INC mode)

In "speed-position switching control (INC mode)" (" Da.2 Control system" = Forward
run: speed/position, Reverse run: speed/position), the pulses of the speed set in
" Da.8 Command speed" are kept output on the axial direction set to the positioning
data. When the "speed-position switching signal" is input, position control of the
movement amount set in " Da.6 Positioning address/movement amount" is exercised.

"Speed-position switching control (INC mode)" is available in two different types:

"forward run: speed/position" which starts the axis in the forward run direction and
"reverse run: speed/position" which starts the axis in the reverse run direction.

Use the detailed parameter 1 " Pr.150 Speed-position function selection" with regard to
the choice for "speed-position switching control (INC mode)".

Setting Buffer memory address

Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
Speed-
position Speed-position switching control
Pr.150 0 34 184 334 484
function (INC mode)
selection
If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the
INC mode.
For details of the setting, refer to Section 5.2 "List of parameters".

Switching over from speed control to position control

(1) The control is switched over from speed control to position control by the
external signal "speed-position switching signal".
(2) Besides setting the positioning data, the " Cd.24 Speed-position switching
enable flag" must also be turned ON to switch over from speed control to
position control. (If the " Cd.24 Speed-position switching enable flag" turns
ON after the speed-position switching signal turns ON, the control will continue
as speed control without switching over to position control. Only position
control will be carried out when the " Cd.24 Speed-position switching enable
flag" and speed-position switching signal are ON at the operation start.)

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Operation chart
The following chart (Fig.9.13) shows the operation timing for speed-position
switching control (INC mode). The "in speed control flag" ( Md.31 Status: b0) is
turned ON during speed control of speed-position switching control (INC mode).

Da. 8 Command speed

Movement amount set in " Da. 6
Positioning address/movement
amount"

Speed control Position control Dwell time

ON
OFF
Positioning start signal
[Y10,Y11,Y12,Y13]
ON
OFF
BUSY signal
[XC,XD,XE,XF]
ON
OFF
Positioning complete signal
[X14,X15,X16,X17]

ON
OFF
Speed-position switching signal

ON
OFF
Cd. 24 Speed-position
switching enable flag
ON

In speed control flag OFF

Md. 31 Status: b0

Fig. 9.13 Speed-position switching control (INC mode) operation timing

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[Operation example]

The following operation assumes that the speed-position switching signal is input at the position of the
current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run:
speed/position" at " Pr.1 Unit setting" of "2: degree" and " Pr.21 Current feed value during speed
control" setting of "1: Update current feed value".
(The value set in " Da.6 Positioning address/movement amount" is 270.00000 [degree])

Speed-position 0.00000
0.00000
switching signal ON

90.00000
90.00000
90.00000+270.00000
=360.00000
=Stop at 0.00000 [degree]

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Operation timing and processing time during speed-position switching

control (INC mode)

Positioning start
signal [Y10,Y11,Y12,Y13]

BUSY signal
[XC,XD,XE,XF]
t1

M code ON signal
[X4,X5,X6,X7](WITH mode)
t2
Cd.7 M code OFF request

Start complete signal

[X10,X11,X12,X13]
t3
Md.26 Axis operation status Standing by In speed control In position control Standing by

t4
Output pulse to external source
(PULSE)
Speed Position
control control

Positioning operation

Speed control carried out until speed-position switching

External speed-position
switching command signal turns ON
Position control movement amount is from the input position of
the external speed-position switching signal
t6
Cd. 23 Speed-position switching
control movement amount
change register
t5

Positioning complete signal

[X14,X15,X16,X17] t7
M code ON signal (AFTER mode)
[X4,X5,X6,X7]
t2
Cd.7 M code OFF request

OPR complete flag

Md.31 Status: b4

Fig. 9.14 Operation timing and processing time during speed-position switching control (INC mode)

Normal timing time Unit: ms

t1 t2 t3 t4 t5 t6 t7
1.1 0 to 1.8 0 to 1.8 2.7 to 4.4 0 to 1.8 1.0 Follows parameters

• The t1 timing time could be delayed by the operation state of other axes.

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Current feed value during speed-position switching control (INC mode)

The following table shows the " Md.20 Current feed value" during speed-position
switching control (INC mode) corresponding to the " Pr.21 Current feed value
during speed control" settings.

" Pr.21 Current feed value during Md.20 Current feed value
speed control" setting
The current feed value at control start is maintained during
0: Do not update current feed value speed control, and updated from the switching to position
control.
The current feed value is updated during speed control
1: Update current feed value
and position control.
The current feed value is cleared (set to "0") at control
2: Zero clear current feed value
start, and updated from the switching to position control.

Speed Speed control Position control Speed Speed control Position control Speed Speed control Position control

t t t

Maintained Updated Updated 0 Updated from 0

(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared

Switching time from speed control to position control

There is 1ms from the time the speed-position switching signal is turned ON to the
time the speed-position switching latch flag ( Md.31 Status: b1) turns ON.

ON

Speed-position switching signal OFF

ON
Speed-position switching latch flag OFF

1ms

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Speed-position switching signal setting

The following table shows the items that must be set to use the external command
signals (CHG) as speed-position switching signals.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
External
Set the "2: speed-position and
Pr.42 command
2 position-speed switching 62 212 362 512
function
requests".
selection
External
Cd.8 Set "1: Validate external
command 1 1505 1605 1705 1805
command".
valid
Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the
setting details.

Changing the position control movement amount

In "speed-position switching control (INC mode)", the position control movement
amount can be changed during the speed control section.
(1) The position control movement amount can be changed during the speed
control section of speed-position switching control (INC mode).
A movement amount change request will be ignored unless issued during the
speed control section of the speed-position switching control (INC mode).
(2) The "new movement amount" is stored in " Cd.23 Speed-position switching
control movement amount change register" by the sequence program during
speed control.
When the speed-position switching signal is turned ON, the movement amount
for position control is stored in " Cd.23 Speed-position switching control
movement amount change register".
(3) The movement amount is stored in the " Md.29 Speed-position switching
control positioning amount" of the axis monitor area from the point where the
control changes to position control by the input of a speed-position switching
signal from an external source.
Speed control Position control

Speed-position switching control (INC mode) start Position control start

Movement amount
change possible

ON
Speed-position switching signal OFF
Setting after the speed-position
switching signal ON is ignored

Cd.23 Speed-position switching control, 0 P2 P3

movement amount change register

P2 becomes the position control movement amount

Speed-position switching latch flag ON

Md.31 Status : b1
OFF

Fig. 9.15 Position control movement amount change timing

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POINT
• The machine recognizes the presence of a movement amount change request when the data is
written to " Cd.23 Speed-position switching control movement amount change register" with the
sequence program.
• The new movement amount is validated after execution of the speed-position switching control (INC
mode), before the input of the speed-position switching signal.
• The movement amount change can be enable/disable with the interlock function in position control
using the “speed-position switching latch flag” ( Md.31 Status : b1) of the axis monitor area.

Restrictions
(1) An axis error (error code: 516) will occur and the operation cannot start if
"continuous positioning control" or "continuous path control" is set in " Da.1
Operation pattern".
(2) "Speed-position switching control" cannot be set in " Da.2 Control system" of
the positioning data when "continuous path control" has been set in " Da.1
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"speed-position switching control" cannot be set in positioning data No. 2.) An
axis error (error code: 516) will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.
(3) An error (error code: 503) will occur if "current speed (-1)" is set in " Da.8
command speed".
(4) The software stroke limit range check during speed control is made only when
the following (a) and (b) are satisfied:
(a) " Pr.21 Current feed value during speed control" is "1: Update current feed
value".
If the movement amount exceeds the software stroke limit range during
speed control in case of the setting of other than "1: Update current feed
value", an error (error code: 507 or 508) will occur as soon as speed control
is changed to position control and the axis will decelerate to a stop.
(b) When " Pr.1 Unit setting" is other than "2: degree"
If the unit is "degree", the software stroke limit range check is not performed.
(5) If the value set in " Da.6 Positioning address/movement amount" is negative,
an error (error code: 530) will occur.
(6) Deceleration processing is carried out from the point where the speed-position
switching signal is input if the position control movement amount set in
" Da.6 Positioning address/movement amount" is smaller than the
deceleration distance from the " Da.8 Command speed".
(7) Turn ON the speed-position switching signal in the speed stabilization region
(constant speed status). A warning (warning code: 508) will occur because of
large deviation in the droop pulse amount if the signal is turned ON during
acceleration.
During use of the servomotor, the actual movement amount after switching of
speed control to position control is the "preset movement amount + droop
pulse amount". If the signal is turned ON during acceleration/deceleration, the
stop position will vary due to large variation of the droop pulse amount. Even
though " Md.29 Speed-position switching control positioning amount" is the
same, the stop position will change due to a change in droop pulse amount
when " Da.8 Command speed" is different.

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Positioning data setting examples

The following table shows setting examples when "speed-position switching
control (INC mode) by forward run" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Set "Positioning complete" assuming the next positioning data will not
Da.1 Operation pattern Positioning
be executed. ("Continuous path control" cannot be set in "speed-
complete
position switching control (INC mode)".)
Forward run:
Da.2 Control system Set speed-position switching control by forward run.
speed/position
Designate the value set in " Pr.25 Acceleration time 1" as the
Da.3 Acceleration time No. 1
acceleration time at start.
Axis 1 Positioning data No. 1

Designate the value set in " Pr.10 Deceleration time 0" as the
Da.4 Deceleration time 0
No. deceleration time at deceleration.
Axis to be
Da.5 – Setting not required. (Setting value is ignored.)
interpolated
INC mode ( Pr.150 = 0)
Da.6 Positioning address/ 10000.0μm Set the movement amount after the switching to position control.
movement amount
(Assuming that the " Pr.1 Unit setting" is set to "mm".)

Da.7 Arc address – Setting not required. (Setting value is ignored.)

Da.8 Command speed 6000.00mm/min Set the speed to be controlled.
Set a time from the positioning stop (pulse output stop) by position
Da.9 Dwell time 500ms control until the positioning complete signal is output. When the
system is stopped by speed control, ignore the setting value.
Set this when other sub operation commands are issued in
Da.10 M code 10
combination with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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9.2.17 Speed-position switching control (ABS mode)

In case of "speed-position switching control (ABS mode)" (" Da.2 Control system" =
Forward run: speed/position, Reverse run: speed/position), the pulses of the speed set
in " Da.8 Command speed" are kept output in the axial direction set to the positioning
data. When the "speed-position switching signal" is input, position control to the
address set in " Da.6 Positioning address/movement amount" is exercised.

"Speed-position switching control (ABS mode)" is available in two different types:

"forward run: speed/position" which starts the axis in the forward run direction and
"reverse run: speed/position" which starts the axis in the reverse run direction.

"Speed-position switching control (ABS mode)" is valid only when " Pr.1 Unit setting"
is "2: degree".

Pr.1 Unit setting

mm inch degree pulse

Speed-position
function selection
INC mode
ABS mode

: Setting allowed,
: Setting disallowed (If setting is made, an error (error code: 935) will occur when the PLC
READY signal (Y0) turns ON.)

Use the detailed parameter 1 " Pr.150 Speed-position function selection" to choose
"speed-position switching control (ABS mode)".

Setting Buffer memory address

Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
Speed-
position Speed-position switching control
Pr.150 2 34 184 334 484
function (ABS mode)
selection

If the set value is other than 0 and 2, it is regarded as 0 and operation is performed in the INC
mode.
For details of the setting, refer to Section 5.2 "List of parameters".

Switching over from speed control to position control

(1) The control is switched over from speed control to position control by the
external signal "speed-position switching signal".
(2) Besides setting the positioning data, the " Cd.24 Speed-position switching
enable flag" must also be turned ON to switch over from speed control to
position control. (If the " Cd.24 Speed-position switching enable flag" turns
ON after the speed-position switching signal turns ON, the control will continue
as speed control without switching over to position control. Only position
control will be carried out when the " Cd.24 Speed-position switching enable
flag" and speed-position switching signal are ON at the operation start.)

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Operation chart
The following chart (Fig.9.16) shows the operation timing for speed-position
switching control (ABS mode). The "in speed control flag" ( Md.31 Status: b0) is
turned ON during speed control of speed-position switching control (ABS mode).

Da. 8 Command speed

Address set in " Da. 6
Positioning address/movement
amount"

Speed control Position control Dwell time

ON
OFF
Positioning start signal
[Y10,Y11,Y12,Y13]
ON
OFF
BUSY signal
[XC,XD,XE,XF]
ON
OFF
Positioning complete signal
[X14,X15,X16,X17]

ON
OFF
Speed-position switching signal

ON
OFF
Cd. 24 Speed-position
switching enable flag
ON

In speed control flag OFF

Md. 31 Status: b0

Fig. 9.16 Speed-position switching control (ABS mode) operation timing

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[Operation example]
The following operation assumes that the speed-position switching signal is input at the position of the
current feed value of 90.00000 [degree] during execution of " Da.2 Control system" "Forward run:
speed/position" at " Pr.1 Unit setting" of "2: degree" and " Pr.21 Current feed value during speed
control" setting of "1: Update current feed value".
(The value set in " Da.6 Positioning address/movement amount" is 270.00000 [degree])

Speed-position
0.00000 0.00000
switching signal ON

270.00000 90.00000
90.00000
Stop at 270.00000 [degree]

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Operation timing and processing time during speed-position switching

control (ABS mode)

Positioning start
signal [Y10,Y11,Y12,Y13]

BUSY signal
[XC,XD,XE,XF]
t1

M code ON signal
[X4,X5,X6,X7](WITH mode)
t2
Cd.7 M code OFF request

Start complete signal

[X10,X11,X12,X13]
t3
Md.26 Axis operation status Standing by In speed control In position control Standing by

t4
Output pulse to external source
(PULSE)
Speed Position
control control

Positioning operation

Speed control carried out until speed-position switching

External speed-position
switching command signal turns ON

t6 t5

Positioning complete signal

[X14,X15,X16,X17] t7
M code ON signal (AFTER mode)
[X4,X5,X6,X7]
t2
Cd.7 M code OFF request

OPR complete flag

Md.31 Status: b4

Fig. 9.17 Operation timing and processing time during speed-position switching control (ABS mode)

Normal timing time Unit: ms

t1 t2 t3 t4 t5 t6 t7
1.1 0 to 1.8 0 to 1.8 2.7 to 4.4 0 to 1.8 1.0 Follows parameters

• The t1 timing time could be delayed by the operation state of other axes.

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Current feed value during speed-position switching control (ABS mode)

The following table shows the " Md.20 Current feed value" during speed-position
switching control (ABS mode) corresponding to the " Pr.21 Current feed value
during speed control" settings.

" Pr.21 Current feed value during Md.20 Current feed value
speed control" setting
The current feed value is updated during speed control
1: Update current feed value
and position control.

Only "1: Update current value" is valid for the setting of " Pr.21 Current feed value
during speed control" in speed-position switching control (ABS mode).
An error (error code: 935) will occur if the " Pr.21 Current feed value during
speed control" setting is other than 1.

Speed Speed control Position control

Updated

Current feed value updated

Switching time from speed control to position control

There is 1ms from the time the speed-position switching signal is turned ON to the
time the speed-position switching latch flag ( Md.31 Status: b1) turns ON.

ON

Speed-position switching signal OFF

ON
Speed-position switching latch flag OFF

1ms

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Speed-position switching signal setting

The following table shows the items that must be set to use the external command
signals (CHG) as speed-position switching signals.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
External
Set the "2: speed-position and
Pr.42 command
2 position-speed switching 62 212 362 512
function
requests".
selection
External
Cd.8 Set "1: Validate external
command 1 1505 1605 1705 1805
command".
valid
Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the
setting details.

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Restrictions
(1) An axis error (error code: 516) will occur and the operation cannot start if
"continuous positioning control" or "continuous path control" is set in " Da.1
Operation pattern".
(2) "Speed-position switching control" cannot be set in " Da.2 Control system" of
the positioning data when "continuous path control" has been set in " Da.1
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"speed-position switching control" cannot be set in positioning data No. 2.) An
axis error (error code: 516) will occur and the machine will carry out a
deceleration stop if this type of setting is carried out.
(3) An error (error code: 503) will occur if "current speed (-1)" is set in " Da.8
command speed".
(4) If the value set in " Da.6 Positioning address/movement amount" is negative,
an error (error code: 530) will occur.
(5) Even though the axis control data " Cd.23 Speed-position switching control
movement amount change register" was set in speed-position switching
control (ABS mode), it would not function. The set value is ignored.
(6) To exercise speed-position switching control (ABS mode), the following
conditions must be satisfied:
(a) " Pr.1 Unit setting" is "2: degree"
(b) The software stroke limit function is invalid (upper limit value = lower limit
value)
(c) " Pr.21 Current feed value during speed control" is "1: Update current
feed value"
(d) The " Da.6 Positioning address/movement amount" setting range is 0 to
359.99999 (degree)
If the value is outside of the range 0 to 359.99999 (degree), an error (error
code: 530) will occur at a start.
(e) The " Pr.150 Speed-position function selection" setting is "2: Speed-
position switching control (ABS mode)".
(7) If any of the conditions in (6)(a) to (6)(c) is not satisfied in the case of (6)(e), an
error (error code: 935) will occur when the PLC READY signal [Y0] turns from
OFF to ON.
(8) If the axis reaches the positioning address midway through deceleration after
automatic deceleration started at the input of the speed-position switching
signal, the axis will not stop immediately at the positioning address. The axis
will stop at the positioning address after N revolutions so that automatic
deceleration can always be made. (N: Natural number)
In this case, make the movement amount after speed-position switching signal
input within 21474.83647 (degree). If the movement amount exceeds
21474.83647 (degree), make the movement amount smaller by reducing the
command speed or shortening the deceleration time, for example.
In the following example, since making deceleration in the path of dotted line
will cause the axis to exceed the positioning addresses twice, the axis will
decelerate to a stop at the third positioning address.
Speed-position switching signal

360 added 360 added

positioning address positioning address positioning address

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Positioning data setting examples

The following table shows setting examples when "speed-position switching
control (ABS mode) by forward run" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Set "Positioning complete" assuming the next positioning data will not
Da.1 Operation pattern Positioning
be executed. ("Continuous path control" cannot be set in "speed-
complete
position switching control (ABS mode)".)
Forward run:
Da.2 Control system Set speed-position switching control by forward run.
speed/position
Designate the value set in " Pr.25 Acceleration time 1" as the
Da.3 Acceleration time No. 1
acceleration time at start.
Axis 1 Positioning data No. 1

Designate the value set in " Pr.10 Deceleration time 0" as the
Da.4 Deceleration time No. 0
deceleration time at deceleration.
Axis to be
Da.5 – Setting not required. (Setting value is ignored.)
interpolated
ABS mode ( Pr.150 = 2)
Positioning address/ 270.00000 Set the address after the switching to position control. (Assuming that
Da.6
movement amount degree
the " Pr.1 Unit setting" is set to "mm".)

Da.7 Arc address – Setting not required. (Setting value is ignored.)

Da.8 Command speed 6000.00mm/min Set the speed to be controlled.
Set a time from the positioning stop (pulse output stop) by position
Da.9 Dwell time 500ms control until the positioning complete signal is output. When the
system is stopped by speed control, ignore the setting value.
Set this when other sub operation commands are issued in
Da.10 M code 10
combination with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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9.2.18 Position-speed switching control

In "position-speed switching control" (" Da.2 Control system" = Forward run:

position/speed, Reverse run: position/speed), before the position-speed switching
signal is input, position control is carried out for the movement amount set in
" Da.6 Positioning address/movement amount" in the axis direction in which the
positioning data has been set. When the position-speed switching signal is input, the
position control is carried out by continuously outputting the pulses for the speed set in
" Da.8 command speed" until the input of a stop command.
The two types of position-speed switching control are "Forward run: position/speed" in
which the control starts in the forward run direction, and "Reverse run: position/speed"
in which control starts in the reverse run direction.

Switching over from position control to speed control

(1) The control is switched over from position control to speed control by the
external signal "position-speed switching signal".
(2) Besides setting the positioning data, the " Cd.26 Position-speed switching
enable flag" must also be turned ON to switch over from position control to
speed control. (If the " Cd.26 Position-speed switching enable flag" turns ON
after the position-speed switching signal turns ON, the control will continue as
position control without switching over to speed control. Only speed control will
be carried out when the " Cd.26 Position-speed switching enable flag" and
position-speed switching signal are ON at the operation start.)

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Operation chart
The following chart shows the operation timing for position-speed switching
control.
The "in speed control" flag ( Md.31 Status: b0) is turned ON during speed control
of position-speed switching control.

Da. 8 Command speed

Position Speed control

control

ON

Positioning start signal OFF

[Y10,Y11,Y12,Y13]
ON
OFF
BUSY signal
[XC,XD,XE,XF]
Does not turn ON even
when control is stopped
OFF by stop command.
Positioning complete signal
[X14,X15,X16,X17]
ON
OFF
Position-speed
switching signal
ON
Cd.26 Position-speed switching OFF
enable flag ON
OFF
Stop command
ON
In speed control flag OFF
Md.31 Status: b0

Fig. 9.18 Position-speed switching control operation timing

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Operation timing and processing time during position-speed switching

control

Positioning start signal

[Y10,Y11,Y12,Y13]

BUSY signal [XC,XD,XE,XF]

t1

M code ON signal
[X4,X5,X6,X7](WITH mode)
t2
Cd. 7 M code OFF request

Start complete signal [X10,X11,X12,X13]

t3
Md.26 Axis operation status Standing by In position control In speed control Standing by

t4
Output pulse to an external source
(PULSE)
Position Speed
control control

Positioning operation

Position control carried out until position-speed switching

External position-speed switching signal turns ON.
command
Speed control command speed is from the input position of
the external position-speed switching signal.
t6
Cd.25 Position-speed switching
control speed change register

Positioning complete signal

[X14,X15,X16,X17]

M code ON signal [X4,X5,X6,X7]

(AFTER mode)
t2
Cd. 7 M code OFF request

OPR complete flag

Md.31 Status: b4

Stop signal
[STOP]

Fig. 9.19 Operation timing and processing time during position-speed switching control

Normal timing time Unit: ms

t1 t2 t3 t4 t5 t6
1.0 to 1.4 0 to 1.8 0 to 1.8 2.7 to 4.4 - 1.0

• The t1 timing time could be delayed by the operation state of other axes.

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Current feed value during position-speed switching control

The following table shows the " Md.20 Current feed value" during position-speed
switching control corresponding to the " Pr.21 Current feed value during speed
control" settings.

" Pr.21 Current feed value during Md.20 Current feed value
speed control" setting
The current feed value is updated during position control,
and the current feed value at the time of switching is
0: Do not update current feed value
maintained as soon as position control is switched to
speed control.
The current feed value is updated during position control
1: Update current feed value
and speed control.
The current feed value is updated from 0 at a control start,
2: Zero clear current feed value and the current feed value is cleared (to "0") as soon as
position control is switched to speed control.

Speed Position control Speed control Speed Position control Speed control Speed Position control Speed control

t t t

Updated Maintained Updated Updated from 0 0

(a) Current feed value not updated (b) Current feed value updated (c) Current feed value zero cleared

Switching time from position control to speed control

There is 1ms from the time the position-speed switching signal is turned ON to the
time the position-speed switching latch flag ( Md.31 Status: b5) turns ON.

ON

Position-speed switching signal OFF

ON
Position-speed switching latch flag OFF

1ms

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Position-speed switching signal setting

The following table shows the items that must be set to use the external command
signals (CHG) as position-speed switching signals.
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
External
Set the "2: speed-position and
Pr.42 command
2 position-speed switching 62 212 362 512
function
requests".
selection
External
Cd.8 Set "1: Validate external
command 1 1505 1605 1705 1805
command".
valid
Refer to Section 5.2 "List of parameters" and Section 5.7 "List of control data" for information on the
setting details.

Changing the speed control command speed

In "position-speed switching control", the speed control command speed can be
changed during the position control.
(1) The speed control command speed can be changed during the position control
of position-speed switching control.
A command speed change request will be ignored unless issued during the
position control of the position-speed switching control.
(2) The "new command speed" is stored in " Cd.25 Position-speed switching
control speed change register" by the sequence program during position
control.
This value then becomes the speed control command speed when the
position-speed switching signal turns ON.
Position Speed
control control

Position-speed switching control start Position control start

Speed change
enable

ON
Position-speed switching OFF
signal
Setting after the position-speed
switching signal ON is ignored.
Cd.25 Position-speed
switching control 0 V2 V3
speed change register

V2 becomes the speed control command speed.

ON
Position-speed switching
OFF
latch flag
Md.31 Status: b5
ON

OFF
Stop signal

Fig. 9.20 Speed control speed change timing

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POINTS
• The machine recognizes the presence of a command speed change request when the data is
written to " Cd.25 Position-speed switching control speed change register" with the sequence
program.
• The new command speed is validated after execution of the position-speed switching control before
the input of the position-speed switching signal.
• The command speed change can be enabled/disabled with the interlock function in speed control
using the "position-speed switching latch flag" ( Md.31 Status: b5) of the axis monitor area.

Restrictions
(1) An axis error (error code: 516) will occur and the operation cannot start if
"continuous positioning control" or "continuous path control" is set in
" Da.1 Operation pattern".
(2) "Position-speed switching control" cannot be set in " Da.2 Control system" of
the positioning data when "continuous path control" has been set in
" Da.1 Operation pattern" of the immediately prior positioning data. (For
example, if the operation pattern of positioning data No. 1 is "continuous path
control", "position-speed switching control" cannot be set in positioning data
No. 2.) An axis error (error code: 516) will occur and the machine will carry
out a deceleration stop if this type of setting is carried out.
(3) The software stroke limit range is only checked during speed control if the "1:
Update current feed value" is set in " Pr.21 Current feed value during speed
control".
The software stroke limit range is not checked when the control unit is set to
"degree".
(4) An error (error code: 507 or 508) will occur and the operation cannot start if
the start point address or end point address for position control exceeds the
software stroke limit range.
(5) Deceleration stop will be carried out if the position-speed switching signal is
not input before the machine is moved by a specified movement amount.
When the position-speed switching signal is input during automatic
deceleration by positioning control, acceleration is carried out again to the
command speed to continue speed control.
When the position-speed switching signal is input during deceleration to a stop
with the stop signal, the control is switched to the speed control to stop the
machine.
Restart is carried out by speed control using the restart command.
(6) A warning (warning code: 501) will occur and control is continued by
" Pr.8 Speed limit value" if a new speed exceeds " Pr.8 Speed limit value" at
the time of change of the command speed.
(7) If the value set in " Da.6 Positioning address/movement amount" is negative,
an error (error code: 530) will occur.

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Positioning data setting examples

The following table shows setting examples when "position-speed switching
control (forward run: position/speed)" is set in positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Set "Positioning complete" assuming the next positioning data will not
Positioning
Da.1 Operation pattern be executed. ("Continuous positioning control" and "Continuous path
complete
control" cannot be set in "position/speed changeover control".)
Forward run:
Da.2 Control system Set position-speed switching control.
position/speed
Designate the value set in " Pr.25 Acceleration time 1" as the
Da.3 Acceleration time No. 1
acceleration time at start.
Axis 1 Positioning data No. 1

Designate the value set in " Pr.10 Deceleration time 0" as the
Da.4 Deceleration time No. 0
deceleration time at deceleration.
Axis to be
Da.5 – Setting not required. (Setting value is ignored.)
interpolated
Set the movement amount at the time of position control before the
Positioning address/
Da.6
movement amount 10000.0µm switching to speed control. (Assuming that the " Pr.1 Unit setting" is
set to "mm".)
Da.7 Arc address – Setting not required. (Setting value is ignored.)
Da.8 Command speed 6000.00mm/min Set the speed to be controlled.
Set the time the machine dwells after the positioning stop (pulse
output stop) by position control to the output of the positioning
Da.9 Dwell time 500ms
complete signal. If the machine is stopped by speed control, the
setting value will be ignored.
Set this when other sub operation commands are issued in
Da.10 M code 10
combination with the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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9.2.19 Current value changing

When the current value is changed to a new value, control is carried out in which the
" Md.20 Current feed value" of the stopped axis is changed to a random address set
by the user. (The " Md.21 Machine feed value" is not changed when the current value
is changed.)

The two methods for changing the current value are shown below.
[1] Changing to a new current value using the positioning data
[2] Changing to a new current value using the start No. (No. 9003) for a current
value changing
The current value changing using method [1] is used during continuous positioning of
multiple blocks, etc.

[1] Changing to a new current value using the positioning data

Operation chart
The following chart shows the operation timing for a current value changing. The
" Md.20 Current feed value" is changed to the value set in " Da.6 Positioning
address/movement amount" when the positioning start signal turns ON.
ON
Positioning start signal OFF
[Y10,Y11,Y12,Y13]

Md.20 Current feed value 50000 0

Current feed value changes to the

positioning address designated by the
positioning data of the current value changing.
The above chart shows an example
when the positioning address is "0".

Restrictions
(1) An axis error "New current value not possible (error code: 515)" will occur and
the operation cannot start if "continuous path control" is set in " Da.1
Operation pattern". ("Continuous path control" cannot be set in current value
changing.)
(2) "Current value changing" cannot be set in " Da.2 Control system" of the
positioning data when "continuous path control" has been set in " Da.1
Operation pattern" of the immediately prior positioning data. (For example, if
the operation pattern of positioning data No. 1 is "continuous path control",
"current value changing" cannot be set in positioning data No. 2.) An axis error
"New current value not possible (error code: 515)" will occur and the machine
will carry out a deceleration stop if this type of setting is carried out.
(3) An axis error "Outside new current value range (error code: 514)" will occur
and the operation cannot start if "degree" is set in " Pr.1 Unit setting" and the
value set in " Da.6 Positioning address/movement amount" is outside the
setting range (0 to 359.99999 [degree]).

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(4) If the value set in " Da.6 Positioning address/movement amount" is outside
the software stroke limit ( Pr.12 , Pr.13 ) setting range, an error "Software
stroke limit +, – (error code: 507 or 508)" will occur at the positioning start, and
the operation will not start.
(5) An error (error code: 507 or 508) will occur if the new current value is outside
the software stroke limit range.

Positioning data setting examples

The following table shows the setting examples when " current value changing" is
set in the positioning data No. 1 of axis 1.

Setting item Setting example Setting details

Set "Positioning complete" assuming that
Operation the next positioning data will be executed.
Da.1 Positioning complete
pattern ("Continuous path control" cannot be set by
current value change.)
Control
Da.2 Current value changing Set the current value changing.
system
Acceleration Setting not required (Setting value is
Da.3 –
time No. ignored.)
Deceleration Setting not required (Setting value is
Da.4 –
time No. ignored.)
Axis to be Setting not required (Setting value is
Da.5 –
Axis 1 interpolated ignored.)
positioning Positioning
Set the address to which address change is
data No. 1 address/ desired. (Assuming that the " Pr.1 Unit
Da.6 10000.0 m
movement
setting" is set to "mm".)
amount
Setting not required (Setting value is
Da.7 Arc address –
ignored.)
Command Setting not required (Setting value is
Da.8 –
speed ignored.)
Setting not required (Setting value is
Da.9 Dwell time –
ignored.)
Set this when other sub operation
Da.10 M code 10 commands are issued in combination with
the No. 1 positioning data.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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[2] Changing to a new current value using the start No. (No. 9003) for
a current value changing

Operation chart
The current value is changed by setting the new current value in the current value
changing buffer memory " Cd.9 Current value changing", setting "9003" in the
" Cd.3 Positioning start No.", and turning ON the positioning start signal.

ON
Positioning start signal OFF
[Y10,Y11,Y12,Y13]

Md.20 Current feed value 50000 0

Current value changes to the

positioning address designated by
the current value changing buffer memory.
The above chart shows an example
when the positioning address is "0".

Restrictions
(1) An axis error "Outside new current value range (error code: 514)" will occur if
the designated value is outside the setting range when "degree" is set in "Unit
setting".
(2) An error "Software stroke limit +, (error code: 507 or 508)" will occur if the
designated value is outside the software stroke limit range.
(3) The current value cannot be changed during stop commands and while the M
code ON signal is ON.
(4) The M code output function is made invalid.

Current value changing procedure

The following shows the procedure for changing the current value to a new value.

1) Write the current value to " Cd. 9 Current value changing"

2) Write "9003" in " Cd. 3 Positioning start No."

3) Turn ON the positioning start signal.

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Setting method for the current value changing function

The following shows an example of a sequence program and data setting to
change the current value to a new value with the positioning start signal. (The
" Md.20 Current feed value is changed to "5000.0 µm" in the example shown.)

(1) Set the following data.

(Set with the sequence program shown in (3), while referring to the start time
chart shown in (2).)
Setting Buffer memory address
Setting item Setting details
value Axis 1 Axis 2 Axis 3 Axis 4
Cd.3 Positioning start No. 9003 Set the start No. "9003" for the new current value. 1500 1600 1700 1800

Set the new " Md.20 Current feed value". 1506 1606 1706 1806
Cd.9 Current value changing 50000
1507 1607 1707 1807

Refer to Section 5.7 "List of control data" for details on the setting details.

(2) The following shows a start time chart.

Start of data No. 9003

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]
Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

Md.20 Current feed value Address during positioning execution 50000

Cd.3 Positioning start No. Data No. during positioning execution 9003

Cd.9 Current value changing 50000

Fig. 9.21 Changing to a new current value using the start No. (No. 9003) for a current value changing

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(3) Add the following sequence program to the control program, and write it to the
PLC CPU.
á
—
Example

Current value changing

Store new current feed value in D106 and D107

<Pulsate current value changing command>

<Write current value changing to the QD75>

<Write the current value changing (9003)>

<Execute current value changing>

<Turn OFF positioning start signal>

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9.2.20 NOP instruction

The NOP instruction is used for the nonexecutable control system.

Operation
The positioning data No. to which the NOP instruction is set transfers, without any
processing, to the operation for the next positioning data No.

Positioning data setting examples

The following table shows the setting examples when "NOP instruction" is set in
positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Operation Setting not required (Setting value
Da.1 –
pattern is ignored.)
Control
Da.2 NOP instruction Set the NOP instruction
system
Acceleration Setting not required (Setting value
Da.3 –
time No. is ignored.)
Deceleration Setting not required (Setting value
Da.4 –
time No. is ignored.)
Axis to be Setting not required (Setting value
Da.5 –
interpolated is ignored.)
Axis 1
Positioning
positioning
address/ Setting not required (Setting value
data No. 1 Da.6 –
movement is ignored.)
amount
Setting not required (Setting value
Da.7 Arc address –
is ignored.)
Command Setting not required (Setting value
Da.8 –
speed is ignored.)
Setting not required (Setting value
Da.9 Dwell time –
is ignored.)
Setting not required (Setting value
Da.10 M code –
is ignored.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

Restrictions
An error "Control system setting error (error code: 524)" will occur if the "NOP
instruction" is set for the control system of the positioning data No. 600.

POINT
<Use example of NOP instruction>
If there is a possibility of speed switching or temporary stop (automatic deceleration) at a point
between two points during positioning, that data can be reserved with the NOP instruction to change
the data merely by the replacement of the identifier.

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9.2.21 JUMP instruction

The JUMP instruction is used to control the operation so it jumps to a positioning data
No. set in the positioning data during "continuous positioning control" or "continuous
path control".

JUMP instruction include the following two types of JUMP.

(1) Unconditional JUMP

When no execution conditions are set for the JUMP instruction
(When "0" is set as the condition data No.)
(2) Conditional JUMP
When execution conditions are set for the JUMP instruction
(The conditions are set in the "condition data" used with "high-level positioning
control".)
Using the JUMP instruction enables repeating of the same positioning control, or
selection of positioning data by the execution conditions during "continuous positioning
control" or "continuous path control".

Operation
(1) Unconditional JUMP
The JUMP instruction is unconditionally executed. The operation jumps to the
positioning data No. set in " Da.9 Dwell time".

(2) Conditional JUMP

The block start condition data is used as the JUMP instruction execution
conditions.
• When block positioning data No. 7000 to 7004 is started:
Each block condition data is used.
• When positioning data No. 1 to 600 is started:
Start block 0 condition data is used.
• When the execution conditions set in " Da.10 M code" of the JUMP

instruction have been established:

the JUMP instruction is executed to jump the operation to the positioning
data No. set in " Da.9 Dwell time".
• When the execution conditions set in " Da.10 M code" of the JUMP
instruction have not been established:
the JUMP instruction is ignored, and the next positioning data No.is
executed.

Restrictions
(1) When using a conditional JUMP instruction, establish the JUMP instruction
execution conditions by the 4th positioning data No. before the JUMP
instruction positioning data No.
If the JUMP instruction execution conditions are not established by the time
the 4th positioning control is carried out before the JUMP instruction
positioning data No., the operation will be processed as an operation without
established JUMP instruction execution conditions.
(During execution of continuous path control/continuous positioning control,
the QD75 calculates the positioning data of the positioning data No. four items
ahead of the current positioning data.)

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(2) The operation pattern, if set, is ignored in the JUMP instruction.

(3) Positioning control such as loops cannot be executed by conditional JUMP
instructions alone until the conditions have been established.
As the target of the JUMP instruction, specify a positioning data that is
controlled by other than JUMP and NOP instructions.

Positioning data setting example

The following table shows setting examples when "JUMP instruction" is set in
positioning data No. 1 of axis 1.
Setting item Setting example Setting details
Da.1 Operation pattern – Setting not required. (Setting value is ignored.)

Da.2 Control system JUMP

Set the JUMP instruction.
instruction
Da.3 Acceleration time No. – Setting not required. (Setting value is ignored.)

Da.4 Deceleration time No. – Setting not required. (Setting value is ignored.)
Axis 1 Positioning data No. 1

Da.5 Axis to be – Setting not required. (Setting value is ignored.)

interpolated

Da.6 Positioning address/ – Setting not required. (Setting value is ignored.)

movement amount
Da.7 Arc address – Setting not required. (Setting value is ignored.)

Da.8 Command speed – Setting not required. (Setting value is ignored.)

Set the positioning data No. 1 to 600 for the JUMP destination. (The
Da.9 Dwell time positioning data No. of the JUMP instruction cannot be set. Setting its
500
own positioning data No. will result in an error "Illegal data No." (error
code: 502).)
Set the JUMP instruction execution conditions with the condition data
No.
Da.10 M code 1 0 : Unconditional JUMP
1 to 10 : Condition data No.
("Simultaneous start" condition data cannot be set.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

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9.2.22 LOOP

The LOOP is used for loop control by the repetition of LOOP to LEND.

Operation
The LOOP to LEND loop is repeated by set repeat cycles.

Positioning data setting examples

The following table shows the setting examples when "LOOP" is set in positioning
data No. 1 of axis 1.

Setting item Setting example Setting details

Da.1 Operation pattern – Setting not required. (Setting value is ignored.)
Da.2 Control system LOOP Set the LOOP.
Axis 1 Positioning data No. 1

Da.3 Acceleration time No. – Setting not required. (Setting value is ignored.)

Da.4 Deceleration time No. – Setting not required. (Setting value is ignored.)

Da.5 Axis to be – Setting not required. (Setting value is ignored.)

interpolated

Da.6 Positioning address/ – Setting not required. (Setting value is ignored.)

movement amount
Da.7 Arc address – Setting not required. (Setting value is ignored.)

Da.8 Command speed – Setting not required. (Setting value is ignored.)

Da.9 Dwell time – Setting not required. (Setting value is ignored.)

Da.10 M code 5 Set the LOOP to LEND repeat cycles.

Refer to Section 5.3 "List of positioning data" for information on the setting details.

Restrictions
(1) An error "Control system LOOP setting error (error code: 545)" will occur if a
"0" is set for the repeat cycles.
(2) Even if LEND is absent after LOOP, no error will occur, but repeat processing
will not be carried out.
(3) Nesting is not allowed between LOOP-LEND's. If such setting is made, only the
inner LOOP-LEND is processed repeatedly.

POINT
The setting by this control system is easier than that by the special start "FOR loop" of "High-level
Positioning Control" (refer to Chapter 10).
<Setting data>
• For special start: Positioning start data, special start data, condition data, and positioning data
• For control system : Positioning data
For the special start FOR to NEXT, the positioning data is required for each of FOR and NEXT
points. For the control system, loop can be executed even only by one data.
Also, nesting is enabled by using the control system LOOP to LEND in combination with the special
start FOR to NEXT.
However LOOP to LEND cannot be set across block. Always set LOOP to LEND so that the
processing ends within one block.
(For details of the "block", refer to Section 10.1 "Outline of high-level positioning control".)
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9.2.23 LEND

The LEND is used to return the operation to the top of the repeat (LOOP to LEND)
loop.

Operation
When the repeat cycle designated by the LOOP becomes 0, the loop is
terminated, and the next positioning data No. processing is started. (The operation
pattern, if set to "Positioning complete", will be ignored.)
When the operation is stopped after the repeat operation is executed by
designated cycles, the dummy positioning data (for example, incremental
positioning without movement amount) is set next to LEND.
Positioning data
Operation pattern Control system Conditions Operation
No.
1 Continuous control ABS2 Executed in the
Positioning Number of loop order of the
2 LOOP
complete cycles: 2 positioning data
Continuous path No. 1 2 3
3 ABS2
control 4 5 2 3
4 Continuous control ABS2 4 5 6.
Positioning (The operation
5 LEND patterns of the
complete
positioning data
Positioning
6 ABS2 Nos. 2 and 5 are
complete
ignored.)

Positioning data setting examples

The following table shows the setting examples when "LEND" is set in positioning
data No. 8 of axis 1.
Setting item Setting example Setting details
Da.1 Operation pattern – Setting not required. (Setting value is ignored.)
Da.2 Control system LEND Set the LEND.
Axis 1 Positioning data No. 8

Da.3 Acceleration time No. – Setting not required. (Setting value is ignored.)

Da.4 Deceleration time No. – Setting not required. (Setting value is ignored.)

Da.5 Axis to be – Setting not required. (Setting value is ignored.)

interpolated

Da.6 Positioning address/ – Setting not required. (Setting value is ignored.)

movement amount
Da.7 Arc address – Setting not required. (Setting value is ignored.)

Da.8 Command speed – Setting not required. (Setting value is ignored.)

Da.9 Dwell time – Setting not required. (Setting value is ignored.)

Da.10 M code – Setting not required. (Setting value is ignored.)

Refer to Section 5.3 "List of positioning data" for information on the setting details.

Restrictions
(1) Ignore the "LEND" before the "LOOP" is executed.

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Chapter 10 High-level Positioning Control

The details and usage of high-level positioning control (control functions using the
"block start data") are explained in this chapter.
High-level positioning control is used to carry out applied control using the "positioning
data". Examples of applied control are using conditional judgment to control
"positioning data" set with the major positioning control, or simultaneously starting
"positioning data" for several different axes.

Read the execution procedures and settings for each control, and set as required.

10
10.1 Outline of high-level positioning control ..................................................................10- 2
10.1.1 Data required for high-level positioning control.........................................10- 3
10.1.2 " Block start data" and "condition data" configuration...............................10- 4
10.2 High-level positioning control execution procedure ...............................................10- 6
10.3 Setting the block start data ......................................................................................10- 7
10.3.1 Relation between various controls and block start data ...........................10- 7
10.3.2 Block start (normal start) ...........................................................................10- 8
10.3.3 Condition start ...........................................................................................10- 10
10.3.4 Wait start ...................................................................................................10- 11
10.3.5 Simultaneous start ...................................................................................10- 12
10.3.6 Repeated start (FOR loop) ......................................................................10- 13
10.3.7 Repeated start (FOR condition) ...............................................................10- 14
10.3.8 Restrictions when using the NEXT start...................................................10- 15
10.4 Setting the condition data .......................................................................................10- 16
10.4.1 Relation between various controls and the condition data ......................10- 16
10.4.2 Condition data setting examples ..............................................................10- 19
10.5 Multiple axes simultaneous start control................................................................10- 20
10.6 Start program for high-level positioning control .....................................................10- 23
10.6.1 Starting high-level positioning control.......................................................10- 23
10.6.2 Example of a start program for high-level positioning control .................10- 24

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10.1 Outline of high-level positioning control

In "high-level positioning control" the execution order and execution conditions of the
"positioning data" are set to carry out more applied positioning. (The execution order
and execution conditions are set in the "block start data" and "condition data".)
The following applied positioning controls can be carried out with "high-level positioning
control".
High-level positioning
Details
control
Block 1 start
With one start, executes the positioning data in a random block with the set order.
(Normal start)
Carries out condition judgment set in the "condition data" for the designated
positioning data, and then executes the "block start data".
Condition start • When the condition is established, the " block start data" is executed.
• When not established, that " block start data" is ignored, and the next point's " block
start data" is executed.
Carries out condition judgment set in the "condition data" for the designated
positioning data, and then executes the " block start data".
Wait start
• When the condition is established, the " block start data" is executed.
• When not established, stops the control until the condition is established. (Waits.)
Simultaneous start Simultaneously executes the positioning data having the No. for the axis designated
2 with the "condition data". (Outputs pulses at the same timing.)
Repeated start (FOR Repeats the program from the " block start data" set with the "FOR loop" to the "
loop) block start data" set in "NEXT" for the designated No. of times.
Repeats the program from the " block start data" set with the "FOR condition" to the "
Repeated start (FOR
block start data" set in "NEXT" until the conditions set in the "condition data" are
condition)
established.

High-level positioning control sub functions

"High-level positioning control" uses the "positioning data" set with the "major
positioning control". Refer to Section 3.2.4 "Combination of QD75 main functions
and sub functions" for details on sub functions that can be combined with the
major positioning control.
Note that the sub function Section 12.7.8 "Pre-reading start function" cannot be
used together with "high-level positioning control".

High-level positioning control from peripheral devices

"High-level positioning control" (start of the "block start data") can be executed
from GX Configurator-QP test mode.
Refer to GX Configurator-QP Operating Manual for details on starting of the "block
start data" from GX Configurator-QP.

REMARK
Block 1:
"1 block" is defined as all the data continuing from the positioning data in which
"continuous positioning control" or "continuous path control" is set in the
operation pattern ( Da.1 ) to the positioning data in which "independent
positioning control (Positioning complete)" is set.

Simultaneous start 2:
Besides the simultaneous start of "block start data" system, the "simultaneous
starts" include the "multiple axes simultaneous start control" of control system.
Refer to Section 10.5 "Multiple axes simultaneous start control" for details.

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10.1.1 Data required for high-level positioning control

"High-level positioning control" is executed by setting the required items in the "block
start data" and "condition data", then starting that "block start data". Judgment about
whether execution is possible, etc., is carried out at execution using the "condition
data" designated in the "block start data".

"Block start data" can be set for each No. from 7000 to 7004 (called "block Nos."), and
up to 50 points can be set for each axis. (This data is controlled with Nos. called
"points" to distinguish it from the positioning data. For example, the 1st block start data
item is called the "1st point block start data" or "point No. 1 block start data".)

"Condition data" can be set for each No. from 7000 to 7004 (called "block Nos."), and
up to 10 data items can be set for each axis.

The " block start data" and "condition data" are set as 1 set for each block No.

The following table shows an outline of the " block start data" and "condition data"
stored in the QD75.
Setting item Setting details
Set whether to end the control after executing only the "block
Da.11 Shape start data" of the shape itself, or continue executing the "block
start data" set in the next point.
Block start data

Da.12 Start data No. Set the "positioning data No." to be executed.

Da.13 Special start Set the method by which the positioning data set in Da.12
instruction will be started.
Set the conditions by which the start will be executed
Da.14 Parameter according to the commands set in Da.13 . (Designate the
"condition data No." and "No. of repetitions".)

Setting item Setting details

Designate the "device", "buffer memory storage details", and
Da.15 Condition target "positioning data No." elements for which the conditions are
set.
Condition Set the judgment method carried out for the target set in
Da.16
operator Da.15 .
Condition data

Set the buffer memory address in which condition judgment is

Da.17 Address carried out (only when the details set in Da.15 are "buffer
memory storage details").
Set the required conditions according to the details set in
Da.18 Parameter 1 Da.15 and Da.16 .

Set the required conditions according to the details set in

Da.19 Parameter 2
Da.15 and Da.16 .

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10.1.2 "Block start data" and "condition data" configuration

The "block start data" and "condition data" corresponding to "block No. 7000" can be
stored in the buffer memory. (The following drawing shows an example for axis 1.)

50th point
Buffer memory
Setting item
address

2nd point
1st point Setting item Buffer memory
Buffer memoryaddress
26049
Setting item
œˆÊ’uŒˆ‚ß n“®ƒf [ƒ^ address

b15 b8 b7 b0 26001
Axis 1 block start data

26000

Da.12 Positioning data No. 26099

Da.11 Shape

b15 b8 b7 b0 26051
26050

Da.13 Special start Da.14 Parameter

instruction

No.10
Buffer memory
Setting item
address
No.2 Condition identifier
No.1 Setting item Buffer memory
address 26190
Buffer memory
Setting item
address
Condition identifier
b15 b12b11 b8 b7 b0 26110 26191
Axis 1 condition data

26100 26192 Low-order buffer memory

26193 High-order buffer memory
Da.16 Condition 26194
Da.15 Condition target 26111
operator 26195
Blank 26101 26112 26196
26113 26197
26102
Da.17 Address 26103 26114 26198
26115 26199
26104
Da.18 Parameter 1 26105 26116
26117
Da.19 Parameter 2 26106
26107 26118
26119
Blank 26108
26109

(Same for axis 2, axis 3 and axis 4.)

Block No. 7000 Set in the QD75 with a sequence program

or GX Configurator-QP.

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10 HIGH-LEVEL POSITIONING CONTROL
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Set in QD75 the " block start data" and "condition data" corresponding to the following
"block Nos. 7001 to 7004" using GX Configurator-QP or the sequence program. (The
following drawing shows an example for axis 1.)

50th point 50th point

Buffer memory Buffer memory
Setting item address
Setting item address

2nd point 2nd point

1st point Buffer memory 1st point Buffer memory
Setting item address Setting item address
Buffer memory 26249 Buffer memory 26849
Setting item address
Setting item address
œˆÊ’uŒˆ‚ß n“®ƒf [ƒ^ œˆÊ’uŒˆ‚ß n“®ƒf [ƒ^
Axis 1 block start data

Axis 1 block start data

b15 b8 b7 b0 26201 b15 b8 b7 b0 26801
26200 26800
Da12 Positioning data No. Da12 Positioning data No.
Da11 Shape 26299 Da11 Shape 26899

b15 b8 b7 b0
26251 b15 b8 b7 b0
26851
26250 26850
Da13 Special start Da14 Parameter Da13 Special start Da14 Parameter
instruction instruction

No.10 No.10
Buffer memory Buffer memory
Setting item address
Setting item address
No.2 Condition identifier No.2 Condition identifier
No.1 Buffer memory No.1 Buffer memory
Setting item address 26390 Setting item address 26990
Buffer memory Buffer memory
Setting item Setting item
address address
Axis 1 condition data

Axis 1 condition data

Condition identifier Condition identifier
b15 b12 b11 b8 b7 b0 26310 26391 b15 b12 b11 b8 b7 b0 26910 26991
26300 26392 26900 26992
26393 26993
Condition 26394 Condition 26994
Da16 operater Da15 Condition target 26311 Da16 operater Da15 Condition target 26911
26395 26995
Open 26301 26312 26396 Open 26901 26912 26996
26313 26397 26913 26997
Da17 Address 26302 Da17 Address 26902
26303 26314 26398 26903 26914 26998
26315 26399 26915 26999
Da18 Parameter 1 26304 26316 Da18 Parameter 1 26904 26916
26305 26905
26317 26917
Da19 Parameter 2 26306 26318 Da19 Parameter 2 26906 26918
26307 26907
26319 26919
Open 26308 Open 26908
26309 26909

7001 7004

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10.2 High-level positioning control execution procedure

High-level positioning control is carried out using the following procedure.

Preparation "High-level positioning control" executes each control

STEP 1
Carry out the "major positioning control" setting. ("major positioning control") set in the positioning data
Refer to Chapter 9 with the designated conditions,so first carry out
preparations so that "major positioning control" can be
executed.

STEP 2 Set the block start data corresponding to each control.

The 50 "block start data" points from 1 to 50 points
Refer to Section 10.3 ( Da. 11 to Da. 14 ) × required data amount. can be set.

STEP 3 Set the "condition data" for designation with the

Set the "condition data"
( Da. 15 to Da. 19 ) × required data amount .
"block start data". Up to 10 condition data items
Refer to Section 10.4 can be set.

STEP 4 Create a sequence program in which "7000"*is set in The QD75 recognizes that the control is high-level
Refer to Section 10.6 the " Cd. 3 Positioning start No". (Control data setting) positioning control using " block start data" by the
"7000" designation.
Create a sequence program in which the "block start Use GX Developer to create a sequence program
data point No. to be started" (1 to 50) is set in the to execute the "high-level positioning control".
" Cd. 4 Positioning start point No". (Control data setting) (Set the control data in the QD75 buffer memory using
a TO command.)
Create a sequence program in which the "positioning
start signal" is turned ON by a positioning start command.

STEP 5 Write the sequence program created in STEP 4 to the

Write the sequence programs to the PLC CPU. PLC CPU using GX Developer.
Refer to Chapter 6

STEP 6 Same procedure as for the "major positioning control"

Starting the control Turn ON the "positioning start command" of
Refer to Section 6.5.3 the axis to be started. start.

STEP 7 Use one of the following two methods.

Monitoring the control Monitor the high-level positioning control. Method (1): Monitor using GX Configurator-QP.
Method (2): Monitor using GX Developer.

Stopping the control STEP 8 Same procedure as for the "major positioning control" stop.
Stop when control is completed
Refer to Section 6.5.6

Control termination

REMARK
(1) Five sets of "block start data (50 points)" and "condition data (10 items)
corresponding to "7000" to "7004" are set with a sequence program.
(2) Five sets of data from "7000" to "7004" can be set when GX Configurator-QP
is used. If GX Configurator-QP is used to set the "block start data" and
"condition data" corresponding to "7001" to "7004" and write the data to the
QD75, "7001" to "7004" can be set in " Cd.3 Positioning start No." in STEP
4.

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10.3 Setting the block start data

10.3.1 Relation between various controls and block start data

The " block start data" must be set to carry out "high-level positioning control". The
setting requirements and details of each " block start data" item to be set differ
according to the " Da.13 Special start instruction" setting.

The following shows the " block start data" setting items corresponding to various
control systems. The operation details of each control type are explained starting in
Section 10.3.2. Also refer to Section 10.4 "Setting the condition data for details on
"condition data" with which control execution is judged.
(The " block start data" settings in this chapter are assumed to be carried out using GX
Configurator-QP.)
High-level positioning Repeated
control Block start Condition Simulta-
Repeated
start NEXT start
(Normal Wait start start
Block start data start neous start (FOR
start) (FOR loop)
setting items condition)
0 : End
Da.11 Shape
1 : Continue

Da.12 Start data No. 1 to 600

Da.13 Special start instruction 0 1 2 3 4 5 6

Da.14 No. of Condition

Parameter – Condition data No. –
repetitions data No.

: One of the two setting items must be set.

: Set when required (Set to " – " when not used.)
: Setting not possible
– : Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.)

The "NEXT start" instruction is used in combination with "repeated start (FOR loop)" and "repeated start (FOR
condition)". Control using only the "NEXT start" will not be carried out.

REMARK
It is recommended that the "block start data" be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will increase.

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10.3.2 Block start (normal start)

In a "block start (normal start)", the positioning data groups of a block are continuously
executed in a set sequence starting from the positioning data set in " Da.12 Start data
No." by one start.

Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples

(1) Block start data setting example

Da.13
Axis 1 block Da.11 Da.12 Da.14
start data Special start
Shape Start data No. Parameter
instruction
1st point 1: Continue 1 0: Block start –
2nd point 1: Continue 2 0: Block start –
3rd point 1: Continue 5 0: Block start –
4th point 1: Continue 10 0: Block start –
5th point 0: End 15 0: Block start –
•
•

(2) Positioning data setting example

Axis 1 position- Da.1
ing data No. Operation pattern
1 00: Positioning complete
2 11: Continuous path control
3 01: Continuous positioning control 1 block
4 00: Positioning complete
5 11: Continuous path control 1 block
6 00: Positioning complete
•
10 00: Positioning complete
•
15 00: Positioning complete
•

REMARK
Block :
"1 block" is defined as all the data continuing from the positioning data in which
"continuous positioning control" or "continuous path control" is set in the operation
pattern ( Da.1 ) to the positioning data in which "independent positioning control
(Positioning complete)" is set.

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[2] Control examples

The following shows the control executed when the "block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.

<1> The positioning data is executed in the following order before stopping.
Axis 1 positioning data No. 1 2 3 4 5 6 10 15.

Positioning Positioning Positioning Positioning Positioning

according to the 1st according to the 2nd according to the 3rd according to the according to the 5th
point settings point settings point settings 4th point settings point settings

Operation pattern
Positioning data No. 1 1
3(01)
1(00) 2(11) 4(00)
Address(+) 10(00)
t
Address(-) 1 1
5(11)
6(00)
1
1 15(00)

ON
Positioning start signal OFF ON
[Y10,Y11,Y12,Y13]
Start complete signal OFF
[X10,X11,X12,X13] ON
BUSY signal [XC,XD,XE,XF] OFF ON
Positioning complete signal OFF
[X14,X15,X16,X17]
1 Dwell time of corresponding positioning data

Fig. 10.1 Block start control example

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10.3.3 Condition start

In a "condition start", the "condition data" conditional judgment designated in " Da.14
Parameter" is carried out for the positioning data set in " Da.12 Start data No.". If the
conditions have been established, the " block start data" set in "1: condition start" is
executed. If the conditions have not been established, that " block start data" will be
ignored, and the "block start data" of the next point will be executed.

Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples

(1) Block start data setting example

Da.13
Axis 1 block Da.11 Da.12 Da.14
start data Special start
Shape Start data No. Parameter
instruction
1st point 1: Continue 1 1: Condition start 1
2nd point 1: Continue 10 1: Condition start 2
3rd point 0: End 50 0: Block start –
•
•

The "condition data Nos." have been set in " Da.14 Parameter".

(2) Positioning data setting example

Axis 1 position- Da.1
ing data No. Operation pattern
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•
50 00: Positioning complete
•

[2] Control examples

The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> The conditional judgment set in "condition data No. 1" is carried out before
execution of the axis 1 "positioning data No. 1".
Conditions established Execute positioning data No. 1, 2, and 3
Go to <2>.
Conditions not established Go to <2>.
<2> The conditional judgment set in "condition data No. 2" is carried out before
execution of the axis 1 "positioning data No. 10".
Conditions established Execute positioning data No. 10, 11, and 12
Go to <3>.
Conditions not established Go to <3>.
<3> Execute axis 1 "positioning data No. 50" and stop the control.
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10.3.4 Wait start

In a "wait start", the "condition data" conditional judgment designated in " Da.14
Parameter" is carried out for the positioning data set in " Da.12 Start data No.". If the
conditions have been established, the " block start data" is executed. If the conditions
have not been established, the control stops (waits) until the conditions are
established.

Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples

(1) Block start data setting example

Da.11 Da.13
Axis 1 block Da.12 Da.14
start data Special start
Shape Start data No. Parameter
instruction
1st point 1: Continue 1 2: Wait start 3
2nd point 1: Continue 10 0: Block start –
3rd point 0: End 50 0: Block start –
•
•

The "condition data Nos." have been set in " Da.14 Parameter".

(2) Positioning data setting example

Axis 1 position- Da.1
ing data No. Operation pattern
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•
50 00: Positioning complete
•

[2] Control examples

The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> The conditional judgment set in "condition data No. 3" is carried out before
execution of the axis 1 "positioning data No. 1".
Conditions established Execute positioning data No. 1, 2, and 3
Go to <2>.
Conditions not established Control stops (waits) until conditions are
established Go to <1>.
<2> Execute the axis 1 "positioning data No. 10, 11, 12, and 50" and stop the
control.

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10.3.5 Simultaneous start

In a "simultaneous start", the positioning data set in the " Da.12 Start data No." and
positioning data of other axes set in the "condition data" are simultaneously executed
(pulses are output with the same timing).
(The "condition data" is designated with " Da.14 Parameter".)
Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].
[1] Setting examples
(1) Block start data setting example

Da.11 Da.13
Axis 1 block Da.12 Da.14
start data Special start
Shape Start data No. Parameter
instruction
1st point 1: Continue 1 3: Simultaneous start 4
2nd point 1: Continue 10 3: Simultaneous start 5
3rd point 0: End 50 3: Simultaneous start 6
•
•
It is assumed that the "axis 2 positioning data" for simultaneous starting is set in the
"condition data" designated with " Da.14 Parameter".
(2) Positioning data setting example
Axis 1 position- Da.1
ing data No. Operation pattern
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•
50 00: Positioning complete
•

[2] Control examples

The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> Simultaneously start the axis 1 "positioning data No. 1" and axis 2
positioning data set in "condition data No. 4". After the execution of axis 1
"positioning data No. 1, 2, and 3" is completed, go to <2>.
<2> Simultaneously start the axis 1 "positioning data No. 10" and axis 2
positioning data set in "condition data No. 5".
Standing by after completion of axis 2 positioning data simultaneously
started in <1>. Go to <3>.
Executing axis 2 positioning data simultaneously started in <1>.
"Error".
<3> Simultaneously start the axis 1 "positioning data No. 50" and the axis 2
positioning data set in "condition data No. 6" after the completion of the
execution of axis 1 "positioning data No. 10, 11, and 12".
Standing by after completion of axis 2 positioning data simultaneously
started in <2>. Go to <4>.
Executing axis 2 positioning data simultaneously started in <2>.
"Error".
<4> After the execution of the axis 1 "positioning data No. 50" is completed, stop
the control.

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10.3.6 Repeated start (FOR loop)

In a "repeated start (FOR loop)", the data between the " block start data" in which "4:
FOR loop" is set in " Da.13 Special start instruction" and the "block start data" in
which "6: NEXT start" is set in " Da.13 Special start instruction " is repeatedly

executed for the No. of times set in " Da.14 Parameter". An endless loop will result if
the No. of repetitions is set to "0".
(The No. of repetitions is set in " Da.14 Parameter" of the " block start data" in which
"4: FOR loop" is set in " Da.13 Special start instruction".)

Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples

(1) Block start data setting example

Da.11 Da.13
Axis 1 block Da.12 Da.14
start data Special start
Shape Start data No. Parameter
instruction
1st point 1: Continue 1 4: FOR loop 2
2nd point 1: Continue 10 0: Block start –
3rd point 0: End 50 6: NEXT start –
•
•
The "condition data Nos." have been set in " Da.14 Parameter".

(2) Positioning data setting example

Axis 1 position- Da.1
ing data No. Operation pattern
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 00: Positioning complete
•
50 01: Continuous positioning control
51 00: Positioning complete
•

[2] Control examples

The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> Execute the axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51".
<2> Return to the axis 1 "1st point block start data". Again execute the axis 1
"positioning data No. 1, 2, 3, 10, 11, 50 and 51", and then stop the control.
(Repeat for the No. of times (2 times) set in Da.14 .)

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10.3.7 Repeated start (FOR condition)

In a "repeated start (FOR condition)", the data between the " block start data" in which
"5: FOR condition" is set in " Da.13 Special start instruction" and the " block start
data" in which "6: NEXT start" is set in " Da.13 Special start instruction" is repeatedly
executed until the establishment of the conditions set in the "condition data".
(The "condition data" designation is set in " Da.14 Parameter" of the " block start
data" in which "5: FOR condition" is set in " Da.13 Special start instruction".)

Section [2] shows a control example where the " block start data" and "positioning
data" are set as shown in section [1].

[1] Setting examples

(1) Block start data setting example
Da.13
Axis 1 block Da.11 Da.12 Da.14
start data Special start
Shape Start data No. Parameter
instruction
1st point 1: Continue 1 5: FOR condition 5
2nd point 1: Continue 10 0: Block start –
3rd point 0: End 50 6: NEXT start –
•
•
The "condition data Nos." have been set in " Da.14 Parameter".

(2) Positioning data setting example

Axis 1 position- Da.1
ing data No. Operation pattern
1 01: Continuous positioning control
2 01: Continuous positioning control
3 00: Positioning complete
•
10 11: Continuous path control
11 00: Positioning complete
•
50 01: Continuous positioning control
51 00: Positioning complete
•

[2] Control examples

The following shows the control executed when the " block start data" of the 1st
point of axis 1 is set as shown in section [1] and started.
<1> Carry out the conditional judgment set in "condition data No. 5" for the axis 1
"positioning data No. 1".
Conditions not established Go to <2>.
Conditions established Go to <3>.
<2> Execute axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51", then go to
<1>.
<3> Execute axis 1 "positioning data No. 1, 2, 3, 10, 11, 50, and 51", then stop
the control.

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10.3.8 Restrictions when using the NEXT start

The "NEXT start" is a instruction indicating the end of the repetitions when executing
Section 10.3.6 "Repeated start (FOR loop)" and Section 10.3.7 "Repeated start (FOR
condition)".

The following shows the restrictions when setting "6: NEXT start" in the " block start
data".

(1) The processing when "6: NEXT start" is set before execution of "4: FOR loop" or
"5: FOR condition" is the same as that for a "0: block start".
(2) Repeated processing will not be carried out if there is no "6: NEXT start"
instruction after the "4: FOR loop" or "5: FOR condition" instruction. (Note that an
"error" will not occur.)
(3) Nesting is not possible between "4: FOR loop" and "6: NEXT start", or between
"5: FOR condition" and "6: NEXT start". A warning "FOR to NEXT nest
construction (warning code: 506)" will occur if nesting is attempted.
[Operating examples without nesting structure] [Operating examples with nesting structure]
Da.12 Special start Da.12 Special start
Start block data Start block data
command command
1st point Normal start 1st point Normal start
2nd point FOR 2nd point FOR
3rd point Normal start 3rd point Normal start
4th point NEXT 4th point FOR
5th point Normal start 5th point Normal start
6th point Normal start 6th point Normal start
7th point FOR 7th point NEXT
8th point Normal start 8th point Normal start
9th point NEXT 9th point NEXT
• •
• •
A warning will occur when starting the 4th
point "FOR".
The JUMP destination of the 7th point "NEXT"
is the 4th point. The 9th point "NEXT" is
processed as normal start.

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10.4 Setting the condition data

10.4.1 Relation between various controls and the condition data

"Condition data" is set in the following cases.

(1) When setting conditions during execution of Section 9.2.21 "JUMP instruction"
(major positioning control)
(2) When setting conditions during execution of "high-level positioning control"

The "condition data" to be set includes the 5 setting items from Da.15 to Da.19 , but
the setting requirements and details differ according to the control system and setting
conditions.

The following shows the "condition data" " Da.15 Condition target" corresponding to
the different types of control.
(The "condition data" settings in this chapter are assumed to be carried out using GX
Configurator-QP.)
Control type Major positioning
High-level positioning control
control

Da.15 Block Wait Simultaneous Repeated start

JUMP instruction
start start start (For condition)
Setting item
01: Device X
02: Device Y
03: Buffer memory
(1 word)
04: Buffer memory
(2 words)
05: Positioning data
No.
: One of the setting items must be set.
: Setting not possible

REMARK
It is recommended that the "condition data" be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will increase.

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The setting requirements and details of the following "condition data" Da.16 to
Da.19 setting items differ according to the " Da.15 Condition target" setting.

The following shows the Da.16 to Da.19 setting items corresponding to the
" Da.15 Condition target".

Other setting
item Da.16 Da.17 Da.18 Da.19
Da.15
Condition operator Address Parameter 1 Parameter 2
Setting item
01H: Device X 07H : DEV=ON 0 to 1FH (bit No.)
– –
02H: Device Y 08H : DEV=OFF 0 to 1FH (bit No.)
03H: Buffer memory 01H : =P1
(1 word) 02H : ≠ P1
P2 (numeric value)
03H : ≤P1 Buffer
memory P1 (numeric value) (Set only when Da.16 is
04H: Buffer memory 04H : ≥P1 address
(2 words) 05H : P1 ≤ ≤P 2 [05H] or [06H].)
06H : ≤P 1 , P 2 ≤
10H : Axis 1 designation
20H : Axis 2 designation
30H : Axis 1 and axis 2
designation
40H : Axis 3 designation Axis 1 Axis 3
50H : Axis 1 and axis 3 Low-order 16 Low-order 16
positioning positioning
designation bits bits
data No. data No.
60H : Axis 2 and axis 3
designation
70H : Axis 1, axis 2 and
axis 3 designation
05H: Positioning data 80H : Axis 4 designation
—
No. 90H : Axis 1 and axis 4
designation
A0H : Axis 2 and axis 4
designation
B0H : Axis 1, axis 2 and
Axis 2 Axis 4
axis 4 designation High-order 16 High-order 16
positioning positioning
C0H : Axis 3 and axis 4 bits bits
data No. data No.
designation
D0H : Axis 1, axis 3 and
axis 4 designation
E0H : Axis 2, axis 3 and
axis 4 designation

– : Setting not required (Setting value will be ignored. Use the initial value or a value within the setting range.)
: Value stored in buffer memory designated in Da.17 .

: Refer to Section 5.5 "List of condition data" for the setting contents.

Judgment whether the condition operator is "=" or "=” at the start of wait.
Judgment on data is carried out for each control cycle of the QD75. Thus, in the
judgment on the data such as current feed value which varies continuously, the
operator "=" may not be detected. If this occurs, use a range operator.

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REMARK
The "PLC CPU memory area" can be designated as the buffer memory address to
be designated in Da.17 . (Refer to Section 7.1.1 "Configuration and roles of QD75
memory".)
QD75 buffer memory
Address 30000
30001

30099

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10.4.2 Condition data setting examples

The following shows setting examples for "condition data".

(1) Setting the device ON/OFF as a condition

[Condition] Device "X0" (=QD75 READY) is OFF

Da.16 Da.18
Da.15 Da.17 Da.19
Condition
Condition target Address Parameter 1 Parameter 2
operator

01H: Device X 08H: DEV=OFF – 0 –

(2) Setting the numeric value stored in the "buffer memory" as a

condition

[Condition]
The value stored in buffer memory addresses "800, 801" (= " Md.20 Current
feed value") is "1000" or larger.

Da.16 Da.18
Da.15 Da.17 Da.19
Condition
Condition target Address Parameter 1 Parameter 2
operator

04H: Buffer memory

04H: ≥ P1 800 1000 –
(2 words)

(3) Designating the axis and positioning data No. to be simultaneously

started in "simultaneous start"

[Condition]
Simultaneously starting "axis 2 positioning data No.3".

Da.16 Da.18
Da.15 Da.17 Da.19
Condition
Condition target Address Parameter 1 Parameter 2
operator

05H: Positioning 20H: Axis 2 High-order 16

– –
data No. designation bits "0003H"

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10.5 Multiple axes simultaneous start control

The "multiple axes simultaneous start control" starts and controls the multiple axes
simultaneously by outputting pulses to the axis to be started at the same timing as the
start axis.
The maximum of four axes can be started simultaneously.

[1] Control details

The multiple axes simultaneous start control is carried out by setting the
simultaneous start an object axis start data No. (positioning data No. to start
simultaneously for each axis) to the multiple axes simultaneous start control
buffer memory " Cd.30 to Cd.33 Simultaneous starting axis start data No. (1 to
4 axis start data No.)" of the axis control data, and the "9004" to
" Cd.3 positioning start No." of the start axis, and then turning ON the positioning
start signal.

[2] Restrictions
(1) An error will occur and all simultaneously started axes will not start (error
code: 501) if the simultaneously started axis start data No. is not set to the
axis control data on the start axis or set outside the setting range.
(2) An error will occur and all simultaneously started axes will not start (error
code: 501) if either of the simultaneously started axes is BUSY.
(3) An error will occur and all simultaneously started axes will not start (error
code: 501) if an error occurs during the analysis of the positioning data on the
simultaneously started axes.
(4) No error or warning will occur if only the start axis is the simultaneously
started axis.
(5) This function cannot be used with the sub function Section 12.7.8 "Pre-
reading start function".

[3] Multiple axes simultaneous start control procedure

The procedure for multiple axes simultaneous start control is as follows.
Set " Cd. 30 to Cd. 33 Simultaneously
1)
started data No.".

2) Write [9004] to " Cd. 3 Positioning start No.".

Turn ON the positioning start signal to be

3)
started.

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[4] Multiple axes simultaneous start control function setting method

The following shows the setting of the data used to execute the multiple axes
simultaneous start control with positioning start signals (The axis control data on
the start axis is set).

Buffer memory address

Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Cd.3 Positioning start Set the multiple axes simultaneous start control
9004 1500 1600 1700 1800
No. start No. "9004".
Simultaneous
Cd.30 starting axis start
1540 1640 1740 1840
data No. (Axis 1
start data No.)
Simultaneous
Cd.31 starting axis start
1541 1641 1741 1841
data No. (Axis 2
Set the simultaneously started axis start data No.
start data No.)
Set a "0" for the axis other than the simultaneously started
Simultaneous
axes.
Cd.32 starting axis start
1542 1642 1742 1842
data No. (Axis 3
start data No.)
Simultaneous
Cd.33 starting axis start
1543 1643 1743 1843
data No. (Axis 4
start data No.)

Refer to Section 5.7 "List of control data" for information on setting details.

[5] Setting examples

The following shows the setting examples in which the axis 1 is used as the start
axis and the simultaneously started axes are used as the axes 2 and 4.

Setting Buffer memory address

Setting item Setting details
value (Axis 1)

Cd.3 Positioning start Set the multiple axes simultaneous start control
9004 1500
No. start No. "9004".
Simultaneous
Cd.30 starting axis start The axis 1 starts the positioning data No.
100 1540
data No. (Axis 1 100.
start data No.)
Simultaneous Immediately after the start of the axis 1,
Cd.31 starting axis start 200 the axis 2 starts the axis 2 positioning data 1541
data No. (Axis 2
start data No.) No. 200.
Simultaneous
Cd.32 starting axis start
data No. (Axis 3
0 Will not start simultaneously. 1542
start data No.)
Simultaneous Immediately after the start of the axis 1,
Cd.33 starting axis start
data No. (Axis 4
300 the axis 4 starts the axis 4 positioning data 1543
start data No.) No. 300.

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POINTS
(1) The "multiple axes simultaneous start control" carries out an operation equivalent to the
"simultaneous start" using the "block start data".
(2) The setting of the "multiple axes simultaneous start control" is easier than that of the
"simultaneous start" using the "block start data".
• Setting items for "simultaneous start" using "block start data"
Positioning start data, block start data, condition data, and positioning data
• Setting items for "multiple axes simultaneous start control"
Positioning data and axis control data

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10.6 Start program for high-level positioning control

10.6.1 Starting high-level positioning control

To execute high-level positioning control, a sequence program must be created to start

the control in the same method as for major positioning control.

The following shows the procedure for starting the "1st point block start data"
(regarded as block No. 7000) set in axis 1.

QD75
Buffer memory Drive unit

4)
Control by designated
1) positioning data
7000
2) 1500
1
PLC CPU 1501
3)
ON

Input/output signal

When carrying out a positioning start with the

Y10
next scan after a positioning operation is
completed, input signal X10 as an interlock so
that the start is carried out once the X10 signal
turns OFF after the Y10 signal turns OFF.

1) Set "7000" in " Cd. 3 Positioning start No.".

(This establishes that the control as "high-level positioning control" using block start data.)
2) Set the point No. of the "block start data" to be started. (In this case "1".)
3) Turn ON the start signal.
4) The positioning data set in the "1st point block start data" is started.

Fig. 10.2 High-level positioning control start procedure

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10.6.2 Example of a start program for high-level positioning control

The following shows an example of a start program for high-level positioning control in
which the 1st point " block start data" of axis 1 is started. (The block No. is regarded as
"7000".)

Control data that require setting

The following control data must be set to execute high-level positioning control.
The setting is carried out using a sequence program.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Cd.3 Positioning start 7000

Set "7000" to indicate control using " block start
1500 1600 1700 1800
No. data".

Cd.4 Positioning starting 1

Set the point No. of the " block start data" to be
1501 1601 1701 1801
point No. started.
Refer to Section 5.7 "List of control data" for details on the setting details.

Start conditions
The following conditions must be fulfilled when starting the control. The required
conditions must also be integrated into the sequence program, and configured so
the control does not start unless the conditions are fulfilled.
Device
Signal name Signal state Axis Axis Axis Axis
1 2 3 4
PLC READY signal ON PLC CPU preparation completed Y0
QD75 READY signal ON QD75 preparation completed X0
QD75 buffer memory
Synchronization flag ON X1
The access is possible.
Interface
Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7
signal
Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13
BUSY signal OFF BUSY signal is OFF XC XD XE XF
Error detection signal OFF There is no error X8 X9 XA XB
M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –

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10 HIGH-LEVEL POSITIONING CONTROL
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Start time chart

The following chart shows a time chart in which the positioning data No. 1, 2, 10,
11, and 12 of axis 1 are continuously executed as an example.

(1) Block start data setting example

Da.11 Da.13
Axis 1 block Da.12 Da.14
start data Special start
Shape Start data No. Parameter
instruction

1st point 1: Continue 1 0: Block start –

2nd point 0: End 10 0: Block start –
•
•

(2) Positioning data setting example

Axis 1 position- Da.1

ing data No. Operation pattern
1 11: Continuous path control
2 00: Positioning complete
•
10 11: Continuous path control
11 11: Continuous path control
12 00: Positioning complete
•

(3) Start time chart

V
Operation pattern Dwell time Dwell time
Positioning data No. 10(11)
1(11)
2(00) 11(11)
12(00)
t

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

Cd.3 Positioning start No. 7000

Cd.4 Positioning start point No. 1

1st point [buffer memory address 26000] -32767 (8001H)

2nd point [buffer memory address 26001] 10 (000AH)

Fig. 10.3 Start time chart for high-level positioning control (block start)

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Creating the program

Example

Set the block start data beforehand.

Positioning
start
command

PLS M104 <Pulse the positioning start command.>

M104 Y10 X10

TO H0 K1500 K7000 K1 <Write the positioning data No. 7000
for block positioning.>

TO H0 K1501 K1 K1 <Write the positioning start point No.>

SET Y10 <Turn ON the positioning start signal.>

Y10: Positioning start signal

X10: Start complete signal
M104: Positioning start command pulse

10 - 26
Chapter 11 Manual Control

The details and usage of manual control are explained in this chapter.
In manual control, pulse output commands are issued during a JOG operation and an
inching operation executed by the turning ON of the JOG START signal, or from a manual
pulse generator connected to the QD75.
Manual control using a sequence program from the PLC CPU is explained in this chapter.
Refer to GX Configurator-QP Operating Manual for an explanation of manual
control (JOG operation, inching operation and manual pulse generator operation) using the
peripheral devices.

11.1 Outline of manual control ........................................................................................11- 2

11.1.1 Three manual control methods..................................................................11- 2 11
11.2 JOG operation..........................................................................................................11- 4
11.2.1 Outline of JOG operation ...........................................................................11- 4
11.2.2 JOG operation execution procedure .........................................................11- 7
11.2.3 Setting the required parameters for JOG operation..................................11- 8
11.2.4 Creating start programs for JOG operation..............................................11- 10
11.2.5 JOG operation example............................................................................11- 13
11.3 Inching operation ....................................................................................................11- 17
11.3.1 Outline of inching operation ......................................................................11- 17
11.3.2 Inching operation execution procedure ....................................................11- 20
11.3.3 Setting the required parameters for inching operation ............................11- 21
11.3.4 Creating a program to enable/disable the inching operation...................11- 22
11.3.5 Inching operation example........................................................................11- 25
11.4 Manual pulse generator operation .........................................................................11- 27
11.4.1 Outline of manual pulse generator operation...........................................11- 27
11.4.2 Manual pulse generator operation execution procedure .........................11- 31
11.4.3 Setting the required parameters for manual pulse generator operation .11- 32
11.4.4 Creating a program to enable/disable the manual pulse generator
operation ...................................................................................................11- 33

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11.1 Outline of manual control

11.1.1 Three manual control methods

"Manual control" refers to control in which positioning data is not used, and a
positioning operation is carried out in response to signal input from an external source.
The three types of this "manual control" are explained below.

[1] JOG operation

"JOG operation" is a control method in which the machine is moved by only a
movement amount (pulses are continuously transmitted while the JOG START
signal is ON). This operation is used to move the workpiece in the direction in
which the limit signal is ON, when the operation is stopped by turning the limit
signal OFF to confirm the positioning system connection and obtain the
positioning data address (Refer to Section 12.7.4 "Teaching function").

Movement continues while

the JOG START signal is ON.

ON
JOG start signal OFF

Fig. 11.1 JOG operation

[2] Inching operation

"Inching operation" is a control method in which a minute movement amount of
pulses is output manually in one control cycle.
When the "inching movement amount" of the axis control data is set by JOG
operation, the workpiece is moved by a set movement amount. (When the
"inching movement amount" is set to "0", the machine functions as JOG
operation.)

JOG start signal is turned

ON to move the workpiece
by the movement amount
of pulses which is output in
one control cycle.

ON
JOG start signal OFF

Fig. 11.2 Inching operation

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[3] Manual pulse generator operation

"Manual pulse generator operation" is a control method in which positioning is
carried out in response to the No. of pulses input from a manual pulse generator
(the No. of input pulses is output). This operation is used for manual fine
adjustment, etc., when carrying out accurate positioning to obtain the positioning
address.

Movement in response
to the command pulses
Output pulses

QD75 M

Pulse input

Manual pulse generator

Fig. 11.3 Manual pulse generator control

Manual control sub functions

Refer to Section 3.2.4 "Combination of QD75 major functions and sub functions"
for details on "sub functions" that can be combined with manual control. Also refer
to Chapter 12 "Control sub functions" for details on each sub function.

Carrying out manual control from peripheral devices

"JOG operation", "Inching operation" and enabling/disabling of the "manual pulse
generator operation" can be executed from GX Configurator-QP test mode.
Refer to GX Configurator-QP Operating Manual for details on manual control from
GX Configurator-QP.

Monitoring manual control

Refer to Section 5.6 "List of monitor data" when directly monitoring the buffer
memory using GX Developer.
Also refer to GX Configurator-QP Operating Manual when monitoring with the
monitor functions of GX Configurator-QP.

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11.2 JOG operation

11.2.1 Outline of JOG operation

Important
Use the hardware stroke limit function when carrying out JOG operation near the
upper or lower limits. (Refer to Section 12.4.4).
* If the hardware stroke limit function is not used, the workpiece may exceed the
moving range, causing an accident.

JOG operation
In JOG operation, the FORWARD run JOG start signal (Y8, YA, YC, YE) or
REVERSE run JOG start signal (Y9, YB, YD, YF) turns ON, causing pulses to be
output to the drive unit from the QD75 while the signal is ON. The workpiece is
then moved in the designated direction.
The following shows examples of JOG operation.
When the START signal turns ON, acceleration begins in the direction designated by the
START signal, and continues for the acceleration time designated in " Pr.32 JOG
1)
operation acceleration time selection". At this time, the BUSY signal changes from OFF to
ON.
When the workpiece being accelerated reaches the speed set in " Cd.17 JOG speed",
2) the movement continues at this speed.
The constant speed movement takes place at 2) and 3).
When the START signal is turned OFF, deceleration begins from the speed set in
3) " Cd.17 JOG speed", and continues for the deceleration time designated in " Pr.33
JOG operation deceleration time selection".
The operation stops when the speed becomes "0". At this time, the BUSY signal changes
4)
from ON to OFF.

Cd. 17 JOG speed

Acceleration for the acceleration Deceleration for the deceleration
time selected in Pr. 32 time selected in Pr. 33
Forward JOG run

1) 2) 3) 4)
Reverse JOG run

ON
PLC READY signal [Y0] OFF
ON
QD75 READY signal [X0] OFF
ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]
ON
Reverse run JOG start signal OFF
[Y9, YB, YD, YF] ON
BUSY signal[XC, XD, XE, XF] OFF

Fig. 11.4 JOG operation

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Precautions during operation

The following details must be understood before carrying out JOG operation.

(1) For safety, first set " Cd.17 JOG speed" to a smaller value and check the
movement. Then gradually increase the value.
(2) An axis error will occur and the operation will not start (error code: 300) if the
"JOG speed" is outside the setting range at the JOG start.
(3) An axis error will occur and the operation will not start (error code: 956) if
" Pr.31 JOG speed limit value" is set to a value larger than " Pr.8 speed limit
value".
(4) If " Cd.17 JOG speed" exceeds the speed set in " Pr.31 JOG speed limit
value", the workpiece will move at the " Pr.31 JOG speed limit value" and an
"Axis warning" will occur in the QD75 (warning code: 301).
(5) The JOG operation can be continued even if an "Axis warning" has occurred.
(6) A JOG start signal OFF ON immediately after the stop signal ON OFF
(within 100ms) will be ignored. (The operation will not start.)
(7) Set a "0" in " Cd.16 inching movement amount". If a value other than "0" is
set, the operation will become an inching operation (Refer to Section 11.3
"Inching operation").

Errors during operation

When the operation is stopped by the stroke limit (limit signal OFF), JOG operation
can be performed in the direction in which the limit signal turns ON after an error
reset. (An error will occur again if the JOG start signal in the direction in which the
limit signal turns OFF is turned ON.)

V
JOG operation

JOG operation possible JOG operation not possible

ON
Upper/lower OFF
limit signal

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JOG operation timing and processing time

The following drawing shows details of the JOG operation timing and processing
time.

ON

Forward run JOG start signal OFF

[Y8, YA, YC, YE] t2

Reverse run JOG start signal OFF

[Y9, YB, YD, YF]
ON

BUSY signal [XC, XD, XE, XF] OFF

t1
t4
Md. 26 Axis operation status Standing by In JOG operation Standing by
t3

Pulse output to an
external source (PULSE)

Positioning operation

Positioning complete signal OFF

[X14, X15, X16, X17]

Fig. 11.5 JOG operation timing and processing times

Normal timing times Unit: ms

t1 t2 t3 t4
1.0 to 3.0 0 to 1.8 2.7 to 4.4 0 to 1.8

• Delays may occur in the t1 timing time due to the operation status of other axes.

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11.2.2 JOG operation execution procedure

The JOG operation is carried out by the following procedure.

Preparation STEP 1 One of the following two methods can be used.

Set the parameters
)
Pr.1 to Pr.39 ) <Method 1>
Refer to Chapter 5
and Section 11.2.3. Directly set (write) the parameters in the QD75 using GX
Configurator-QP.
<Method 2>
Set (write) the parameters from the PLC CPU to the QD75 using
the sequence program (TO command).

STEP 2 Set a "0" in " Cd. 16 Inching movement

Refer to Section amount".
Using GX Developer, set the control data and create a
11.2.4. Set the " Cd. 17 JOG speed". sequence program for executing the JOG operation.
(Control data setting) (Set the control data in the QD75 buffer memory using the TO
command.)

Create a sequence program in which the "JOG start

signal" is turned ON by a JOG operation start command.

STEP 3 Write the sequence program created in STEP 1 and

Write the sequence program to the PLC CPU. STEP 2 to the PLC CPU using GX Developer.
Refer to Chapter 6.

Turn ON the JOG start signal.

JOG operation STEP 4
Turn ON the JOG start signal of the axis to be started. Axis 1 Axis 2 Axis 3 Axis 4
start
Forward run JOG start signal Y8 YA YC YE
Reverse run JOG start signal Y9 YB YD YF

STEP 5 One of the following two methods can be used.

Monitoring of the Monitor the JOG operation status.
JOG operation <Method 1>
Monitor using GX Configurator-QP.
<Method 2>
Monitor using GX Developer.

STEP 6 Stop the JOG operation when the JOG start signal is turned
JOG operation Turn OFF the JOG operation start signal that is ON. OFF using the sequence program in STEP 2.
stop

End of control

REMARK
• Mechanical elements such as limit switches are considered as already installed.
• Parameter settings work in common for all control using the QD75.

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11.2.3 Setting the required parameters for JOG operation

The "Parameters" must be set to carry out JOG operation.

The following table shows the setting items of the required parameters for carrying out
JOG operation. When only JOG operation will be carried out, no parameters other than
those shown below need to be set. (Use the initial values or setting values within a
range where no error occurs for trouble-free operation.)
Factory-set initial value
Setting item Setting requirement
(setting details)
Pr.1 Unit setting 3 (pulse)

Pr.2 No. of pulses per rotation (Ap) (Unit: pulse) 20000

Pr.3 Movement amount per rotation (Al) (Unit: pulse) 20000

Pr.4 Unit magnification (Am) 1 (1-fold)

Pr.5 Pulse output mode 1 (CW/CCW mode)

Pr.6 0 (current value increases by

Rotation direction setting
forward run pulse output)
Pr.7 Bias speed at start (Unit: pulse/s) 0

Pr.8 Speed limit value (Unit: pulse/s) 20000

Parameters

Pr.9 Acceleration time 0 (Unit: pulse/s) 1000

Pr.10 Deceleration time 0 (Unit: pulse/s) 1000

Pr.11 Backlash compensation amount (Unit: pulse) 0

Pr.12 Software stroke limit upper limit value (Unit: pulse) 2147483647

Pr.13 Software stroke limit lower limit value (Unit: pulse) –2147483648

Pr.14 Software stroke limit selection 0 (current feed value)

Pr.15 Software stroke limit valid/invalid setting 0 (valid)

Pr.17 Torque limit setting value (Unit: %) 300

Pr.23 0 (Pulse output to drive unit is

Output signal logic selection
negative logic.)
: Setting always required.
: Set according to requirements (Leave set to the initial value when not used.)

REMARK
• Parameter settings work in common for all control using the QD75. When carrying
out other control ("major positioning control", "high-level positioning control", "OPR
positioning control"), the respective setting items must also be matched and set.
• Parameters are set for each axis.
• Refer to Chapter 5 "Data Used for Positioning Control" for setting details.

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11 MANUAL CONTROL
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Factory-set initial value

Setting item Setting requirement
(setting details)
Pr.25 Acceleration time 1 (Unit: pulse) 1000

Pr.26 Acceleration time 2 (Unit: pulse) 1000

Pr.27 Acceleration time 3 (Unit: pulse) 1000

Pr.28 Deceleration time 1 (Unit: pulse) 1000
Pr.29 Deceleration time 2 (Unit: pulse) 1000

Pr.30 Deceleration time 3 (Unit: pulse) 1000

Pr.31 JOG speed limit value (Unit: pulse/s) 20000

Parameters

Pr.32 JOG operation acceleration time selection 0 (acceleration time 0)

Pr.33 JOG operation deceleration time selection 0 (deceleration time 0)

Pr.34 0 (trapezoidal acceleration/

Acceleration/deceleration process selection
deceleration processing)
Pr.35 S-curve ratio (Unit: %) 100

Pr.36 Sudden stop deceleration time (Unit: ms) 1000

Pr.37 Stop group 1 sudden stop selection 0 (deceleration stop)

Pr.38 Stop group 2 sudden stop selection 0 (deceleration stop)

Pr.39 Stop group 3 sudden stop selection 0 (deceleration stop)

: Setting always required.

: Set according to requirements (Leave set to the initial value when not used.)

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11.2.4 Creating start programs for JOG operation

A sequence program must be created to execute a JOG operation. Consider the

"required control data setting", "start conditions" and "start time chart" when creating
the program.
The following shows an example when a JOG operation is started for axis 1.
(" Cd.17 JOG speed" is set to "100.00mm/min" in the example shown.)

Required control data setting

The control data shown below must be set to execute a JOG operation. The
setting is carried out with the sequence program.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Cd.16 Inching movement 0 Set “0”. 1517 1617 1717 1817

amount
Set a value equal to or above the " Pr.7 Bias
1518 1618 1718 1818
Cd.17 JOG speed 10000 speed at start" and equal to or below the
1519 1619 1719 1819
" Pr.31 JOG speed limit value".

Refer to Section 5.7 "List of control data" for details on the setting details.

Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name Signal state Axis Axis Axis Axis
1 2 3 4
PLC READY signal ON PLC CPU preparation completed Y0
QD75 READY signal ON QD75 preparation completed X0
QD75 buffer memory
Synchronization flag ON X1
The access is possible.
Interface
Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7
signal
Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13
BUSY signal OFF QD75 is not operating XC XD XE XF
Error detection signal OFF There is no error X8 X9 XA XB
M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –

If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be
inserted in the program for interlocking. If it is set to the synchronous mode, it must not be
inserted in the program for interlocking because it is turned ON when the PLC CPU executes
calculation.

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Start time chart

Forward
JOG run
t
Reverse JOG run

ON
Forward run JOG start signal [Y8] OFF
ON
Reverse run JOG start signal [Y9] OFF
ON
PLC READY signal [Y0] OFF
ON
QD75 READY signal [X0]
OFF
ON
OFF
BUSY signal [XC]
OFF
Error detection signal [X8]

Fig. 11.6 JOG operation start time chart

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Creating the program

á
—
Example

No. 10 JOG operation setting program

<Set JOG operation speed (100.00mm/min)>

<Set a "0" for inching movement amount>

<Write JOG operation speed>

No.12 JOG operation/inching operation execution program

<JOG/inching operation flag ON>

<JOG/inching operation termination>

<Execute forward JOG/inching operation>

<Execute reverse JOG operation>

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11.2.5 JOG operation example

When the "stop signal" is turned ON during JOG operation

When the "stop signal" is turned ON during JOG operation, the JOG operation will
stop by the "deceleration stop" method.
JOG start signals will be ignored while the stop signal is ON.
The operation can be started by turning the stop signal OFF, and turning the JOG
start signal from OFF to ON again.

A JOG start signal OFF ON

while the stop signal is ON will be ignored.

ON
PLC READY signal [Y0] OFF

ON
QD75 READY signal [X0]OFF

ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]
ON
Axis stop signal OFF
[Y4, Y5, Y6, Y7]
ON
BUSY signal[XC, XD, XE, XF] OFF

Fig. 11.7 Operation when the stop signal is turned ON during JOG operation

POINT
The QD75 will not receive a "JOG start signal" while the "stop signal" is ON.

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11 MANUAL CONTROL
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When both the "forward run JOG start signal" and "reverse run JOG start
signal" are turned ON simultaneously for one axis
When both the "forward run JOG start signal" and "reverse run JOG start signal"
are turned ON simultaneously for one axis, the "forward run JOG start signal" is
given priority. In this case, the "reverse run JOG start signal" is validated when the
QD75 BUSY signal is turned OFF.
If the forward run JOG operation is stopped due to stop or axis error by a stop
signal, the reverse run JOG operation will not be executed even if the "reverse run
JOG start signal" turns ON.

Forward run JOG operation

Reverse run JOG operation

ON
Forward run JOG start signal OFF
[Y8, YA, YC, YE]

ON
OFF
Reverse run JOG start signal
[Y9, YB, YD, YF]

The reverse run JOG

start signal is ignored.

ON
BUSY signal[XC, XD, XE, XF]
OFF

Fig. 11.8 Operation when both the forward run JOG start signal and reverse run JOG start signal are
turned ON simultaneously

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11 MANUAL CONTROL
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When the "JOG start signal" is turned ON again during deceleration caused
by the ON OFF of the "JOG start signal"
When the "JOG start signal" is turned ON again during deceleration caused by the
ON OFF of the "JOG start signal", the JOG operation will be carried out from the
time the "JOG start signal" is turned ON.

Forward run JOG operation

ON
Forward run JOG start
OFF
signal [Y8, YA, YC, YE]

ON
BUSY signal
[XC, XD, XE, XF] OFF

Fig. 11.9 Operation when the JOG start signal is turned ON during deceleration

When the "JOG start signal" is turned ON during a peripheral device test
mode
When the "JOG start signal" is turned ON during a peripheral device test mode, it
will be ignored and the JOG operation will not be carried out.

Forward run JOG

JOG operation not JOG operation not possible operation execution
possible because because this is not the
the operation is rising edge of the JOG
in the test mode start signal

ON
In test mode OFF

ON

Forward run JOG start signal OFF

[Y8, YA, YC, YE]

Fig. 11.10 Operation when the JOG start signal is turned ON during a test mode

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11 MANUAL CONTROL
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When the "JOG start signal" is turned ON immediately after the stop signal
OFF (within 100ms)
When the "JOG start signal" is turned ON immediately after the stop signal OFF
(within 100ms), it will be ignored and the JOG operation will not be carried out.

Forward run JOG operation

ON

Forward run JOG start signal OFF

[Y8, YA, YC, YE]
ON

Axis stop signal OFF

[Y4, Y5, Y6, Y7]
100ms

A rise of JOG start signal is ignored.

Fig. 11.11 Operation when the JOG start signal is turned ON immediately after the stop signal OFF

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11.3 Inching operation

11.3.1 Outline of inching operation

Important
When the inching operation is carried out near the upper or lower limit, use the
hardware stroke limit function (Refer to Section 12.4.4).
If the hardware stroke limit function is not used, the workpiece may exceed the
movement range, and an accident may result.

Inching operation
In inching operation, pulses are input to the drive unit at the first control cycle (1.8
ms) to move the workpiece by a designated movement amount after the forward
run JOG start signal [Y8, YA, YC, YE] or reverse JOG start signal [Y9, YB, YD, YF]
is turned ON.
The following shows the example of inching operation.
When the start signal is turned ON, inching operation is carried out in the direction
1)
designated by the start signal. In this case, BUSY signal is turned from OFF to ON.
The workpiece is moved by a movement amount set in " Cd.16 Inching movement
2)
amount".
The workpiece movement stops when the speed becomes "0". In this case, BUSY signal
3)
is turned from ON to OFF. The positioning complete signal is turned from OFF to ON.
The positioning complete signal is turned from ON to OFF after a time set in
4) " Pr.40 Positioning complete signal output time" has been elapsed.

2)

Forward run inching operation

1) 3) 4)

ON
PLC READY signal [Y0]
OFF
ON
QD75 READY signal OFF
[X0]
ON
Forward run JOG start
OFF
signal
[Y8,YA,YC,YE] ON
BUSY signal OFF
[XC,XD,XE,XF]
ON
Positioning complete OFF
signal Pr.40 Positioning complete signal
[X14,X15,X16,X17] output time

Fig. 11.12 Inching operation

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Precautions during operation

The following details must be understood before inching operation is carried out.
(1) Acceleration/deceleration processing is not carried out during inching
operation.
(Pulses corresponding to the designated inching movement amount are output
at the first control cycle of the QD75 (1.8 ms). The movement direction of
inching operation is reversed and, when a backlash compensation is carried
out, first pulses corresponding to the backlash amount are output in the first
control cycle of the QD75 and then pulses corresponding to the designated
inching movement amount are output in the subsequent control cycles.)
The " Cd.17 JOG speed" is ignored even if it is set. An error will occur in the
following cases (error code: 301).
( Cd.16 Inching movement amount) x (A) > ( Pr.31 JOG speed limit value)
Where (A) is as follows.
• When the unit is pulse: 562.5
• When the unit is other than pulse: 337.5
(2) JOG start signal OFF ON immediately after stop signal ON OFF (within
100 ms) is ignored.
(Operation will not start.)
(3) Set a value other than a "0" in " Cd.16 Inching movement amount".
If a "0" is set, the operation will become JOG operation (Refer to Section 11.2
"JOG operation".

Errors during operation

When the operation is stopped by the stroke limit (limit signal OFF), inching
operation can be performed in the direction in which the limit signal turns ON after
an error reset. (An error will occur again if the JOG start signal in the direction in
which the limit signal turns OFF is turned ON.)
V
Inching operation

Inching operation possible Inching operation not possible

ON
Upper/lower
limit signal OFF

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Inching operation timing and processing times

The following drawing shows the details of the inching operation timing and
processing time.

ON
Forward run JOG start signal
[Y8,YA,YC,YE] OFF

Reverse run JOG start signal

[Y9,YB,YD,YF] OFF
ON

BUSY signal
OFF
[XC,XD,XE,XF]
t1 t3

Md.26 Axis operation Standing by Inching operation Standing by

status
t2

Pulse output to an external

source
(PULSE)

Positioning operation

Positioning complete ON
signal OFF
[X14,X15,X16,X17]

t4

Fig. 11.13 Inching operation timing and processing times

Normal timing times Unit : ms

t1 t2 t3 t4
Depending on
1.0 to 3.0 2.7 to 4.4 0 to 1.8
parameters

• Depending on the operating statuses of the other axes, delay may occur in the
t1 timing time.

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11.3.2 Inching operation execution procedure

The inching operation is carried out by the following procedure.

Preparation STEP 1 One of the following two methods can be used.

Set the parameters.
<Method 1>
Pr.1 to Pr.31 )
)
Refer to Chapter 5
and Section 11.3.3. Directly set (write) the parameters in the QD75 using GX
Configurator-QP.
<Method 2>
Set (write) the parameters from the PLC CPU to the QD75 using
the sequence program (TO command).

STEP 2

Refer to Section Set the " Cd.16 inching movement amount".

Using GX Developer, set the control data and create a
11.3.4. (Control data setting) sequence program for executing the inching
operation.
(Set the control data in the QD75 buffer memory using the TO
command.)
Create a sequence program in which the "JOG start
signal" is turned ON by an inching operation start
command.

STEP 3 Write the sequence program created in STEP 1 and

Write the sequence program to the PLC CPU. STEP 2 to the PLC CPU using GX Developer.
Refer to Chapter 6.

Turn ON the JOG start signal.

Inching operation STEP 4
Turn ON the JOG start signal of the axis to be started. Axis 1 Axis 2 Axis 3 Axis 4
start
Forward run JOG start signal Y8 YA YC YE
Reverse run JOG start signal Y9 YB YD YF

STEP 5 One of the following two methods can be used.

Monitoring of the Monitor the inching operation status.
inching operation <Method 1>
Monitor using GX Configurator-QP.
<Method 2>
Monitor using GX Developer.

STEP 6 End the inching operation after moving a workpiece

Inching operation Turn OFF the JOG operation start signal that is ON. by an inching movement amount with the sequence
stop program created in STEP 2.

End of control

REMARK
• Mechanical elements such as limit switches are considered as already installed.
• Parameter settings work in common for all control using the QD75.

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11.3.3 Setting the required parameters for inching operation

The "Parameters" must be set to carry out inching operation.

The following table shows the setting items of the required parameters for carrying out
inching operation. When only inching operation will be carried out, no parameters
other than those shown below need to be set. (Use the initial values or setting values
within a range where no error occurs for trouble-free operation.)

Factory-set initial value

Setting item Setting requirement
(setting details)
Pr.1 Unit setting 3 (pulse)

Pr.2 No. of pulses per rotation (Ap) (Unit: pulse) 20000

Pr.3 Movement amount per rotation (Al) (Unit: pulse) 20000

Pr.4 Unit magnification (Am) 1 (1-fold)

Pr.5 Pulse output mode 1 (CW/CCW mode)

Pr.6 0 (current value increases by

Rotation direction setting
forward run pulse output)
Parameters

Pr.11 Backlash compensation amount (Unit: pulse) 0

Pr.12 Software stroke limit upper limit value (Unit: pulse) 2147483647

Pr.13 Software stroke limit lower limit value (Unit: pulse) –2147483648

Pr.14 Software stroke limit selection 0 (current feed value)

Pr.15 Software stroke limit valid/invalid setting 0 (valid)

Pr.17 Torque limit setting value (Unit: %) 300

Pr.23 0 (Pulse output to the drive

Output signal logic selection
unit is negative logic)
Pr.31 JOG speed limit value (Unit: pulse/s) 20000

: Setting always required.

: Set according to requirements (Leave set to the initial value when not used.)

REMARK
• Parameter settings work in common for all control using the QD75. When carrying
out other controls ("major positioning control", "high-level positioning control", and
“OPR positioning control"), the respective setting items must also be set.
• Parameters are set for each axis.
• Refer to Chapter 5 "Data Used for Positioning Control" for setting details.

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11.3.4 Creating a program to enable/disable the inching operation

A sequence program must be created to execute an inching operation. Consider the

"required control data setting", "start conditions", and "start time chart" when creating
the program.
The following shows an example when an inching operation is started for axis 1. (The
example shows the inching operation when a "10.0 µm" is set in " Cd.16 Inching
movement amount".)

Required control data setting

The control data shown below must be set to execute an inching operation. The
setting is carried out with the sequence program.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4
Set the setting value so that the command
pulse is not increased larger than the maximum
output pulse. (The maximum output pulse is 1
Cd.16 Inching movement 100 1517 1617 1717 1817
amount Mpps for QD75D : differential drive output
system), or 200 kpps for QD75P : open
collector output system.)
Refer to Section 5.7 "List of control data" for information on setting details.

Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name Signal state Axis Axis Axis Axis
1 2 3 4
PLC READY signal ON PLC CPU preparation completed Y0
QD75 READY signal ON QD75 preparation completed X0
Accessible to QD75 buffer
Synchronization flag ON X1
memory
Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7
Interface
Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13
signal
BUSY signal OFF QD75 is not operating XC XD XE XF
Positioning complete Positioning complete signal is
OFF X14 X15 X16 X17
signal OFF
Error detection signal OFF There is no error X8 X9 XA XB
M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –

If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be
inserted in the program for interlocking. If it is set to the synchronous mode, it must not be
inserted in the program for interlocking because it is turned ON when the PLC CPU executes
calculation.

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Start time chart

Forward run inching operation

t
Reverse run inching operation

ON
Forward run JOG start signal [Y8]
OFF
ON
Reverse run JOG start signal [Y9]
OFF
ON
PLC READY signal [Y0] OFF
ON
QD75 READY signal [X0]
OFF
ON

BUSY signal [XC] OFF

OFF
Error detection signal [X8]
ON
Positioning complete signal [X14]
OFF

Fig. 11.14 Inching operation start time chart

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Creating the program

á
—
Example

No.11 Inching operation setting program

<Set inching movement amount>

<Write inching movement amount>

No.12 JOG operation/inching operation execution program

<JOG/inching operation flag ON>

<JOG/inching operation termination>

<Execute forward JOG/inching operation>

<Execute reverse JOG operation>

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11.3.5 Inching operation example

When "stop signal" is turned ON during inching operation:

If "stop signal" is turned ON during inching operation, the inching operation will be
stopped.
While the stop signal is turned ON, the JOG start signal is ignored.
The inching operation can be re-started when the stop signal is turned OFF and
then re-turned ON.

A JOG start signal OFF ON

while the stop signal is ON will be ignored.

ON
PLC READY
signal [Y0] OFF

ON
QD75 READY OFF
signal
[X0]
ON
Forward run JOG
start signal OFF
[Y8,YA,YC,YE]
ON
Axis stop signal OFF
[Y4,Y5,Y6,Y7]

ON
BUSY signal OFF
[XC,XD,XE,XF]

Fig. 11.15 Operation when stop signal is turned ON during inching operation

POINT
The QD75 will not accept "JOG start signal" while "stop signal" is turned ON.

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When "JOG start signal" is turned ON when peripheral devices are in the
test mode:
If "JOG star signal" is turned ON when peripheral devices are in the test mode, the
"JOG start signal" will be ignored and inching operation will not be carried out.

Inching operation not

possible because JOG Forward run inching
Inching operation not possible start signal does not rise operation executed
because the operation is in the
test mode.

ON

OFF
In test mode

ON
Forward run JOG start signal
[Y8,YA,YC,YE] OFF

Fig. 11.16 Operation when JOG start signal is turned ON in test mode

When "JOG start signal" is turned ON immediately after stop signal OFF
(within 100 ms):
If "JOG start signal" is turned ON immediately after the stop signal is turned OFF
(within 100 ms), the "JOG start signal" will be ignored and inching operation will
not be carried out.

Forward run inching operation

ON

OFF
Forward run JOG start signal
[Y8,YA,YC,YE]
ON

OFF
Axis stop signal
[Y4,Y5,Y6,Y7]
100ms

A rise of JOG start signal

is ignored.

Fig. 11.17 Operation when JOG start signal is turned ON immediately after stop signal is turned OFF

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11.4 Manual pulse generator operation

11.4.1 Outline of manual pulse generator operation

Important
Create the sequence program so that " Cd.21 Manual pulse generator enable
flag" is always set to "0" (disabled) when a manual pulse generator operation is not
carried out.
Mistakenly touching the manual pulse generator when the manual pulse
generator enable flag is set to "1" (enable) can cause accidents or incorrect
positioning.

Manual pulse generator operation

In manual pulse generator operations, pulses are input to the QD75 from the
manual pulse generator. This causes the same No. of input pulses to be output
from the QD75 to the servo amplifier, and the workpiece is moved in the
designated direction.
The following shows and example of manual pulse generator operation.

When the " Cd.21 Manual pulse generator enable flag" is set to "1", the BUSY signal
1)
turns ON and the manual pulse generator operation is enabled.
The workpiece is moved corresponding to the No. of pulses input from the manual pulse
2)
generator.
The workpiece movement stops when no more pulses are input from the manual pulse
3)
generator.
When the " Cd.21 Manual pulse generator enable flag" is set to "0", the BUSY signal
4)
turns OFF and the manual pulse generator operation is disabled.

Manual pulse
generator
operation stops 1
t
1) 2) 3) 4)

Cd. 21 Manual pulse

generator enable flag 0 1 0

ON
BUSY signal [XC, XD, YE, XF] OFF

Manual pulse
generator input

Start complete signal 2 OFF

[X10, X11, X12, X13]
Manual pulse generator operation enabled

[Precautions]
1 If the input from the manual pulse generator stops, the machine will decelerate to a stop within
90 ms.
2 The start complete signal does not turn ON in manual pulse generator operation.
Fig. 11.18 Manual pulse generator operation
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11 MANUAL CONTROL
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Restricted items
A manual pulse generator is required to carry out manual pulse generator
operation.

Precautions during operation

The following details must be understood before carrying out manual pulse
generator operation.
(1) The speed during manual pulse generator operation is not limited by the
" Pr.8 Speed limit value".

(2) If the " Cd.21 Manual pulse generator enable flag" is turned ON while the
QD75 is BUSY (BUSY signal ON), a warning will occur (warning code 100:
start during operation).
(3) If a stop factor occurs during manual pulse generator operation, the operation
will stop, and the BUSY signal will turn OFF.
At this time, the " Cd.21 Manual pulse generator enable flag" will be left ON,
but manual pulse generator operation will not be possible. To carry out manual
pulse generator operation again, measures must be carried out to eliminate
the stop factor. Once eliminated, the operation can be carried out again by
turning the " Cd.21 Manual pulse generator enable flag" ON OFF ON.
(4) Pulses will not be output if an error occurs when the manual pulse generator
operation starts.

REMARK
• One QD75 module can be connected to one manual pulse generator.
• The QD75 module can simultaneously output pulses to the axis 1 to axis 4 drive
units by one manual pulse generator.
(1-axis to 4-axis simultaneous operation is possible.)

Errors during operation

When the operation is stopped by the stroke limit (limit signal OFF), manual pulse
generator operation can be performed in the direction in which the limit signal turns
ON after an error reset. (An error will occur again if pulse input is provided in the
direction in which the limit signal turns OFF is turned ON.)

V
Manual pulse
generator operation

Manual pulse generator Manual pulse generator

operation possible operation not possible

ON
Upper/lower OFF
limit signal

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Manual pulse generator operation timing and processing time

The following drawing shows details of the manual pulse generator operation
timing and processing time.

Cd. 21 Manual pulse generator 0 1 0

enable flag (axis control data)
t3
t4
Manual pulse generator input
pulses
t1

BUSY signal [XC,XD,XE,XF]

Start complete signal The start complete signal does not turn ON in manual pulse generator operation.

[X10, X11, X12, X13]

Md. 26 Axis operation status Standing by In manual pulse generator operation Standing by
t2

Pulse output to an external

source (PULSE)

Positioning operation

Fig. 11.19 Manual pulse generator operation timing and processing times

Normal timing times Unit : ms

t1 t2 t3 t4
0 to 2.6 6.2 to 32 64 to 90 28.4 to 57.6

• Delays may occur in the t1 timing time due to the operation status of other axes.

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Position control by manual pulse generator operation

In manual pulse generator operation, the position is moved by a "manual pulse
generator 1 pulse movement amount" per pulse.
The current feed value in the positioning control by manual pulse generator
operation can be calculated using the expression shown below.

Current feed value = Number of input pulses × Cd.20 Manual pulse generator 1
pulse input magnification × Manual pulse generator 1 pulse
movement amount

Pr.1 Unit setting mm inch degree pulse

Manual pulse
generator 1 pulse 0.1µm 0.00001inch 0.00001degree 1pulse
movement amount

For example, when " Pr.1 Unit setting" is mm and " Cd.20 Manual pulse
generator 1 pulse input magnification" is 2, and 100 pulses are input from the
manual pulse generator, the current feed value is as follows.
100 × 2 × 0.1 = 20 [µm]
The number of pulses output actually to the drive unit is "Manual pulse generator 1
pulse movement amount/movement amount per pulse ". For example, when
" Pr.1 Unit setting" is mm and the movement amount per pulse is 1 µm, 0.1/1 =
1/10, i.e., the output to the drive unit per pulse from the manual pulse generator is
1/10 pulse. Thus, the QD75 outputs 1 pulse to the drive unit after receiving 10
pulses from the manual pulse generator.
Pr.3 Movement amount per rotation
Movement amount per pulse = Pr.4 Unit magnification
Pr.2 No. of pulses per rotation

Speed control by manual pulse generation operation

The speed during positioning control by manual pulse generator operation is a
speed corresponding to the No. of input pulses per unit time, and can be obtained
using the following equation.

Output command frequency = Input frequency × Cd.20 Manual pulse generator

1 pulse input magnification

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11.4.2 Manual pulse generator operation execution procedure

The manual pulse generator operation is carried out by the following procedure.

Preparation STEP 1 Set the parameters One of the following two methods can be used.
)
Pr.1 to Pr.24 ) <Method 1>
Refer to Chapter 5
and Section 11.4.3. Directly set (write) the parameters in the QD75 using
GX Configurator-QP.
<Method 2>
Set (write) the parameters from the PLC CPU to the QD75
using the sequence program (TO command).

Using GX Developer, set the control data and create a

STEP 2 Set " Cd. 20 Manual pulse generator 1 pulse input sequence program to enable/disable the manual pulse
Refer to Section magnification". (control data setting) generator operation. (Set the control data in the QD75
11.4.4.
buffer memory using the TO command.)
Create a sequence program in which the enable/disable is
set for the manual pulse generator operation.
(" Cd. 21 Manual pulse generator enable flag" setting.)

STEP 3 Write the sequence program created in STEP 1 and

Write the sequence program to the PLC CPU. STEP 2 to the PLC CPU using GX Developer.

Manual pulse STEP 4 Issue a command to enable the manual pulse generator Write "1" in " Cd.21 Manual pulse generator enable
generator operation operation, and input the signals from the manual pulse
generator.
flag", and operate the manual pulse generator.
start

Monitoring of the STEP 5 One of the following two methods can be used.
manual pulse Monitor the manual pulse generator operation. <Method 1>
generator operation Monitor using GX Configurator-QP.
<Method 2>
Monitor using GX Developer.

Manual pulse STEP 6 Stop operating the manual pulse generator, and write "0"
End the input from the manual pulse generator,
generator operation and issue a command to disable the manual pulse in " Cd. 21 Manual pulse generator enable flag".
stop

End of control

REMARK
• Mechanical elements such as limit switches are considered as already installed.
• Parameter settings work in common for all control using the QD75.

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11.4.3 Setting the required parameters for manual pulse generator operation

The "Parameters" must be set to carry out manual pulse generator operation.
The following table shows the setting items of the required parameters for carrying out
manual pulse generator operation. When only manual pulse generator operation will
be carried out, no parameters other than those shown below need to be set. (Use the
initial values or setting values within a range where no error occurs for trouble-free
operation.)
Factory-set initial value
Setting item Setting requirement
(setting details)
Pr.1 Unit setting 3 (pulse)

Pr.2 No. of pulses per rotation (Ap) (Unit: pulse) 20000

Pr.3 Movement amount per rotation (Al) (Unit: pulse) 20000

Pr.4 Unit magnification (Am) 1 (1-fold)

Pr.5 Pulse output mode 1 (CW/CCW mode)

Pr.6 0 (current value increases by

Rotation direction setting
forward run pulse output)
Pr.11 Backlash compensation amount (Unit: pulse) 0
Parameters

Pr.12 Software stroke limit upper limit value (Unit: pulse) 2147483647

Pr.13 Software stroke limit lower limit value (Unit: pulse) –2147483648

Pr.14 Software stroke limit selection 0 (current feed value)

Pr.15 Software stroke limit valid/invalid setting 0 (valid)

Pr.17 Torque limit setting value (Unit: %) 300

Pr.22 0 (Manual pulse generator

Input signal logic selection
input is negative logic.)
Pr.23 0 (Pulse output to drive unit is
Output signal logic selection
negative logic.)
Pr.24 0 (4 times multiplication of A
Manual pulse generator input selection
phase/B phase)
: Setting always required.
: Set according to requirements (Leave set to the initial value when not used.)

REMARK
• Parameter settings work in common for all control using the QD75. When carrying
out other control ("major positioning control", "high-level positioning control", "OPR
positioning control"), the respective setting items must also be matched and set.
• Parameters are set for each axis. But Pr.22 Manual pulse generator input logic

(b8), Pr.24 is set only for axis 1. (The setting for axes 2,3, and 4 is ignored.)
• Refer to Chapter 5 "Data Used for Positioning Control" for setting details.

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11.4.4 Creating a program to enable/disable the manual pulse generator operation

A sequence program must be created to execute a manual pulse generator operation.

Consider the "required control data setting", "start conditions" and "start time chart"
when creating the program.
The following shows an example when a manual pulse generator operation is started
for axis 1.

Required control data setting

The control data shown below must be set to execute a manual pulse generator
operation. The setting is carried out with the sequence program.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4
Manual pulse 1522 1622 1722 1822
Cd.20 generator 1 pulse Set the manual pulse generator 1 pulse input
1
magnification. 1523 1623 1723 1823
input magnification
Set "1: Enable manual pulse generator
Manual pulse
Cd.21 generator enable operation". (Set "0: Disable manual pulse
1 (0) 1524 1624 1724 1824
generator operation" when finished with the
flag
manual pulse generator operation.)
Refer to Section 5.7 "List of control data" for details on the setting details.

Start conditions
The following conditions must be fulfilled when starting. The required conditions
must also be assembled in the sequence program, and the sequence program
must be configured so the operation will not start if the conditions are not fulfilled.
Device
Signal name Signal state Axis Axis Axis Axis
1 2 3 4
PLC READY signal ON PLC CPU preparation completed Y0
QD75 READY signal ON QD75 preparation completed X0
QD75 buffer memory
Synchronization flag ON X1
The access is possible.
Interface
Axis stop signal OFF Axis stop signal is OFF Y4 Y5 Y6 Y7
signal
Start complete signal OFF Start complete signal is OFF X10 X11 X12 X13
BUSY signal OFF QD75 is not operating XC XD XE XF
Error detection signal OFF There is no error X8 X9 XA XB
M code ON signal OFF M code ON signal is OFF X4 X5 X6 X7
Drive unit READY signal ON Drive unit preparation completed –
External Stop signal OFF Stop signal is OFF –
signal Upper limit (FLS) ON Within limit range –
Lower limit (RLS) ON Within limit range –

If the PLC CPU is set to the asynchronous mode in the synchronization setting, this must be
inserted in the program for interlocking. If it is set to the synchronous mode, it must not be
inserted in the program for interlocking because it is turned ON when the PLC CPU executes
calculation.

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Start time chart

Forward run

Reverse run

Pulse input A phase

Pulse input B phase

ON
PLC READY signal [Y0] OFF
ON
OFF
QD75 READY signal [X0]

Start complete signal [X10] OFF

ON
BUSY signal [XC] OFF

Error detection signal [X8] OFF

Cd. 21 Manual pulse generator 0 1 0

enable flag
Cd. 20 Manual pulse generator 1
1 pulse input magnification

Fig. 11.20 Manual pulse generator operation start time chart

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Creating the program

á
—
Example

No.13 Manual pulse generator operation program

<Pulsate manual pulse generator operation command>

<Set manual pulse generator input scale per pulse>

<Write manual pulse generator operation enable>

<Write data for manual pulse generator>

<Turn ON manual pulse generator operating flag>

<Pulsate manual pulse generator operation disble

command>
<Write manual pulse generator operation disble>

<Turn OFF manual pulse generator operating flag>

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MEMO

11 - 36
Chapter 12 Control Sub Functions

The details and usage of the "sub functions" added and used in combination with
the main functions are explained in this chapter.
A variety of sub functions are available, including functions specifically for machine
OPR and generally related functions such as control compensation, etc.
More appropriate, finer control can be carried out by using these sub functions.
Each sub function is used together with a main function by creating matching
parameter settings and sequence programs. Read the execution procedures and
settings for each sub function, and set as required.

12.1 Outline of sub functions ...........................................................................................12- 2

12.1.1 Outline of sub functions .............................................................................12- 2
12.2 Sub functions specifically for machine OPR...........................................................12- 4
12.2.1 OPR retry function......................................................................................12- 4
12.2.2 OP shift function ........................................................................................12- 8
12.3 Functions for compensating the control.................................................................12- 11
12.3.1 Backlash compensation function..............................................................12- 11
12.3.2 Electronic gear function ............................................................................12- 13
12.3.3 Near pass function ....................................................................................12- 18
12.4 Functions to limit the control...................................................................................12- 21
12.4.1 Speed limit function...................................................................................12- 21
12.4.2 Torque limit function..................................................................................12- 23
12.4.3 Software stroke limit function....................................................................12- 26
12.4.4 Hardware stroke limit function ..................................................................12- 32
12.5 Functions to change the control details .................................................................12- 34
12
12.5.1 Speed change function .............................................................................12- 34
12.5.2 Override function.......................................................................................12- 41
12.5.3 Acceleration/deceleration time change function ......................................12- 44
12.5.4 Torque change function ............................................................................12- 48
12.6 Absolute position restoration function ....................................................................12- 50
12.7 Other functions........................................................................................................12- 58
12.7.1 Step function .............................................................................................12- 58
12.7.2 Skip function..............................................................................................12- 63
12.7.3 M code output function..............................................................................12- 66
12.7.4 Teaching function......................................................................................12- 70
12.7.5 Target position change function ...............................................................12- 77
12.7.6 Command in-position function ..................................................................12- 81
12.7.7 Acceleration/deceleration processing function.........................................12- 84
12.7.8 Pre-reading start function..........................................................................12- 87
12.7.9 Deceleration start flag function .................................................................12- 92
12.7.10 Stop command processing for deceleration stop function.......................12- 96

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12 CONTROL SUB FUNCTIONS
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12.1 Outline of sub functions

"Sub functions" are functions that compensate, limit, add functions, etc., to the control
when the main functions are executed. These sub functions are executed by
parameter settings, commands from GX Configurator-QP, sub function sequence
programs, etc.

12.1.1 Outline of sub functions

The following table shows the types of sub functions available.

Sub function Details
This function retries the machine OPR with the upper/lower limit switches
Functions OPR retry function during machine OPR. This allows machine OPR to be carried out even if the
characteristic axis is not returned to before the near-point dog with JOG operation, etc.
to machine After returning to the machine OP, this function offsets the position by the
OPR OP shift function designated distance from the machine OP position and sets that position as
the OP address.
This function compensates the mechanical backlash. Feed pulses equivalent
Backlash compensation
to the set backlash amount are output each time the movement direction
function
changes.
Functions that By setting the movement amount per pulse, this function can freely change
compensate the machine movement amount per commanded pulse.
Electronic gear function
control When the movement amount per pulse is set, a flexible positioning system
that matches the machine system can be structured.
This function suppresses the machine vibration when the speed changes
Near pass function 1
during continuous path control in the interpolation control.
If the command speed exceeds " Pr.8 Speed limit value" during control,
Speed limit function this function limits the commanded speed to within the " Pr.8 Speed limit
value" setting range.
If the torque generated by the servomotor exceeds " Pr.17 Torque limit
Functions that Torque limit function 2 setting value" during control, this function limits the generated torque to
limit control within the " Pr.17 Torque limit setting value" setting range.
If a command outside of the upper/lower limit stroke limit setting range, set in
Software stroke limit
the parameters, is issued, this function will not execute positioning for that
function
command.
Hardware stroke limit This function carries out deceleration stop with the limit switch connected to
function the QD75 external device connector.
This function changes the speed during positioning.
Set the changed speed in the speed change buffer memory ( Cd.14 New
Speed change function
speed value), and change the speed with the speed change request
( Cd.15 Speed change request).
Functions that
change control This function changes the speed within a percentage of 1 to 300% during
details Override function positioning. This is executed using " Cd.13 Positioning operation speed
override".
Acceleration/deceleration This function changes the acceleration/deceleration time during speed
time change function change.
Torque change function This function changes the "torque limit value" during control.
1 The near pass function is validated only when the machine of the standard specification carries out the position control
with the continuous path control mode.
It cannot be invalidated with parameters.
2 To carry out "torque limit", the "D/A conversion module" and a "drive unit capable of the torque limit command with an
analog voltage" must be prepared.

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12 CONTROL SUB FUNCTIONS
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Sub function Details

Absolute position
This function restores the absolute position of the designated axis.
restoration function 3
This function temporarily stops the operation to confirm the positioning
operation during debugging, etc.
Step function
The operation can be stopped at each "automatic deceleration" or
"positioning data".
This function stops the positioning being executed (decelerates to a stop)
Skip function
when the skip signal is input, and carries out the next positioning.
This function issues a sub work (clamp or drill stop, tool change, etc.)
M code output function
according to the code No. (0 to 65535) set for each positioning data.
This function stores the address positioned with manual control into the
Teaching function positioning address ( Da.6 Positioning address/movement amount) having
the designated positioning data No.
Target position change This function changes the target position during the execution of positioning.
Other functions function At the same time, this also can change the speed.
At each automatic deceleration, this function calculates the remaining
distance for the QD75 to reach the positioning stop position, and when the
Command in-position
value is less than the set value, sets the "command in-position flag".
function
When using another sub work before ending the control, use this function as
a trigger for the sub work.
Acceleration/deceleration
This function adjusts the control acceleration/deceleration.
process function
Pre-reading start function This function shortens the virtual start time.
Function that turns ON the flag when the constant speed status or
Deceleration start flag acceleration status switches to the deceleration status during position
function control, whose operation pattern is "Positioning complete", to make the stop
timing known.
Stop command processing
Function that selects a deceleration curve when a stop cause occurs during
for deceleration stop
deceleration stop processing to speed 0.
function

3 "The 16-point input module", "16-point output module", and "the drive unit capable of configuring an
absolute position detection system" are required to execute the "absolute position restoration function".

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12.2 Sub functions specifically for machine OPR

The sub functions specifically for machine OPR include the "OPR retry function" and
"OP shift function". Each function is executed by parameter setting.

12.2.1 OPR retry function

When the workpiece goes past the OP without stopping during positioning control, it
may not move back in the direction of the OP although a machine OPR is commanded,
depending on the workpiece position. This normally means the workpiece has to be
moved to a position before the near-point dog by a JOG operation, etc., to start the
machine OPR again. However, by using the OPR retry function, a machine OPR can
be carried out regardless of the workpiece position.

The details shown below explain about the "OPR retry function".
[1] Control details
[2] Precautions during control
[3] Setting the OPR retry function

[1] Control details

The following drawing shows the operation of the OPR retry function.
(1) OPR retry point return retry operation when the workpiece is within the range
between the upper and lower limits.

1) The movement starts in the " Pr.44 OPR direction" by a machine OPR start.
2) The operation decelerates when the limit signal OFF is detected.
3) After stopping at detection of the limit signal OFF, the operation moves at the " Pr.46 OPR speed" in the
direction opposite to the " Pr.44 OPR direction".
4) The operation decelerates when the near-point dog turns OFF.
5) After stopping due to the near-point dog OFF, a machine OPR is carried out in the " Pr.44 OPR
direction".
6) Machine OPR completion
2)

5) 1)

6) 3)

4)

ON Limit signal OFF

Near-point dog

Zero signal

Fig. 12.1 OPR retry operation by limit signal detection

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(2) OPR retry operation when the workpiece is outside the range between the
upper and lower limits.

1) When the direction from the workpiece to the OP is the same as the " Pr.44 OPR direction", a
normal machine OPR is carried out.

Machine OPR start

OP
Pr. 44 OPR direction

Lower limit Upper limit

Near-point dog

Zero signal

Movement range

2) When the direction from the workpiece to the OP is the opposite direction from the " Pr.44 OPR
direction", the operation carries out a deceleration stop when the near-point dog turns OFF, and
then carries out a machine OPR in the direction set in " Pr.44 OPR direction".

Machine OPR start

OP
Pr. 44 OPR direction

Lower limit Upper limit

Near-point dog

Zero signal

Movement range

Note) The above figures (a) and (b) are examples where " Pr.44 OPR direction" is set to "0: Positive
direction". When "0: Positive direction" is set in Pr.44 , check that the limit switch placed in the
OPR direction acts as the upper limit. When "1: Negative direction" is set in Pr.44 , check that
the limit switch placed in the OPR direction acts as the lower limit. Incorrect wiring of these limit
switches may cause improper OPR retry operation. If any malfunction is identified, check and
correct " Pr.6 Rotation direction setting" and the wiring.

Fig. 12.2 OPR retry operation from on limit (limit switch OFF)

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(3) Setting the dwell time during an OPR retry

The OPR retry function can perform such function as the dwell time using
" Pr.57 Dwell time at OPR retry" when the reverse run operation is carried
out due to detection by the limit signal for upper and lower limits and when
the machine OPR is executed after the near point dog is turned OFF to stop
the operation.

" Pr.57 Dwell time during OPR" is validated when the operation stops at
the "A" and "B" positions in the following drawing. (The dwell time is the
same value at both positions "A" and "B".)

Pr. 44 OPR direction Stop by limit

Machine OPR signal detection
executed again

B OP
A

Machine OPR start

Stop by near-point
dog OFF Reverse run operation
after limit signal detection
Near-point dog Limit signal OFF

Zero signal

Fig. 12.3 Setting the dwell time during an OPR retry

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[2] Precaution during control

(1) The following table shows whether the OPR retry function may be executed
by the " Pr.43 OPR method".

Pr.43 OPR method Execution status of OPR retry function

Near-point dog method : Execution possible

Stopper method 1) : Execution not possible
Stopper method 2) : Execution not possible
Stopper method 3) : Execution not possible
Count method 1) : Execution possible
Count method 2) : Execution possible

(2) Always establish upper/lower limit switches at the upper/lower limit positions
of the machine, and connect an QD75 module. If the OPR retry function is
used without hardware stroke limit switches, the motor will continue rotation
until a hardware stroke limit signal is detected.
(3) Always wire QD75 upper/lower limit switches even when the OPR function
is invalidated. Control cannot be carried out with the QD75 unless the wiring
is carried out.
(4) Do not carry out settings so that the drive unit power turns OFF by the
upper/lower limit switches connected to the QD75. If the drive unit power is
turned OFF, the OPR retry cannot be carried out.

[3] Setting the OPR retry function

To use the "OPR retry function", set the required details in the parameters shown
in the following table, and write them to the QD75.
When the parameters are set, the OPR retry function will be added to the
machine OPR control. The set details are validated at the rising edge (OFF
ON) of the PLC READY signal (Y0). Set " Pr.57 Dwell time during OPR retry"
according to the user's requirements.
Setting Factory-set
Setting item Setting details
value initial value
Pr.48 OPR retry 1 Set "1: Carry out OPR retry by limit switch". 0

Pr.57 Dwell time during Set the deceleration stop time during OPR retry.
0
OPR retry (Random value between 0 and 65535 (ms))
Refer to Section 5.2 "List of parameters" for setting details.

REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will
increase.

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12.2.2 OP shift function

When a machine OPR is carried out, the OP is normally established using the near-
point dog, stopper, and zero signal. However, by using the OP shift function, the
machine can be moved a designated movement amount from the position where the
zero signal was detected. A mechanically established OP can then be interpreted at
that point.
The OP shift function can be used without relation to " Pr.43 OPR method".

The details shown below explain about the "OP shift function".
[1] Control details
[2] Setting range for the OP shift amount
[3] Movement speed during OP shift
[4] Precautions during control
[5] Setting the OP shift function

[1] Control details

The following drawing shows the operation of the OP shift function.

Pr. 44 OPR direction

Pr. 46 OPR speed Speed selected by the " Pr. 56
Speed designation during OP
shift"

Machine OPR start Pr.47 Creep speed

Pr.53 OP shift amount

Shift operation carried out after
the deviation counter clear and reset.

Near-point dog

Zero signal

Fig. 12.4 OP shift operation

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[2] Setting range for the OP shift amount

Set the OP shift amount within the range from the detected zero signal to the
upper/lower limit switches.

Setting range of the

negative OP
shift amount Setting range of the positive OP shift amount

Address decrease Address increase

direction direction

Near-point dog
Lower limit Upper limit
Pr. 44 OPR direction
Zero signal

Fig. 12.5 Setting range for the OP shift amount

[3] Movement speed during OP shift

When using the OP shift function, the movement speed during the OP shift is set
in " Pr.56 Speed designation during OP shift". The movement speed during the
OP shift is selected from either the " Pr.46 OPR speed" or the " Pr.47 Creep
speed".
The following drawings show the movement speed during the OP shift when a
mechanical OPR is carried out by the near-point dog method.
(1) OP shift operation at the " Pr.46 OPR speed"
(When " Pr.56 speed designation during OP shift" is 0)

Pr. 44 OPR Pr. 46 OPR

direction speed
When the " Pr. 53 OP
shift amount" is positive

OP

Machine OPR start

When the " Pr. 53 OP
shift amount" is negative

Near-point dog

Zero signal

Fig. 12.6 OP shift operation at the OPR speed

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(2) OP shift operation at the " Pr.47 Creep speed"

(When " Pr.56 Speed designation during OP shift" is 1)

Pr. 44 OPR
direction

Pr. 47 Creep When the " Pr. 53 OP

speed shift amount" is positive
Zero point

OP

Machine OPR start

When the " Pr. 53 OP
shift amount" is negative
Near-point dog

Zero signal

Fig. 12.7 OP shift operation at the creep speed

[4] Precautions during control
The following data are set after the OP shift amount is complete.
• OPR complete flag (" Md.31 Status: b4)

• Md.20 Current feed value

• Md.21 Machine feed value
• Md.26 Axis operation status
• Md.34 Movement amount after near-point dog ON (" Pr.53 OP shift
amount" is not added.)
• OPR request flag ( Md.31 Status: b3) is reset after completion of the OP
shift.
[5] Setting the OP shift function
To use the "OP shift function", set the required details in the parameters shown in
the following table, and write them to the QD75.
When the parameters are set, the OP shift function will be added to the machine
OPR control. The set details are validated at the rising edge (OFF ON) of the
PLC READY signal (Y0).
Setting Factory-set
Setting item Setting details
value initial value
Pr.53 OP shift amount Set the shift amount during the OP shift. 0
Select the speed during the OP shift
Speed
Pr.56 designation 0: Pr.46 OPR speed 0
during OP shift 1: Pr.47 Creep speed

Refer to Section 5.2 "List of parameters" for setting details.

REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will
increase.
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12.3 Functions for compensating the control

The sub functions for compensating the control include the "backlash compensation
function", "electronic gear function", and "near pass function". Each function is
executed by parameter setting or sequence program creation and writing.

12.3.1 Backlash compensation function

The "backlash compensation function" compensates the backlash amount in the

mechanical system. When the backlash compensation amount is set, an extra amount
of pulses equivalent to the set backlash amount is output every time the movement
direction changes.

The details shown below explain about the "backlash compensation function".
[1] Control details
[2] Precautions during control
[3] Setting the backlash compensation function

[1] Control details

The following drawing shows the operation of the backlash compensation
function.

Worm gear

Workpiece

Pr.11 Backlash compensation amount

Fig. 12.8 Backlash compensation amount

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[2] Precautions during control

(1) The feed pulses of the backlash compensation amount are not added to the
" Md.20 Current feed value" or " Md.21 Machine feed value".
(2) Always carry out a machine OPR before starting the control when using the
backlash compensation function (when " Pr.11 Backlash compensation
amount" is set). The backlash in the mechanical system cannot be correctly
compensated if a machine OPR is not carried out.
(3) Set the No. of pulses output in one backlash compensation (value in which
the " Pr.11 Backlash compensation amount" is divided by the "movement
amount per pulse") to a value of 255 or lower. A "Backlash amount
compensation error (error code: 920)" will occur if a value over 255 is set.
(Depending on the connected servo, tracking may not be possible if a large
amount of pulses is output at once.)
Backlash compensation amount
0≤ ≤ 255
Movement amount per pulse
(Omit values after the decimal point.)

(4) Backlash compensation, which includes the movement amount and

" Pr.11 Backlash compensation amount", is output the moment at the
moving direction changes.
(5) Backlash compensation cannot be made when the stepping motor is used.

[3] Setting the backlash compensation function

To use the "backlash compensation function", set the "backlash compensation
amount" in the parameter shown in the following table, and write it to the QD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y0).

Setting Factory-set
Setting item Setting details
value initial value
Backlash
Pr.11 compensation Set the backlash compensation amount. 0
amount
Refer to Section 5.2 "List of parameters" for setting details.

REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will
increase.

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12.3.2 Electronic gear function

The "electronic gear function" adjusts the pulses calculated and output according to the
parameters set in the QD75 with the actual machine movement amount.

The "electronic gear function" has the following three functions.

[A] During machine movement, the function increments in the QD75 values less
than one pulse that could not be pulse output, and outputs the incremented
amount of pulses when the total incremented value reached one pulse or
more.
[B] When machine OPR is completed, current value changing is completed,
speed control is started (except when current feed value change is present), or
fixed-feed control is started, the function clears to "0" the cumulative values of
less than one pulse which could not be output. (If the cumulative value is
cleared, an error will occur by a cleared amount in the feed machine value.
Control can be constantly carried out at the same machine movement amount,
even when the fixed-feed control is continued.)
[C] The function compensates the mechanical system error of the command
movement amount and actual movement amount by adjusting the "movement
amount per pulse".
(The "movement amount per pulse" value is defined by " Pr.2 No. of pulses
per rotation (Ap)", " Pr.3 Movement amount per rotation (Al)", and " Pr.4
Unit magnification (Am)".)

The QD75 automatically carries out the processing for [A] and [B].

The details shown below explain about the "electronic gear function", including the
method for compensating the error in [C] above, etc.
[1] Error compensation method
[2] Relation between the movement amount per pulse and speed
[3] Precautions during control

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[1] Error compensation method

When position control is carried out by the "movement amount per pulse" set in
the QD75 parameters, an error sometimes occurs between the command
movement amount (L) and the actual movement amount (L').
That error is compensated in the QD75 by adjusting the values in " Pr.2 No. of
pulses per rotation (Ap)", " Pr.3 Movement amount per rotation (Al)", and
" Pr.4 Unit magnification (Am)". (When " Pr.1 Unit setting" is "0: mm")
(1) Definition
The "error compensation amount" used to carry out the error compensation
is defined as follows.

Actual movement amount (L')

Error compensation amount =
Designated movement amount (L)

The QD75 "movement amount per pulse" is calculated with the following
equation.
Movement amount per pulse is "A", " Pr.2 No. of pulses per rotation" is
(Ap), " Pr.3 Movement amount per rotation" is (Al), and " Pr.4 Unit
magnification" is (Am).

Al
A= × Am
Ap

(2) Procedure
(a) Set the "command movement amount (L)", and carry out positioning.
(Set the "movement amount per pulse (A)" according to Section 5.2
"List of parameters".)
(b) After positioning, measure the "actual movement amount (L')".
(c) Calculate the "error compensation amount".

L'
Error compensation amount =
L

(d) Calculate the post-compensation " Pr.2 No. of pulses per rotation
(Ap')", " Pr.3 Movement amount per rotation (Al')", and " Pr.4 Unit
magnification (Am')" from the "post-compensation movement amount
per pulse (A')".

A= A × Error compensation amount

Al L'
= × Am ×
Ap L
Al'
= × Am'
Ap'

(Adjust with Am' so that Al' and Ap' do not exceed the setting range.)

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Calculation example

(Conditions)
Movement amount per pulse : 500 (µm/rev)
No. of pulses per rotation : 12000 (pulse/rev)
Unit magnification :1
(Positioning results)
Command movement amount : 100mm
Actual movement amount : 101mm
(Compensation amount)
5× 10 101× 10
3 3
AL' 5050 101
= × = =
101× 10
3
AP' 12000 12000 240

Movement amount per pulse : 101 (µm/rev) [Set in Pr.3 ]

No. of pulses per rotation : 240 (pulse/rev)
Unit magnification :1 [Set in Pr.2 ]

[Set in Pr.4 ]

(e) Set the post-compensation " Pr.2 No. of pulses per rotation (Ap')",
" Pr.3 Movement amount per rotation (Al')", and " Pr.4 Unit
magnification (Am')" in the parameters, and write them to the QD75.
The set details are validated at the rising edge (OFF ON) of the
PLC READY signal (Y0).
Setting Pre-compensation
Setting item Setting details
value value

Pr.2 No. of pulses per

Ap' Set the post-compensation value. Ap
rotation

Pr.3 Movement amount

Al' Set the post-compensation value. Al
per rotation
Pr.4 Unit magnification Am' Set the post-compensation value. Am

Refer to Section 5.2 "List of parameters" for setting details.

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[2] Relation between the movement amount per pulse and speed
The following shows the relation of the "movement amount per pulse (A)" to the
command speed and actual speed. The command speed is the speed
commanded by each control, and the actual speed is the actual feedrate.

Command speed = V (The command frequency at that time is represented by "f")

Actual speed = V' (The command frequency at that time is represented by " f' ")
Relation of the command speed and actual speed
The actual speed becomes faster than the
1) Movement amount per pulse < 1 V < V' (f < f') command speed.
The actual speed is the same as the command
2) Movement amount per pulse = 1 V = V' (f = f') speed.
The actual speed becomes slower than the
3) Movement amount per pulse > 1 V > V' (f > f') command speed.

V
Actual speed V'
1)

Command speed V 2)

3)

Fig. 12.9 Relation of the movement amount per pulse to the command speed and actual speed

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[3] Precautions during control

It is recommended that the "movement amount per pulse (A)" be set to a value
close to "1" for the following reasons. The "movement amount per pulse" of "1"
means the minimum value in each " Pr.1 Unit setting". (0.1 [µm] for the unit
[mm])
(1) If the setting of the movement amount per pulse is less than 1, the
command frequency may increase, causing the actual speed to exceed the
speed limit value (" Pr.8 Speed limit value", " Pr.31 JOG speed limit
value") and the servomotor to result in overspeed.
(2) If the setting of the movement amount per pulse is less than 1, the
mechanical system may oscillate. If the movement amount per pulse
becomes less than 1, use the electronic gear function of the drive unit and
make setting so that the movement amount per pulse is 1 or greater.
(3) Set the movement amount per pulse so that the pulse output frequency to
the drive unit becomes a value of 200kpps/1Mpps or less.
If a value is set so that the pulse output frequency to the drive unit exceeds
200kpps/1Mpps , the QD75 may not operate correctly.
They indicate the values of QD75P / QD75D.
(4) When using a hundred-thirty thousand pulses encoder, use the electronic
gear function of a drive unit.
(5) Use the electronic gear function among the range indicated below.
Movement amount per pulse (A) > 1
500

REMARK
In the QD75, the general term for the functions in items [1] to [3] above is defined as
the "electronic gear function". Refer to the User's Manual for the servomotor for the
definition of the "electronic gear" on the servomotor side.

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12.3.3 Near pass function

When continuous pass control is carried out using interpolation control, the near pass
function is carried out.

The "near pass function" is a function to suppress the mechanical vibration occurring at
the time of switching the positioning data when continuous pass control is carried out
using interpolation control.

[Near pass function]

The extra movement amount occurring at the end of each positioning data unit being
continuously executed is carried over to the next positioning data unit. Alignment is not
carried out, and thus the output speed drops are eliminated, and the mechanical
vibration occurring during speed changes can be suppressed. Because alignment is
not carried out, the operation is controlled on a path that passes near the position set
in " Da.6 Positioning address/movement amount".

The details shown below explain about the "near pass function".
[1] Control details
[2] Precautions during control

[1] Control details

The following drawing shows the path of the continuous path control.

[The path of the near pass]

Da. 6 Positioning address

Path of positioning data No.3 Path of positioning data No. 4

Speed dropping does not occur.

Positioning data No. 3 Positioning data No. 4

Fig. 12.10 The path of the continuous path control

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[2] Precautions during control

(1) If the movement amount designated by the positioning data is small when
the continuous path control is executed, the output speed may not reach the
designated speed.
(2) If continuous path control is carried out, the output will suddenly reverse
when the reference axis movement direction changes from the positioning
data No. currently being executed to the next positioning data No.
If the sudden output reversal affects the mechanical system, carry out
control with continuous positioning control.

[Path during continuous path control]

Axis 2

Positioning data No.2

Positioning data No.1

Axis 1 (reference axis)

[Axis 1 output speed]

Output suddenly reverses.

Positioning data
No. 1

Positioning data No.2

[Axis 2 output speed]

Positioning data Positioning data No.2

No. 1
t

Fig. 12.11 Path and output speed of various axes when movement direction varies during continuous
path control

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(3) When continuous path control of a circular interpolation is being carried out in
the near pass, an address in which the extra movement amount is subtracted
from the positioning address of the positioning data currently being executed is
replaced by the starting point address of the next positioning data No.
Because the starting point address will be replaced, an error "Large arc error
deviation" (error code: 506) may occur.
In this case, adjust the " Pr.41 Allowable circular interpolation error width".

Positioning data No.2

starting point address Address designated by positioning data No.1
during the near pass
Positioning data No.2

Positioning data No.1

Path of positioning
Path of near pass address pass

Fig. 12.12 Arc error during the near pass

(4) When a circle center is designated to continuously designate the circular

interpolation control by a continuous path designation in the near pass, and
the positioning address and starting point address of that arc are the same
address, the path will make one circle using the two data items. This is
because the 2nd data starting point address is shifted by the extra amount of
the movement amount occurring from the 1st data.
Example

[Near pass]
Path of positioning data No.2
Starting point address of positioning data No.1
Starting point address of
positioning data No.2

Path of positioning data No.1

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12.4 Functions to limit the control

Functions to limit the control include the "speed limit function", "torque limit function",
"software stroke limit", and "hardware stroke limit". Each function is executed by
parameter setting or sequence program creation and writing.

12.4.1 Speed limit function

The speed limit function limits the command speed to a value within the "speed limit
value" setting range when the command speed during control exceeds the "speed limit
value".

The details shown below explain about the "speed limit function".
[1] Relation between the speed limit function and various controls
[2] Precautions during control
[3] Setting the speed limit function

[1] Relation between the speed limit function and various controls
The following table shows the relation of the "speed limit function" and various
controls.
Control type Speed limit function Speed limit value
OPR Machine OPR control
control Fast OPR control
1-axis linear control
2 to 4-axes linear
interpolation control
Position 1-axis fixed-feed control
Pr.8 Speed limit
control 2 to 4-axes fixed-feed
control (interpolation) value

Major 2-axis circular interpolation

positioning control
control 1 to 4-axes Speed control
Speed-position switching control,
Position-speed switching control
Current value changing –
Other JUMP instruction, NOP Setting value invalid
control instruction, LOOP to –
LEND
Pr.31 JOG speed
Manual JOG operation, Inching operation
control limit value
Manual pulse generator operation Setting is invalid

: Always set
– : Setting not required (Setting value is invalid. Use the initial values or setting values
within a range where no error occurs.)

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[2] Precautions during control

If any axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis speed control,
the axis in excess of the speed limit value is controlled at the speed limit value.
The speeds of the other axes interpolated are suppressed depending on their
command speed ratios.
If the reference axis exceeds " Pr.8 Speed limit value" during 2- to 4-axis linear
interpolation control, 2- to 4-axis fixed-feed control or 2-axis circular interpolation
control, the reference axis is controlled at the speed limit value (The speed limit
does not function on the interpolation axis side.)

[3] Setting the speed limit function

To use the "speed limit function", set the "speed limit value" in the parameters
shown in the following table, and write them to the QD75.
The set details are validated after they are written to the QD75.
Setting Factory-set
Setting item Setting details
value initial value
Pr.8 Speed limit value Set the speed limit value (max. speed during control). 200000

Set the speed limit value during JOG operation (max.

JOG speed limit speed during control). (Note that " Pr.31 JOG speed
Pr.31 20000
value limit value" shall be less than or equal to " Pr.8
Speed limit value".)

Refer to Section 5.2 "List of parameters" for setting details.

REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will
increase.

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12.4.2 Torque limit function

The "torque limit function" limits the generated torque to a value within the "torque limit
value" setting range when the torque generated in the servomotor exceeds the "torque
limit value".
The "torque limit function" protects the deceleration function, limits the power of the
operation pressing against the stopper, etc. It controls the operation so that
unnecessary force is not applied to the load and machine.

The details shown below explain about the "torque limit function".
[1] Relation between the torque limit function and various controls
[2] Control details
[3] Precautions during control
[4] Setting the torque limit function

[1] Relation between the torque limit function and various controls
The following table shows the relation of the "torque limit function" and various
controls.
Torque limit
Control type Torque limit value
function
Pr.17 Torque limit setting value

After the " Pr.47 Creep

OPR Machine OPR control
speed" is reached, this value
control
becomes the " Pr.54 OPR
torque limit value".
Fast OPR control
1-axis linear control
2 to 4-axes linear
interpolation control
Position 1-axis fixed-feed control
control 2 to 4-axes fixed-feed
Pr.17 Torque limit setting value
control (interpolation)
Major 2-axis circular interpolation
positioning control
control 1 to 4-axes Speed control
Speed-position switching control
Position-speed switching control
Current value changing –
Other JUMP instruction, NOP Setting value is invalid.
control instruction, LOOP to –
LEND
JOG operation, Inching operation Pr.17 Torque limit setting value
Manual
control Pr.17 Torque limit setting value
Manual pulse generator operation

: Set when required (Set to " – " when not used.)

– : Setting not required (Setting value is invalid. Use the initial values or setting values
within a range where no error occurs.)
: Shows the torque limit value when " Cd.22 New torque value" is set to "0".

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[2] Control details

The following drawing shows the operation of the torque limit function.

Various operations

PLC READY signal [Y0]

Pr.17 Torque limit setting value 100% 50%

Cd.22 New torque value 0% 0%

Torque limited at the parameter Torque limited at the parameter

torque limit setting value (100%) torque limit setting value (50%)

Md.35 Torque limit stored value 100% 50%

Fig. 12.13 Torque limit function operation

[3] Precautions during control

(1) When limiting the torque at the " Pr.17 Torque limit setting value", confirm
that " Cd.22 New torque value" is set to "0". If this parameter is set to a
value besides "0", the " Cd.22 New torque value" will be validated, and the
torque will be limited at that value. (Refer to Section 12.5.4 "Torque change
function" for details about the "new torque value".)
(2) When the “ Pr.54 OPR torque limit value “exceeds the “ Pr.17 Torque
limit setting value”, an error occurs. (Error code: 995)
(3) When limiting the torque, a D/A converter module and drive unit in which
torque limit commands by analog voltage are possible.
(4) When the operation is stopped by torque limiting, the droop pulse will remain
in the deviation counter. If a "deviation counter clear" is carried out by
issuing an external signal at this time, positional deviation will occur when
the operation is continued. If the load torque is eliminated, operation for the
amount of droop pulses will be carried out.

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[4] Setting the torque limit function

(1) To use the "torque limit function", set the "torque limit value" in the
parameters shown in the following table, and write them to the QD75.
The set details are validated at the rising edge (OFF ON) of the PLC
READY signal (Y0).
Setting Factory-set
Setting item Setting details
value initial value
Pr.17 Torque limit
Set the torque limit value as a percentage. 300
setting value

Pr.54 OPR torque limit Set the torque limit value after the " Pr.47 Creep
300
value speed" is reached. Set as a percentage.
Refer to Section 5.2 "List of parameters" for setting details.

(2) The "torque limit value" set in the QD75 is set in the " Md.35 Torque limit
stored value". The " Md.35 Torque limit stored value" in the sequence
program is transferred to the "D/A converter module", and the torque is
limited.

QD75

PLC CPU Buffer memory Drive unit

Reading by a Positioning control

FROM command Stored torque
826
limit value

D/A convertor module

Writing by a
TO command Torque limiting

Fig. 12.14 Limiting the torque to the drive unit (Axis 1)

The following table shows the " Md.35 Torque limit stored value" of the
buffer memory address.
Buffer memory address
Monitor
Monitor item Storage details Axis Axis Axis Axis
value
1 2 3 4
Torque limit stored The "torque limit value" valid at that time is
Md.35 826 926 1026 1126
value stored. ( Pr.17 , Pr.54 , or Cd.22 )

Refer to Section 5.6 "List of monitor data" for information on the setting details.

REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will
increase.

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12.4.3 Software stroke limit function

In the "software stroke limit function" the address established by a machine OPR is
used to set the upper and lower limits of the moveable range of the workpiece.
Movement commands issued to addresses outside that setting range will not be
executed.
In the QD75, the "current feed value" and "machine feed value" are used as the
addresses indicating the current position. However, in the "software stroke limit
function", the address used to carry out the limit check is designated in the " Pr.14
Software stroke limit selection". (Refer to Section 9.1.4 "Confirming the current value"
or details on the "current feed value" and "machine feed value".)
The upper and lower limits of the moveable range of the workpiece are set in " Pr.12
Software stroke limit upper limit value"/ " Pr.13 Software stroke limit lower limit
value".

The details shown below explain about the "software stroke limit function".
[1] Differences in the moveable range when "current feed value" and "machine feed
value" are selected.
[2] Software stroke limit check details
[3] Relation between the software stroke limit function and various controls
[4] Precautions during software stroke limit check
[5] Setting the software stroke limit function
[6] Invalidating the software stroke limit
[7] Setting when the control unit is "degree"

[1] Differences in the moveable range when "current feed value" and
"machine feed value" are selected.
The following drawing shows the moveable range of the workpiece when the
software stroke limit function is used.

Workpiece moveable range FLS

RLS

Software stroke limit (lower limit) Software stroke limit (upper limit)

Fig. 12.15 Workpiece moveable range

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The following drawing shows the differences in the operation when " Md.20
Current feed value" and " Md.21 Machine feed value" are used in the moveable
range limit check.

[Conditions]
Assume the current stop position is 2000, and the upper stroke limit is set to 5000.
Moveable range

Md. 20 Current feed value 2000 5000

Md. 21 Machine feed value 2000 5000

Stop position Upper stroke limit

[Current value changing]

When the current value is changed by a new current value command from 2000 to 1000, the
current value will change to 1000, but the machine feed value will stay the same at 2000.
1) When the machine feed value is set at the limit
The machine feed value of 5000 (current feed value: 4000) becomes the upper stroke limit.
Moveable range

Md. 20 Current feed value 1000 4000 5000

Md. 21 Machine feed value 2000 5000 6000

Upper stroke limit

2) When the current feed value is set at the limit

The current feed value of 5000 (machine feed value: 6000) becomes the upper stroke limit.
Moveable range

Md. 20 Current feed value 1000 4000 5000

Md. 21 Machine feed value 2000 5000 6000

Upper stroke limit

Fig. 12.16 Software stroke limits of the current feed value and machine feed value

POINT
When "machine feed value" is set in " Pr.14 Software stroke limit selection", the
moveable range becomes an absolute range referenced on the OP. When "current
feed value" is set, the moveable range is the relative range from the "current feed
value".

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[2] Software stroke limit check details

Processing when
Check details
an error occurs
An error shall occur if the current value 1 is outside the software
1) stroke limit range 2.
(Check " Md.20 Current feed value" or " Md.21 Machine feed value".) An "axis error" will
occur (error code:
An error shall occur if the command address is outside the software 507, 508)
2) stroke limit range.
(Check " Da.6 Positioning address/movement amount".)

1Check whether the " Md.20 Current feed value" or " Md.21 Machine feed value" is set in

" Pr.14 Software stroke limit selection".

2Moveable range from the " Pr.12 Software stroke limit upper limit value" to the " Pr.13
Software stroke limit lower limit value".

[3] Relation between the software stroke limit function and various
controls
Limit
Control type Processing at check
check
Machine OPR control –
OPR control Check not carried out.
Fast OPR control –
1-axis linear control
2 to 4-axes axis linear
interpolation control Checks 1) and 2) in the previous section [2] are carried
Position 1-axis fixed-feed control out.
control 2 to 4-axes fixed-feed control For speed control: The axis decelerates to a stop when
(interpolation) it exceeds the software stroke limit
2-axis circular interpolation range.
Major For position control: The axis comes to an immediate
control
positioning stop when it exceeds the software
control 1 to 4-axes speed control
3, 4 stroke limit range.
Speed-position switching control
Position-speed switching control 3, 4
The current value will not be changed if the new current
Current value changing –
Other value is outside the software stroke limit range.
control JUMP instruction, NOP
– Check not carried out.
instruction, LOOP to LEND
JOG operation, Inching operation 5 Check 1) in the previous section [2] is carried out.
The machine will carry out a deceleration stop when the
Manual software stroke limit range is exceeded. If the address
control Manual pulse generator operation 5 falls out of the software stroke limit range, the operation
can be started only toward the movable range after an
error reset.
: Check valid
: Check is not made when the current feed value is not updated (Refer to Pr.21 ) at the setting of " current feed

value" in " Pr.14 Software stroke limit selection" during speed control.
– : Check not carried out (check invalid).
: Valid only when "1:valid" is set in the " Pr.15 Software stroke limit valid/invalid setting".

3 : The value in " Md.20 Current feed value" will differ according to the " Pr.21 Current feed value during speed
control" setting.
4: When the unit is "degree", check is not made during speed control.
5: When the unit is "degree", check is not carried out.

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[4] Precautions during software stroke limit check

(1) A machine OPR must be executed beforehand for the "software stroke limit
function" to function properly.
(2) During interpolation control, a stroke limit check is carried out for the every
current value of both the reference axis and the interpolation axis. Every
axis will not start if an error occurs, even if it only occurs in one axis.
(3) During circular interpolation control, the " Pr.12 Software stroke limit upper
limit value"/" Pr.13 Software stroke limit lower limit value" may be
exceeded.
In this case, a deceleration stop will not be carried out even if the stroke limit
is exceeded. Always install an external limit switch if there is a possibility the
stroke limit will be exceeded.
Example

Axis 1

Deceleration stop not carried out

Axis 1 stroke limit

Arc address ( Da. 7 )

Starting address End point address ( Da. 6 )

Axis 2

The software stroke limit check is carried out for the following addresses
during circular interpolation control. (Note that " Da. 7 Arc address" is carried
out only for circular interpolation control with sub point designation.
Current value/end point address ( Da. 6 )/arc address ( Da. 7 )

(4) If an error is detected during continuous path control, the axis stops
immediately on completion of execution of the positioning data located right
before the positioning data in error.
Example

• If the positioning address of positioning data No. 13 is outside the software stroke limit range,
the operation immediately stops after positioning data No. 12 has been executed.
Positioning data

Immediate stop at
error detection No.10
P11

No.11
P11
No.10 No.11 No.12 No.13
No.12
P11

No.13
P11
Md. 26
Axis operation status Controlling position Error occurring No.14
P01

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(5) During simultaneous start, a stroke limit check is carried out for the current
values of every axis to be started. Every axis will not start if an error occurs,
even if it only occurs in one axis.

[5] Setting the software stroke limit function

To use the "software stroke limit function", set the required values in the
parameters shown in the following table, and write them to the QD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y0).
Setting Factory-set
Setting item Setting details
value initial value
Software stroke
Pr.12 limit upper limit Set the upper limit value of the moveable range. 2147483647
value
Software stroke
Pr.13 limit lower limit Set the lower limit value of the moveable range. –2147483648
value

Software stroke Set whether to use the " Md.20 Current feed value" or 0: Current feed
Pr.14
limit selection " Md.21 Machine feed value" as the "current value". value

Software stroke Set whether the software stroke limit is validated or

Pr.15 limit valid/invalid 0 : V a l i d invalidated during manual control (JOG operation, 0: valid
setting Inching operation, manual pulse generator operation).
Refer to Section 5.2 "List of parameters" for setting details.

[6] Invalidating the software stroke limit

To invalidate the software stroke limit, set the following parameters as shown,
and write them to the QD75.

Pr.12 Software stroke limit Pr.13 Software stroke limit

=
upper limit value lower limit value

(For manual operation, set "0: software stroke limit invalid" in the " Pr.15
Software stroke limit valid/invalid setting".)
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y0).
When the unit is "degree", the software stroke limit check is not performed during
speed control (including speed control in speed-position switching control or
position-speed switching control) or during manual control, independently of the
values set in Pr.12 , Pr.13 and Pr.15 .

REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will
increase.

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[7] Setting when the control unit is "degree"

Current value address

The " Md.20 Current feed value" address is a ring address between 0 and
359.99999° .

359.99999° 359.99999°

0° 0° 0°

Fig. 12.17 Current value address when the control unit is "degree".

Setting the software stroke limit

The upper limit value/lower limit value of the software stroke limit is a value
between 0 and 359.99999° .

(1) Setting when the software stroke limit is to be validated.

When the software stroke limit is to be validated, set the upper limit value in a
clockwise direction from the lower limit value.

Lower limit

Set in a clockwise direction

315º
Section A
Upper limit

90º

Section B

(a) Set the movement range of section A as follows.

• Software stroke limit lower limit value ................ 315.00000°.
• Software stroke limit upper limit value................ 90.00000°.

(b) Set the movement range of section B as follows.

• Software stroke limit lower limit value ................ 90.00000°.
• Software stroke limit upper limit value................ 315.00000°.

Fig. 12.18 Software stroke limit when the control unit is "degree"

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12.4.4 Hardware stroke limit function

! DANGER
When the hardware stroke limit is required to be wired, ensure to wire it in the negative logic using b-contact.
If it is set in positive logic using a-contact, a serious accident may occur.

In the "hardware stroke limit function", limit switches are set at the upper/lower limit of
the physical moveable range, and the control is stopped (by deceleration stop) by the
input of a signal from the limit switch. Damage to the machine can be prevented by
stopping the control before the upper/lower limit of the physical moveable range is
reached.
Hardware stroke limit switches are normally installed inside the stroke limit/stroke end
on the drive unit side, and the control is stopped before the stroke limit/stoke end on
the drive unit side is reached.

The details shown below explain about the "hardware stroke limit function".
[1] Control details
[2] Wiring the hardware stroke limit
[3] Precautions during control
[4] When the hardware stroke limit is not used

[1] Control details

The following drawing shows the operation of the hardware stroke limit function.

Lower limit Upper limit

QD75 control moveable range

Mechanical stopper Mechanical stopper

Start Start
Movement direction Movement direction

Deceleration stop at Deceleration stop at

upper limit switch detection lower limit switch detection

Drive unit Lower limit switch Upper limit switch QD75 Drive unit
stroke limit stroke limit

Drive unit

Fig. 12.19 Hardware stroke limit function operation

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[2] Wiring the hardware stroke limit

When using the hardware stroke limit function, wire the terminals of the QD75
upper/lower limit stroke limit as shown in the following drawing.
(When " Pr.22 Input signal logic selection" is set to the initial value)
QD75

FLS

RLS

COM
24VDC

Note) Connect the upper and lower limit switches to the directions of increasing and decreasing
current feed values respectively. When these switches are connected in wrong directions, the
hardware stroke limit function does not operate properly and the motor does not stop.
For " Pr.6 Rotation direction setting", refer to "5.2.1 Basic parameters 1".

Fig. 12.20 Wiring when using the hardware stroke limit

[3] Precautions during control

(1) If the machine is stopped outside the QD75 control range (outside the
upper/lower limit switches), or if stopped by hardware stroke limit detection,
the "OPR control", "major positioning control", and "high-level positioning
control" cannot start. To carry out these types of control again, return the
workpiece to the QD75 control range by a "JOG operation", "inching
operation" or "manual pulse generator operation".
(2) When " Pr.22 Input signal logic selection" is set to the initial value, the
QD75 cannot carry out the positioning control if FLS (upper limit signal) is
separated from COM or RLS (lower limit signal) is separated from COM
(including when wiring is not carried out).

[4] When the hardware stroke limit function is not used

When not using the hardware stroke limit function, wire the terminals of the QD75
upper/lower limit stroke limit as shown in the following drawing.
When the logic of FLS and RLS is set to "positive logic" using " Pr.22 Input
signal logic selection", positioning control can be carried out even if FLS and RLS
are not wired.
(For details, refer to Section 13.4 "External I/O signal logic switching function".)
QD75

FLS

RLS

COM
24VDC

Fig. 12.21 Wiring when not using the hardware stroke limit function
(When " Pr.22 Input signal logic selection" is the initial value)

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12.5 Functions to change the control details

Functions to change the control details include the "speed change function", "override
function", "acceleration/deceleration time change function" and "torque change
function". Each function is executed by parameter setting or sequence program
creation and writing.

Both the "speed change function" or "override function" change the speed, but the
differences between the functions are shown below. Use the function that corresponds
to the application.

"Speed change function"

• The speed is changed at any time, only in the control being executed.
• The new speed is directly set.

"Override function"
• The speed is changed for all control to be executed. (Note that this excludes
manual pulse generator operation.)
• The new speed is set as a percent (%) of the command speed.

12.5.1 Speed change function

The speed control function is used to change the speed during control to a newly
designated speed at any time.
The new speed is directly set in the buffer memory, and the speed is changed by a
speed change command ( Cd.15 Speed change request) or external command signal.
During the machine OPR, a speed change to the creep speed cannot be carried out
after deceleration start because the near point dog ON is detected.

The details shown below explain about the "speed change function".
[1] Control details
[2] Precautions during control
[3] Setting the speed change function from the PLC CPU
[4] Setting the speed change function using an external command signal

[1] Control details

The following drawing shows the operation during a speed change.

V Speed changes to V2.

Speed changes to V3.
V1
Operation during
V2 positioning by V1.

V3

t
Md. 40 In speed change processing flag

Fig. 12.22 Speed change operation

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[2] Precautions during control

(1) Control is carried out as follows at the speed change during continuous path
control.
a) When no speed designation (current speed) is provided in the next
positioning data:
The next positioning data is controlled at the " Cd.14 New speed
value".
b) When a speed designation is provided in the next positioning data:
The next positioning data is controlled at its command speed
( Da.8 ).

Positioning control Next control

P1 P2

Cd. 14 New speed value [a] When no speed designation

(current speed) is provided.
Designated speed in P2 [b] When a speed designation
is provided.
Designated speed in P1

Speed change
command

Fig. 12.23 Speed change during continuous path control

(2) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.

(3) When the stop command was given to make a stop after a speed change
that had been made during position control, the restarting speed depends
on the function version.
Function version Restarting speed

A Da.8 Command speed

B or later Cd.14 New speed value

Refer to Section 2.4 for the way to check the function version.

V
Da. 8 Command speed
Speed change
command Cd. 14 New speed value
Restarting
Stop command command
t

Fig. 12.24 Restarting speed after speed change made during position control (Function version B)

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(4) When the speed is changed by setting " Cd.14 New speed value" to "0",
the operation is carried out as follows.
• A deceleration stop is carried out, and the speed change 0 flag
( Md.31 Status: b10) turns ON.
(During interpolation control, the speed change 0 flag on the reference axis
side turns ON.)
• The axis stops, but " Md.26 Axis operation status" does not change, and

the BUSY signal remains ON. (If a stop signal is input, the BUSY signal
will turn OFF, and " Md.26 Axis operation status" will change to
"stopped".)
In this case, setting the " Cd.14 New speed value" to a value besides "0"
will turn OFF the speed change 0 flag ( Md.31 Status: b10), and enable
continued operation.

Positioning start signal ON

[Y10, Y11, Y12, Y13] OFF
ON
BUSY signal [XC,XD,XE,XF] OFF

Cd. 14 New speed value 0 1000

ON
Cd. 15 Speed change request OFF

Positioning operation
ON
Speed change 0 flag OFF
Md. 31 status: b10

Fig. 12.25 Speed change at new speed value "0"

(5) A warning "Deceleration/stop speed change (warning code: 500)" occurs
and the speed cannot be changed in the following cases.
• During deceleration by a stop command
• During automatic deceleration during positioning control
(6) A warning "Speed limit value over (warning code: 501)" occurs and the
speed is controlled at the " Pr.8 Speed limit value" when the value set in
" Cd.14 New speed value" is equal to or larger than the " Pr.8 Speed limit
value".
(7) When the speed is changed during interpolation control, the required speed
is set in the reference axis.
(8) When carrying out consecutive speed changes, be sure there is an interval
between the speed changes of 100ms or more.
(If the interval between speed changes is short, the QD75 will not be able to
track, and it may become impossible to carry out commands correctly.)
(9) When a speed change is requested simultaneously for multiple axes,
change the speed in the ascending axis number order.
(10) Speed change cannot be carried out during the machine OPR. A request
for speed change is ignored.
(11) When deceleration is started by the speed change function, the deceleration
start flag does not turn ON.
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[3] Setting the speed change function from the PLC CPU
The following shows the data settings and sequence program example for
changing the control speed of axis 1 from the PLC CPU. (In this example, the
control speed is changed to "20.00mm/min".)

(1) Set the following data.

(Use the start time chart shown in section (2) below as a reference, and set
using the sequence program shown in section (3).)
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4
1514 1614 1714 1814
Cd.14 New speed value 2000 Set the new speed.
1515 1615 1715 1815

Cd.15 Speed change

1 Set "1: Change the speed". 1516 1616 1716 1816
request
Refer to Section 5.7 "List of control data" for details on the setting details.

(2) The following shows the speed change time chart.

V
Dwell time

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

Md. 40 In speed change

processing flag 0 1 0
Cd. 14 New speed value 2000

Cd. 15 Speed change request 0 1 0

Fig. 12.26 Time chart for changing the speed from the PLC CPU

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(3) Add the following sequence program to the control program, and write it to
the PLC CPU.

—
áExample

No.14 Speed change program

<Pulsate speed change command>

<Hold speed change command>

<Set speed change value

(20.00mm/min)>
<Set speed change request>

<Write speed change>

<Turn OFF speed change command

memory>

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[4] Setting the speed change function using an external command

signal
The speed can also be changed using an "external command signal".
The following shows the data settings and sequence program example for
changing the control speed of axis 1 using an "external command signal". (In this
example, the control speed is changed to "10000.00mm/min".)

(1) Set the following data to change the speed using an external command
signal.
(Use the start time chart shown in section (2) below as a reference, and set
using the sequence program shown in section (3).)
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Pr.42 External command

1 Set "1: External speed change request". 62 212 362 512
function selection

Cd.8 External command

1 Set "1: Validate the external command". 1505 1605 1705 1805
valid
1514 1614 1714 1814
Cd.14 New speed value 1000000 Set the new speed.
1515 1615 1715 1815

Refer to Section 5.7 "List of control data" for details on the setting details.

(2) The following shows the speed change time chart.

V
Dwell time

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

External command signal

Pr. 42 External command function selection 1

Md.40 In speed change processing flag 0 1 0

Cd. 8 External command valid 0 1 0
Cd. 14 New speed value 1000000

Fig. 12.27 Time chart for changing the speed using an external command signal

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(3) Add the following sequence program to the control program, and write it to
the PLC CPU.

Example

Write 1000000 to D108 and D109.

External command
valid signal [Speed change processing]
DTOP H0 K1514 D108 K1 <Write the new speed. >

<Set the external command function

TOP H0 K62 K1 K1 selection to external speed change
request. >

TOP H0 K1505 K1 K1 <Set the external command signal input

to valid.>

Input the external command signal. (QD75 starts speed change processing.)

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12.5.2 Override function

The override function changes the command speed by a designated percentage (1 to

300%) for all control to be executed.
The speed can be changed by setting the percentage (%) by which the speed is
changed in " Cd.13 Positioning operation speed override".
However, when a machine OPR is performed, an override cannot be made after a
deceleration start to the creep speed following the detection of near-point dog ON.
[1] Control details
[2] Precautions during control
[3] Setting the override function

[1] Control details

The following shows that operation of the override function.
1) A value changed by the override function is monitored by " Md.22
Feedrate". (When Md.22 " becomes "0", the warning "Less than minimum
speed" (warning code: 110) is generated and the axis is controlled in the
then speed unit of "1".)
2) If " Cd.13 Positioning operation speed override" is set to 100%, the speed
will not change.
3) If " Cd.13 Positioning operation speed override" is set a value less than
100%, control will be carried out at speed unit "1" at the time " Md.22
Feedrate" becomes a value of "1" or less. (When Md.22 becomes "0", the
warning "Less than minimum speed (warning code: 110)" is generated and
the axis is controlled in the then speed unit of "1".)
4) If there is not enough remaining distance to change the speed when the
speed is changed during the position control of speed-position switching
control or position-speed switching control, the operation will be carried out
at the speed that could be changed.
5) If the speed changed by the "override function" is greater than the " Pr.8
Speed limit value", a warning "Speed limit value over (warning code: 501)"
will occur and the speed will be controlled at the " Pr.8 Speed limit value".
The " Md.39 Speed limit flag" will turn ON.

Da. 8 Command speed 50

Cd. 13 Positioning operation
speed override 100 1 50 150 100 200

Md. 22 Feedrate 50 1 25 75 50 75
V
Not affected by the override value Not enough remaining
distance could be secured,
during deceleration
so operation is carried out
at an increased speed.

Fig. 12.28 Override function operation

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[2] Precaution during control

(1) When changing the speed during continuous path control, the speed change
will be ignored if there is not enough distance remaining to carry out the
change.
(2) A warning "Deceleration/stop speed change (warning code: 500)" occurs
and the speed cannot be changed in the following cases.
(The value set in " Cd.13 Positioning operation speed override" is validated
after a deceleration stop.)
• During deceleration by a stop command
• During automatic deceleration during positioning control
(3) When the speed is changed during interpolation control, the required speed
is set in the reference axis.
(4) When deceleration is started by the override function, the deceleration start
flag does not turn ON.

[3] Setting the override function

The following shows the data settings and sequence program example for setting
the override value of axis 1 to "200%".
(1) Set the following data. (Use the start time chart shown in section (2) below
as a reference, and set using the sequence program shown in section (3).)
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4
Positioning
Cd.13 operation speed 200 Set the new speed as a percentage (%). 1513 1613 1713 1813
override
Refer to Section 5.7 "List of control data" for details on the setting details.

(2) The following shows a time chart for changing the speed using the override
function.

V
Dwell time

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

Cd. 13 Positioning operation 200

speed override

Fig. 12.29 Time chart for changing the speed using the override function

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(3) Add the following sequence program to the control program, and write it to
the PLC CPU.

á
—
Example

No.15 Override program

<Pulsate override command>

<Set override value (200%)>

<Write override value>

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12.5.3 Acceleration/deceleration time change function

The "acceleration/deceleration time change function" is used to change the

acceleration/deceleration time during a speed change to a random value when
carrying out the speed change indicated in Section 12.5.1 "Speed change function".
In a normal speed change (when the acceleration/deceleration time is not changed),
the acceleration/deceleration time previously set in the parameters ( Pr.9 , Pr.10 ,
and Pr.25 to Pr.30 values) is set in the positioning parameter data items Da.3
and Da.4 , and control is carried out with that acceleration/deceleration time.
However, by setting the new acceleration/deceleration time ( Cd.10 , Cd.11 ) in the
control data, and issuing an acceleration/deceleration time change enable command
( Cd.12 Acceleration/deceleration time change during speed change, enable/disable
selection) to change the speed when the acceleration/deceleration time change is
enabled, the speed will be changed with the new acceleration/deceleration time
( Cd.10 , Cd.11 ).

The details shown below explain about the "acceleration/deceleration time change
function".
[1] Control details
[2] Precautions during control
[3] Setting the acceleration/deceleration time change function

[1] Control details

The following drawing shows the operation during an acceleration/deceleration
time change.

[For an acceleration/deceleration time change disable setting]

V
Operation with the acceleration/deceleration
time set in Da. 3 and Da. 4 .

Cd.15 Speed
change request

t
Cd.12 Acceleration/deceleration
time change during
Disabled
speed change, enable/
disable selection
[For an acceleration/deceleration time change enable setting]
V
Operation with the acceleration/deceleration
time ( Cd. 10 and Cd. 11 ) set in the buffer memory.

Cd.15 Speed
change request

Cd.12 Acceleration/deceleration
time change during Disabled Enabled
speed change, enable/
disable selection

Fig. 12.30 Operation during an acceleration/deceleration time change

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[2] Precautions during control

(1) When "0" is set in " Cd.10 New acceleration time value" and " Cd.11 New
deceleration time value", the acceleration/deceleration time will not be
changed even if the speed is changed. In this case, the operation will be
controlled at the acceleration/deceleration time previously set in the
parameters.
(2) The "new acceleration/deceleration time" is valid during execution of the
positioning data for which the speed was changed. In continuous positioning
control and continuous path control, the speed is changed and control is
carried out with the previously set acceleration/deceleration time at the
changeover to the next positioning data, even if the
acceleration/deceleration time is changed to the "new
acceleration/deceleration time ( Cd.10 , Cd.11 )".
(3) Even if the acceleration/deceleration time change is set to disable after the
"new acceleration/deceleration time" is validated, the positioning data for
which the "new acceleration/deceleration time" was validated will continue to
be controlled with that value. (The next positioning data will be controlled
with the previously set acceleration/deceleration time.)
Example

V Speed change

Speed change

Positioning start New acceleration/deceleration

time ( Cd. 10 , Cd. 11 )

Cd.12 Acceleration/deceleration time

Disabled Enabled Disabled
change during speed change,
enable/disable selection

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(4) If the "new acceleration/deceleration time" is set to "0" and the speed is
changed after the "new acceleration/deceleration time" is validated, the
operation will be controlled with the previous "new acceleration/deceleration
time".
Example

New acceleration/deceleration
time ( Cd. 10 , Cd. 11 )
V Speed change

Speed change

Speed change

Controlled with the acceleration/

deceleration time in the parameter.

Cd.12 Acceleration/deceleration time

change during speed change, Disabled Enabled
enable/disable selection
Cd.10 New acceleration time value
0 1000 0
Cd.11 New deceleration time value

(5) The acceleration/deceleration time change function is disabled for JOG

operation and inching operation.

POINT
If the speed is changed when an acceleration/deceleration change is enabled, the
"new acceleration/deceleration time" will become the acceleration/deceleration time
of the positioning data being executed. The "new acceleration/deceleration time"
remains valid until the changeover to the next positioning data. (The automatic
deceleration processing at the completion of the positioning will also be controlled
by the "new acceleration/deceleration time".)

[3] Setting the acceleration/deceleration time change function

To use the "acceleration/deceleration time change function", write the data
shown in the following table to the QD75 using the sequence program.
The set details are validated when a speed change is executed after the details
are written to the QD75.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4
Cd.10 New acceleration Set the new acceleration time.
1508 1608 1708 1808
time value 1509 1609 1709 1809
Cd.11 New deceleration Set the new deceleration time.
1510 1610 1710 1810
time value 1511 1611 1711 1811
Acceleration/
deceleration time
Cd.12 change during 1
Set "1: Acceleration/deceleration time change
1512 1612 1712 1812
speed change, enable".
enable/disable
selection
Refer to Section 5.7 "List of control data" for details on the setting details.

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Example

No.16 Acceleration/deceleration time change program

<Pulsate acceleration/deceleration time change

command>
<Set 2000ms for acceleration time>

<Set 0 (not change) for deceleration time>

<Write acceleration/deceleration time>

<Write acceleration/deceleration time change

enable>
<Write acceleration/deceleration time change
disable>

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12.5.4 Torque change function

The "torque change function" is used to change the torque limit value during torque
limiting.
The torque limit value during torque limiting is normally the value set in the " Pr.17
Torque limit setting value" that was previously set in the parameters. However, by
setting the new torque limit value in the axis control data " Cd.22 New torque value",
and writing it to the QD75, the torque generated by the servomotor during control can
be limited with the new torque value.
(The " Cd.22 New torque value" is validated when written to the QD75.)

The details shown below explain about the "torque change function".
[1] Control details
[2] Precautions during control
[3] Setting the torque change function start signal

[1] Control details

The torque value of the axis control data can be changed at all times. The torque
can be limited with a new torque value from the time the new torque value has
been written to the QD75. (a torque change is made only during operation.) The
toque limiting is not carried out from the time the power supply is turned ON to
the time the PLC READY signal (Y0) is turned ON.
The torque setting range is from 0 to " Pr.17 Torque limit setting value".
When the new torque value is 0, a torque change is considered not to be carried
out.
The torque change range is 1 to " Pr.17 Torque limit setting value".
The following drawing shows the torque change operation.

Various operations

ON
PLC READY signal [Y0] OFF

Pr.17 Torque limit setting value 100% 50%

Cd.22 New torque value 0% 25% 0%

Torque is limited by the torque Torque is limited by the new
limit setting value (50%) of the torque value (25%) of the Ignores the new torque.
parameters. axis control data.

Md.35 Torque limit stored value 100% 50% 25% 25%

Fig. 12.31 Torque change operation

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[2] Precautions during control

(1) If a value besides "0" is set in the " Cd.22 New torque value", the torque
generated by the servomotor will be limited by that value. To limit the torque
with the value set in " Pr.17 Torque limit setting value", set the " Cd.22
New torque value" to "0".

(2) The " Cd.22 New torque value" is validated when written to the QD75.
(Note that it is not validated from the time the power supply is turned ON to
the time the PLC READY signal (Y0) is turned ON.)
(3) If the setting value is outside the setting range, an axis warning "Outside
new torque value range" (warning code: 113) will occur and the torque will
not be changed.
(4) If the time to hold the new torque value is not more than 100ms, a torque
change may not be executed.

[3] Setting the torque change function start signal

To use the "torque change function", write the data shown in the following table
to the QD75 using the sequence program.
The set details are validated when written to the QD75.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4
Cd.22 New torque value Set the new torque limit value. 1525 1625 1725 1825

Refer to Section 5.7 "List of control data" for details on the setting details.

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12.6 Absolute position restoration function

! CAUTION
When the absolute position restoration is carried out, the servo ON signal may be turned OFF (servo OFF)
for about 20 ms, and the motor may operate. If this is not desired, install an electromagnetic brake
separately and lock the motor by that brake during the absolute position restoration.

The "absolute position restoration function" is a function to restore the absolute position
of the designated axis by the absolute position detection system. By this function, the
OPR after power OFF such as instantaneous power interruption and emergency stop
is not required, and the restoration operation at site can be carried out easily.
The details of the "absolute position restoration function" are described below.
[1] Configuration and preparation of absolute position detection system
[2] Outline of absolute position detection data communication
[3] Absolute position signal transmission procedure
[4] Precautions during control

[1] Configuration and preparation of absolute position detection system

(1) Configuration
The following drawing shows the configuration of the absolute position
detection system.

Absolute position holding battery

1)

Power Servo
supply amplifier

4)
PLC system

QCPU I/O
3) QD75 module
Detector cable Control signal connector

2) Operation
panel

Servomotor with absolute position detector

Fig. 12.32 Configuration of absolute position detection system

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(2) Preparation
Prepare the absolute position detection system taking care of the following.
Component Details
1) Servo amplifier • Install the battery to the servo amplifier.
• Validate the absolute position detection function of the
servo amplifier.
Refer to the servo amplifier manual for details.
2) Servomotor • Use a servomotor with absolute position detector.
Refer to the servomotor manual for details.
3) Detector cable • Add a battery power connection cable (BAT/LG signal) for
wiring the incremental detector cable.
Refer to the cable operation manual for details.
4) PLC system • Carry out the transmission and receiving of the absolute
position detection data by the I/O modules (input 3
points/output 3 points).
• Use the "16 point input module" and "16 point output
module".

[2] Outline of absolute position detection data communication

As shown in Fig. 12.33 System block diagram, the detector comprises an
encoder for detecting its position in one rotation in addition to the A, B, Z phase
signal for position control in normal operation and a cumulative rotation counter
for detecting the number of rotations.
The absolute position detection system detects the absolute position of the
machine constantly and stores it with the backup of the battery irrespective of
whether the PLC system power is turned ON/OFF. Thus, once the OP initial
setting is carried out at the time of installation of the machine, the OPR is not
required even when the power is later turned ON. The restoration can be carried
out easily when an instantaneous power interruption or emergency stop occurs.
In addition, because the absolute position data is backed up by a super
condenser built in the detector, the absolute position data will be stored for a
specified time even if the cable is disconnected or broken.

PLC system Servo amplifier

Pulse train
QCPU QD75 command OP data
Current feed value E2PROM memory Position
Machine feed value Current
LS0 control/
1X0
position speed
Backup at control
I/O module
power OFF LS 1X
Input
Detection of
Current Speed position in one
position detection rotation
change Output
Battery

Servomotor

1 pulse/rev cumulative rotation High-speed serial

counter Super condenser communication
Counter in one rotation
A.B.Z phase signal
Detector

Fig. 12.33 System block diagram

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[3] Absolute position signal transmission procedure

(1) Figure 12.34 shows the outline of the absolute position signal transmission
procedure between the servo amplifier and the PLC system (PLC CPU,
QD75, I/O module).
Refer to the operation manual of the servo amplifier for details on the
communication between the servo amplifier and the PLC system.
(2) Errors during communication
(a) If the system expires during communication, an error "ABS transmission
timeout" (error code: 213) will occur.
(b) If the transmission data causes a sum error, an error "ABS transmission
SUM" (error code: 214) will occur.
Refer to Section 15.2 "List of errors" for the remedial method to be taken
when an error occurs.

Servo amplifier I/O module PLC CPU QD75

Servo ON signal
<Absolute position detection request> ABS transmission
mode [Dedicated
ABS request instruction] <Current position data>
Z.ABRST1 Md.20
Current feed value
Z.ABRST2
Md.21
Transmission data Z.ABRST3 Machine feed value
preparation completed Z.ABRST4
Current position Data transmission
ABS bit0
data
ABS bit1

Fig. 12.34 Absolute position signal transmission procedure

Refer to Chapter 14 "Dedicated instructions" for details of the dedicated instructions.

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(3) Connection example

The following diagram shows the example of connection between the PLC
system and the Mitsubishi Electric servo amplifier (MR-H-A).
<Servo amplifier> <PLC system>
MR-H-A QCPU

QD75

ABS bit0
24(PF) 0(X47) 16 points input module
ABS bit1
23(ZSP) 1(X48)
Transmission data preparation completed
25(TLC) 2(X49)

Servo ON
12(SON) 0(Y50) 16 points output module
ABS transmission mode
44(DI3) 1(Y51)
ABS request
45(DI4) 2(Y52)

: The X and Y devices can be set arbitrarily with the sequence program.

Details of servo amplifier connector pins

The following table shows the pins for setting the "absolute position detection
system". Refer to the MR-H operation manual for the details when the ABS
transmission mode is turned OFF.

Signal name Abbreviation Pin No. Function and application

ABS transmission mode terminal. While this is turned ON,
ABS transmission
DI3 44 the servo amplifier is in the ABS transmission mode, and
mode
the DI4/PF/ZSP/TLC functions are as shown in this table.
This is turned ON when ABS data is requested in the ABS
ABS request DI4 45
transmission mode.
This indicates the lower order bit among 2 bits of ABS data
ABS bit 0 PF 24 to be transferred from the servo amplifier to the PLC system
in the ABS transmission mode.
This indicates the upper order bit among 2 bits of ABS data
ABS bit 1 ZSP 23 to be transferred from the servo amplifier to the PLC system
in the ABS transmission mode.
Transmission data This indicates the transmission data preparation completed
preparation TLC 25 in the ABS transfer mode. When the preparation is
completed completed, the signal is turned ON.

Refer to the MR-H operation manual for the I/O interface.

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[4] Controlling instructions

(1) When an absolute position detection system is constructed, absolute position
restoration must be made at least once after power supply on or resetting.
Also, the servo amplifier does not switch on unless the absolute position
restoration is completed.
(2) For use of positioning in an absolute position detection system, the following
controls cannot be carried out:
• Limitless-feed control which exercises control only in the fixed direction,
e.g. turntable
• Control where the movement amount from the OP address exceeds the
range of the following conditions 1 and 2
When performing positioning in an absolute position detection system, use it
in the range which satisfies Conditions 1 and 2 given below.
In the range which does not satisfy Conditions 1 and 2, positioning cannot be
used in the absolute position detection system since the normal current value
cannot be provided during absolute position restoration.

Condition 1. Number of output pulses

a) Indicates the number of pulses that may be output to a servo amplifier
when an axis is to be positioned from the OP in an absolute position
detection system. In the absolute position detection system, pulses within
the range of the following expression can be output to the servo amplifier.

[-32768 (number of feedback pulses)]≤[number of output pulses]≤[32768 (number of feedback pulses)-1]

b) Pulses are positive in the address increasing direction from the OP, and
negative in the address decreasing direction from the OP.
Unit: μm
OP
-214748364.8 0 214748364.7

Negative pulse outputs Positive pulse outputs

c) The number of output pulses varies with the number of feedback pulses as
indicated below:
• When the number of feedback pulses is 8192 (pulse):
-268435456 (pulse) to 268435455 (pulse)
• When the number of feedback pulses is 16384 (pulse):
-536870912 (pulse) to 536870911 (pulse)

Condition 2. Positioning address

a) The following positioning addresses can be specified on the QD75:

• When the unit is mm: -214748364.8 (μm) to 214748364.7 (μm)

• When the unit is inch: -21474.83648 (inch) to 21474.83647 (inch)
• When the unit is pulse: -2147483648 (pulse) to 2147483647 (pulse)
• When the unit is degree: 0° to 359.99999°

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[Calculation of positioning address and concept of absolute position

detection system]
Use the following expression to calculate the positioning address.
(Positioning address) = (movement amount per pulse) (number of output pulses)
+ (OP address).............................................. Expression 1

1. Concept for the unit of mm, inch or pulse

The range which satisfies Conditions 1 and 2 can be used as the positioning
address of the absolute position detection system.
The range which does not satisfy Conditions 1 and 2 cannot be used as the
positioning address of the absolute position detection system.
The concepts of the positioning addresses in mm, inch and pulse are identical,
the following examples provide those of the mm unit.

Example 1.
(1) There are the following conditions to calculate the positioning address:
• Movement amount per pulse: 0.1 (μm)
• OP address: 0.0 (μm)
• Feedback pulses = 8192 (pulse)
(2) Calculate the upper and lower limit values of the positioning address which
can be specified from the output pulse count using range in Condition 1 and
the positioning address calculation expression (Expression 1).
• Lower limit value of positioning address (the number of negative pulses in
Condition 1 is used for calculation)
(Positioning address) = (Movement amount per pulse)
(number of output pulses) + (OP address)
=0.1 (-268435456) + 0.0
=-26843545.6(μm)
• Upper limit value of positioning address (the number of positive pulses in
Condition 1 is used for calculation)
(Positioning address) = (Movement amount per pulse)
(number of output pulses) + (OP address)
=0.1 (268435456) + 0.0
=26843545.5 (μm)
(3) The upper and lower limit values of the positioning address calculated are
within the range of Condition 2.
Hence, the positioning range [-26843545.6 (μm) to 26843545.5 (μm)]
calculated in Condition 1 can be used in the absolute position detection system.
Positioning outside of the range -26843545.6 (μm) to 26843545.5 (μm)
cannot be used in the absolute position detection system.
Unit: μm
OP
-214748364.8 -26843545.6 0 26843545.5 214748364.7

Unusable range in Unusable range in

absolute position Usable range in absolute absolute position
detection system position detection system detection system

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Example 2.
(1) Using Expression 1, calculate the positioning address which can be specified
in the system where the OP address in Example 1 is 214740000.0 (μm).
• Lower limit value of positioning address
(Positioning address) =0.1 (-268435456) + 214740000.0
=187896454.4 (μm)
• Upper limit value of positioning address
(Positioning address) =0.1 268435455+ 214740000.0
=241583545.5 (μm)
(2) Since the lower limit value of the positioning address calculated is within the
range of Condition 2, the calculated address 187896454.4 (μm) is the lower
limit for positioning in the absolute position detection system.
Since the upper limit of the positioning address calculated is outside of the
range of Condition 2, the upper limit value 214748364.7 (μm) is the upper
limit for positioning in the absolute position detection system.
In the absolute position detection system, use the positioning address within
the range 187896454.4 (μm) to 214748364.7 (μm).
Positioning in excess of 187896454.4 (μm) cannot be used in the absolute
position detection system.
Unit: μm
-214748364.8 Positioning address specifying range 214748364.7

(OP)
187896454.4 214740000.0 241583545.5

Unusable range in absolute Usable range in absolute

position detection system position detection system Setting disallowed

Example 3.
(1) There are the following conditions to calculate the positioning address:
• Movement amount per pulse: 0.9 (μm)
• OP address: 0.0 (μm)
• Feedback pulses = 8192 (pulse)
(2) Calculate the positioning address from the output pulse count using range in
Condition 1 and the positioning address calculation expression (Expression
1).
• Lower limit value of positioning address (the number of negative pulses in
Condition 1 is used for calculation)
(Positioning address) = (Movement amount per pulse)
(number of output pulses) + (OP address)
= 0.9 (-268435456) + 0.0
= -241591910.4 (μm)
• Upper limit value of positioning address (the number of positive pulses in
Condition 1 is used for calculation)
(Positioning address) = (Movement amount per pulse)
(number of output pulses) + (OP address)
= 0.9 268435455 + 0.0
= 241591909.5 (μm)

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(3) Since the upper and lower limit values of the positioning address calculated
are outside of the range of Condition 2, use the positioning address within the
positioning range of Condition 2 (-214748364.8(μm) to 214748364.7(μm)).

Unit: μm
OP
-241591910.4 -214748364.8 0 214748364.7 241591909.5

Usable range in absolute

Setting disallowed position detection system Setting disallowed

2. Concept for the unit of degree

• The positioning address is within the range 0° to 359.99999° at the position
to which a machine OPR was made.
When the OP position is not 0°, the range is also 0° to 359.99999°.

• For positioning in the same direction, control from maximum to minimum

(for address increase: 359.99999° to 0°/for address decrease: 0° to
359.99999°) cannot be exercised. (See below)

OP Unusable in absolute position

detection system.
359.99999 359.99999 Current value cannot be restored
properly at power-on or reset.

0 0

Unusable in absolute position detection Usable range in absolute position detection system
system. (0 ~ 359.99999 )
Current value cannot be restored
properly at power supply on or resetting

• When positioning is to be used in the absolute position detection system,

set the upper and lower limit values of the software stroke limit within the
range 0° to 359.99999°.

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12.7 Other functions

Other functions include the "step function", "skip function", "M code output function",
"teaching function", "target position change function", "command in-position function",
"acceleration/deceleration processing function", "pre-reading start function",
"deceleration start flag function" and "stop command processing for deceleration stop
function". Each function is executed by parameter setting or sequence program
creation and writing.

12.7.1 Step function

The "step function" is used to confirm each operation of the positioning control one by
one.
It is used in debugging work for major positioning control, etc.
A positioning operation in which a "step function" is used is called a "step operation".
In step operations, the timing for stopping the control can be set. (This is called the
"step mode".) Control stopped by a step operation can be continued by setting "step
continue" (to continue the control)" or restarted by setting "restart" in the "step start
information".

The details shown below explain about the "step function".

[1] Relation between the step function and various controls
[2] Step mode
[3] Step start information
[4] Using the step operation
[5] Control details
[6] Precautions during control
[7] Step function settings

[1] Relation between the step function and various controls

The following table shows the relation between the "step function" and various
controls.
Control type Step function Step applicability
Machine OPR control
OPR control Step operation not possible
Fast OPR control
1-axis linear control
2 to 4-axes linear interpolation control
Position 1-axis fixed-feed control
Step operation possible
control 2 to 4- axes fixed-feed control
(interpolation)
Major
2-axis circular interpolation control
positioning
control 1 to 4- axes Speed control Step operation not possible
Speed-position switching control
Position-speed switching control Step operation possible
Current value changing
Other
control JUMP instruction, NOP instruction, Step operation not possible
LOOP to LEND
Manual JOG operation, Inching operation
Step operation not possible
control Manual pulse generator operation
: Set when required. : Setting not possible

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[2] Step mode

In step operations, the timing for stopping the control can be set. This is called
the "step mode". (The "step mode" is set in the control data " Cd.34 Step
mode".)
The following shows the two types of "step mode" functions.
(1) Deceleration unit step
The operation stops at positioning data requiring automatic deceleration. (A
normal operation will be carried out until the positioning data requiring
automatic deceleration is found. Once found, that positioning data will be
executed, and the operation will then automatically decelerate and stop.)

(2) Data No. unit step

The operation automatically decelerates and stops for each positioning
data. (Even in continuous path control, an automatic deceleration and stop
will be forcibly carried out.)

[3] Step start information

Control stopped by a step operation can be continued by setting "step continue"
(to continue the control) in the "step start information". (The "step start
information" is set in the control data " Cd.36 Step start information".)
The following table shows the results of starts using the "step start information"
during step operation.

Stop status in the step Md.26 Axis operation Cd.36 Step start
Step start results
operation status information
1 step of positioning
Step standing by 1: Step continue The next positioning data is executed.
stopped normally

The warnings "Step not possible (warning code: 511)" will occur if the " Md.26
Axis operation status" is as shown below or the step valid flag is OFF when step
start information is set.
Md.26 Axis operation status Step start results
Standing by
Stopped
In interpolation
In JOG operation
In manual pulse generator operation
Analyzing
Waiting for special start
Step not continued by warning
In OPR
In position control
In speed control
In speed control of speed-position switching control
In position control of speed-position switching control
In speed control of position-speed switching control
In position control of position-speed switching control

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[4] Using the step operation

The following shows the procedure for checking positioning data using the step
operation.
(1) Turn ON the step valid flag before starting the positioning data.
(Write "1" (carry out step operation) in " Cd.35 Step valid flag".)

(2) Set the step mode before starting the positioning data.
(Set in " Cd.34 Step mode".)

(3) Turn ON the positioning start signal, and check that the
positioning control starts normally.
(4) The control will stop for the following reasons.
a) One step of positioning stopped normally. (Go to step (6))
b) Control stopped by a stop signal (Take appropriate measures, go to
step (5))
c) An error occurred and the control stopped. (Take appropriate
measures, go to step (3))

(5) Write "1" (restart) to " Cd.6 Restart command", and check that
the positioning data where the control stopped operates
normally. (Go to (4)).
(6) Write "1" (step continue) to " Cd.36 Step start information", and
check that the next positioning data operates normally.
a) One step of positioning stopped normally. (Go to step (6))
b) Control stopped by a stop signal (Take appropriate measures, go to
step (5))
c) An error occurred and the control stopped. (Take appropriate
measures, go to step (3))
d) All positioning data operated normally (Go to step (7))

(7) Turn OFF the step valid flag, and quit the "step function".
(Write "0" (do not carry out step operation) in " Cd.35 Step valid flag".)

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[5] Control details

(1) The following drawing shows a step operation during a "deceleration unit
step".

ON
Cd. 35 Step valid flag OFF
ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
BUSY signal OFF
[XC, XD, XE, XF] ON
Positioning complete signal OFF
[X14, X15, X16, X17] V

Positioning
t

Positioning data No. No.10 No.11

Da. 1 Operation pattern 11 01

No positioning data No. unit, so operation pattern

becomes one step of unit for carrying out automatic
deceleration.

Fig. 12.35 Operation during step execution by deceleration unit step

(2) The following drawing shows a step operation during a "data No. unit step".

Cd. 26 Step valid flag ON

OFF
Positioning start signal ON
[RY(n+1)0, RY(n+1)1] OFF
ON
BUSY signal [RXn4, RXn5] OFF
ON
Positioning complete signal OFF
[RXn7, RXn8]
V
Positioning
t
Cd. 28 Step start information 00H 01H 00H

Positioning data No.

No.10 No.11

Da. 1 Operation pattern 11 01

Operation pattern becomes one step of positioning data No. unit,

regardless of continuous path control (11).

Fig. 12.36 Operation during step execution positioning data No. unit step

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[6] Precautions during control

(1) When step operation is carried out using interpolation control positioning
data, the step function settings are carried out for the reference axis.
(2) When the step valid flag is ON, the step operation will start from the
beginning if the positioning start signal is turned ON while " Md.26 Axis
operation status" is "step standing by". (The step operation will be carried
out from the positioning data set in " Cd.3 Positioning start No.".)

[7] Step function settings

To use the "step function", write the data shown in the following table to the
QD75 using the sequence program. Refer to section [4] "Using the step
operation" for the timing of the settings.
The set details are validated when written to the QD75.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Cd.34 Step mode Set "0: Deceleration unit step" or "1: Data No.
1544 1644 1744 1844
unit step".
Cd.35 Step valid flag 1 Set "1: Carry out step operation". 1545 1645 1745 1845

Cd.36 Step start Set "1: Step continue", depending on the stop
1546 1646 1746 1846
information status.

Refer to Section 5.7 "List of control data" for details on the setting details.

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12.7.2 Skip function

The "skip function" is used to stop (deceleration stop) the control of the positioning
data being executed at the time of the skip signal input, and execute the next
positioning data.
A skip is executed by a skip command ( Cd.37 Skip command) or external command
signal.
The "skip function" can be used during control in which positioning data is used.

The details shown below explain about the "skip function".

[1] Control details
[2] Precautions during control
[3] Setting the skip function from the PLC CPU
[4] Setting the skip function using an external command signal

[1] Control details

The following drawing shows the skip function operation.

ON
Positioning start signal
OFF
[Y10, Y11, Y12, Y13]
ON
BUSYsignal
OFF
[XC, XD, XE, XF]
ON
Positioning complete signal OFF
[X14, X15, X16, X17] V
Positioning
t
Deceleration by Start of the
skip signal next positioning
ON
Skip signal OFF

Fig. 12.37 Operation when a skip signal is input during positioning control

[2] Precautions during control

(1) If the skip signal is turned ON at the last of an operation, a deceleration stop
will occur and the operation will be terminated.
(2) When a control is skipped (when the skip signal is turned ON during a
control), the positioning complete signals (X14, X15, X16, X17) will not turn
ON.
(3) When the skip signal is turned ON during the dwell time, the remaining dwell
time will be ignored, and the next positioning data will be executed.
(4) When a control is skipped during interpolation control, the reference axis
skip signal is turned ON. When the reference axis skip signal is turned ON,
a deceleration stop will be carried out for every axis, and the next reference
axis positioning data will be executed.
(5) The M code ON signals (X4, X5, X6, X7) will not turn ON when the M code
output is set to the AFTER mode (when "1: AFTER mode" is set in " Pr.18
M code ON signal output timing").
(In this case, the M code will not be stored in " Md.25 Valid M code".)
(6) The skip cannot be carried out by the speed-position and position-speed
switching control. It is processed in the same manner as in the speed
control.

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[3] Setting the skip function from the PLC CPU

The following shows the settings and sequence program example for skipping
the control being executed in axis 1 with a command from the PLC CPU.
(1) Set the following data.
(The setting is carried out using the sequence program shown below in
section (2)).
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4
Cd.37 Skip command 1 Set "1: Skip request". 1547 1647 1747 1847

Refer to Section 5.7 "List of control data" for details on the setting details.

(2) Add the following sequence program to the control program, and write it to
the PLC CPU.
1) When the "skip command" is input, the value "1" (skip request) set in
" Cd.37 Skip command" is written to the QD75 buffer memory (1547).

Example

No.19 Skip program

<Pulsate skip command>

<Save skip command ON>

<Write skip command>

<Turn OFF skip command

memory>

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[4] Setting the skip function using an external command signal

The skip function can also be executed using an "external command signal".
The following shows the settings and sequence program example for skipping
the control being executed in axis 1 using an "external command signal".
(1) Set the following data to execute the skip function using an external
command signal.
(The setting is carried out using the sequence program shown below in
section (2)).
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Pr.42 External command

3 Set "3: Skip request". 62 212 362 512
function selection

Cd.8 External command

1 Set "1: Validate external command". 1505 1605 1705 1805
valid

Refer to Section 5.7 "List of control data" for details on the setting details.

(2) Add the following sequence program to the control program, and write it to
the PLC CPU.
Example

Skip function
selection command
TOP H0 K62 K3 K1 <Select skip request>
Skip request

TOP H0 K1505 K1 K1 <Set external command valid>

External command valid

Input external command signal

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12.7.3 M code output function

The "M code output function" is used to command sub work (clamping, drill rotation,
tool replacement, etc.) related to the positioning data being executed.
When the M code ON signal (X4, X5, X6, X7) is turned ON during positioning
execution, a No. called the M code is stored in " Md.25 Valid M code".
These " Md.25 Valid M code" are read from the PLC CPU, and used to command
auxiliary work. M codes can be set for each positioning data. (Set in setting item
" Da.10 M code" of the positioning data.)
The timing for outputting (storing) the M codes can also be set in the "M code output
function".

The details shown below explain about the "M code output function".
[1] M code ON signal output timing
[2] M code OFF request
[3] Precautions during control
[4] Setting the M code output function
[5] Reading M codes

[1] M code ON signal output timing

The timing for outputting (storing) the M codes can be set in the "M code output
function". (The M code is stored in " Md.25 Valid M code" when the M code ON
signal is turned ON.)
The following shows the two types of timing for outputting M codes: the "WITH"
mode and the "AFTER" mode.
(1) WITH mode
The M code ON signal (X4, X5, X6, X7) is turned ON at the positioning
start, and the M code is stored in " Md.25 Valid M code".

ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
BUSY signal [XC, XD, XE, XF] OFF
ON
M code ON signal OFF
[X4, X5, X6, X7]

Cd. 7 M code OFF request 0 1 0 0 1 0

Md. 25 Valid M code m1 m2

V Dwell time
Positioning
t
Da. 1 Operation pattern 01 00

m1 and m2 indicate set M codes.

Fig. 12.38 M code ON/OFF timing (WITH mode)

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(2) AFTER mode

The M code ON signal (X4, X5, X6, X7) is turned ON at the positioning
completion, and the M code is stored in " Md.25 Valid M code".

ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
BUSY signal [XC, XD, XE, XF] OFF
ON
M code ON signal
OFF
[X4, X5, X6, X7]
Cd. 7 M code OFF request 0 1 0

Md. 25 Valid M code m1 m2

V
Positioning
t

Da. 1 Operation pattern 01 00

m1 and m2 indicate set M codes.

Fig. 12.39 M code ON/OFF timing (AFTER mode)

[2] M code OFF request

When the M code ON signal (X4, X5, X6, X7) is ON, it must be turned OFF by
the sequence program.
To turn OFF the M code ON signal, set "1" (turn OFF the M code signal) in
" Cd.7 M code OFF request".

Buffer memory address

Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Cd.7 M code OFF

1 Set "1: Turn OFF the M code ON signal". 1504 1604 1704 1804
request

Refer to Section 5.7 "List of control data" for details on the setting details.

The next positioning data will be processed as follows if the M code ON signal is
not turned OFF. (The processing differs according to the " Da.1 Operation
pattern".)

Da.1 Operation pattern Processing

Independent positioning control

00 The next positioning data will not be executed until the M code ON
(Positioning complete)
signal is turned OFF.
01 Continuous positioning control
The next positioning data will be executed, but a warning "M code
11 Continuous path control
ON signal ON start" (warning code: 503) will occur.

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ON
Positioning start signal OFF
[Y10, Y11, Y12, Y13]
ON
BUSY signal [XC, XD, XE, XF] OFF
ON
M code ON signal
OFF
[X4, X5, X6, X7]
Cd. 7 M code OFF request 0 1 0 1 0

Md. 25 Valid M code m1 m2 m3

Positioning
t

Da. 1 Operation pattern 11 11 00

m1 and m3 indicate set M codes. Warning occurs at this timing.

Fig. 12.40 Warning due to an M code ON signal during continuous path control

POINT
If the M code output function is not required, set a "0" in setting item " Da.10 M
code" of the positioning data.

[3] Precautions during control

(1) During interpolation control, the reference axis M code ON signal is turned
ON.

(2) The M code ON signal will not turn ON if "0" is set in " Da.10 M code". (The
M code will not be output, and the previously output value will be held in
" Md.25 Valid M code".)

(3) If the M code ON signal is ON at the positioning start, an error "M code ON
signal start (error code: 536)" will occur, and the positioning will not start.
(4) If the PLC READY signal (Y0) is turned OFF, the M code ON signal will turn
OFF and "0" will be stored in " Md.25 Valid M code".

(5) If the positioning operation time is short during continuous path control, there
will not be enough time to turn OFF the M code ON signal, and a warning "M
code ON signal ON (error code: 503)" may occur. In this case, set a "0" in
the " Da.10 M code" of that section's positioning data.

(6) In the AFTER mode during speed control, the M code is not output and the
M code ON signal does not turn ON.

(7) If current value changing where "9003" has been set to " Cd.3 Positioning
start No." is performed, the M code output function is made invalid.

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[4] Setting the M code output function

The following shows the settings to use the "M code output function".
(1) Set the M code No. in the positioning data " Da.10 M code".

(2) Set the timing to output the M code ON signal (X4, X5, X6, X7).

Set the required value in the following parameter, and write it to the QD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y0).
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4
Set the timing to output the M code ON signal.
Pr.18 M code ON signal
0: WITH mode 27 177 327 477
output timing
1: AFTER mode
Refer to Section 5.2 "List of parameters" for setting details.

[5] Reading M codes

"M codes" are stored in the following buffer memory when the M code ON signal
turns ON.
Buffer memory address
Monitor
Monitor item Storage details Axis Axis Axis Axis
value
1 2 3 4

Md.25 The M code No. ( Da.10 M code) set in the

Valid M code 808 908 1008 1108
positioning data is stored.

Refer to Section 5.6 "List of monitor data" for information on the storage details.

The following shows a sequence program example for reading the " Md.25 Valid
M code" to the PLC CPU data register (D110). (The read value is used to
command the sub work.)
Read M codes not as "rising edge commands", but as "ON execution
commands".

Example
M code ON signal

FROM H0 K808 D110 K1

ON execution command

D110: valid M codes

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12.7.4 Teaching function

The "teaching function" is used to set addresses aligned using the manual control
(JOG operation, inching operation manual pulse generator operation) in the positioning
data addresses (" Da.6 Positioning address/movement amount", " Da.7 Arc
address").

The details shown below explain about the "teaching function".

[1] Control details
[2] Precautions during control
[3] Data used in teaching
[4] Teaching procedure
[5] Teaching program example

[1] Control details

(1) Teaching timing
Teaching is executed using the sequence program when the BUSY signal
(XC, XD, XE, XF) is OFF. (During manual control, teaching can be carried
out as long as the axis is not BUSY, even when an error or warning has
occurred.)

(2) Addresses for which teaching is possible

The addresses for which teaching is possible are "current feed values"
( Md.20 Current feed value) having the OP as a reference. The settings of
the "movement amount" used in incremental system positioning cannot be
used. In the teaching function, these "current feed values" are set in the
" Da.6 Positioning address/movement amount" or " Da.7 Arc address".

Positioning data
Positions aligned by manual
control
Da.6 Positioning address/movement
"Current feed value" A
amount

"Current feed value" B Da.7 Arc address

(3) Dedicated instructions "ZP.TEACH 1, ZP.TEACH 2,

ZP.TEACH 3, ZP.TEACH 4, ZP.PFWRT"
When the dedicated instructions "ZP.TEACH 1, ZP.TEACH 2, ZP.TEACH
3, ZP.TEACH 4, ZP.PFWRT" are used to execute the teaching function, the
programming becomes easier. Refer to Chapter 14 "Dedicated instructions"
for details.

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[2] Precautions during control

(1) Before teaching, a "machine OPR" must be carried out to establish the OP.
(When a current value changing, etc., is carried out, " Md.20 Current feed
value" may not show absolute addresses having the OP as a reference.)
(2) Teaching cannot be carried out for positions to which movement cannot be
executed by manual control (positions to which the workpiece cannot
physically move). (During center point designation circular interpolation
control, etc., teaching of " Da.7 Arc address" cannot be carried out if the
center point of the arc is not within the moveable range of the workpiece.)
(3) Writing to the flash ROM can be executed up to 100,000 times.
If writing to the flash ROM exceeds 100,000 times, the writing may become
impossible (assured value is up to 100,000 times).
If an error (error code: 805) occurs when writing to the flash ROM has been
completed, check whether or not the program is created so as to write
continuously to the flash ROM.

[3] Data used in teaching

The following control data is used in teaching.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Cd.1 Flash ROM write Write the set details to the flash ROM (backup
1 1900
request the changed data).
Sets to which "current feed value" is written.
0: Written to " Da.6 Positioning
Cd.38 Teaching data
1548 1648 1748 1848
selection address/movement amount".
1: Written to " Da.7 Arc address".
Designates the data to be taught.
Teaching (Teaching is carried out when the setting value
Cd.39 positioning data is 1 to 600.) 1549 1649 1749 1849
No. When teaching has been completed, the QD75
is zero cleared in the initial stage.

Refer to Section 5.7 "List of control data" for details on the setting details.

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[4] Teaching procedure

The following shows the procedure for a teaching operation.
(1) When teaching to the " Da.6 Positioning address/movement amount"
(Teaching example on axis 1)

Start

Perform machine OPR on axis 1

Move the workpiece to the

target position using a manual Using a JOG operation, inching operation, or manual pulse generator.
operation.

Set Writes the current feed value

to Da.6 Positioning address/
Set 0 in buffer memory address [1548].
movement amount in teaching
data selection.

Set the positioning data No. for

which the teaching will be carried Set the positioning data No. in buffer memory address [1549].
out.

Confirm completion of the

teaching. Confirm 0 in buffer memory address [1549].

NO
End teaching?

YES

Turn OFF the PLC READY

signal [Y0].

Carry out a writing request to

the flash ROM. Set 1 in buffer memory address [1900].

Confirm completion of writing. Confirm 0 in buffer memory address [1900].

End

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(2) When entering teaching data into " Da.7 Arc address" and then into
" Da.6 Positioning address/movement amount" (Teaching example for 2-
axis circular interpolation control with sub point designation on axes 1 and 2)

Start

Carry out a machine OPR.

Move the workpiece to the

circular interpolation sub point Using a JOG operation, inching operation, or manual pulse generator.
using a manual operation. *1

Teaching arc sub point address on axis 1

Set Writes the current feed value

to Da.7 Arc address in teaching Set 1 in the buffer memory address [1548].
data selection.

Set the positioning data No. for

which the teaching will be carried Set the positioning data No. in buffer memory address [1549].
out.

Confirm completion of the Confirm 0 in buffer memory address [1549].

teaching.

Teach arc sub point address of

axis 2. Entering teaching data to buffer memory address [1648] and [1649],
in the same fashion as for axis 1.

Move the workpiece to the

circular interpolation end point Using a JOG operation, inching operation, or manual pulse generator.
using a manual operation. *2
Teaching arc end point address on axis 1

Set Writes the current feed value

to Da.6 Positioning address/ Set 0 in buffer memory address [1548].
movement amount by teaching
data selection.

Set the positioning data No. for

which the teaching will be carried Set the positioning data No. in buffer memory address [1549].
out.

Confirm completion of the Confirm 0 in buffer memory address [1549].

teaching.

2) 1)

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2) 1)

Teaching arc end point address

on axis 2. Entering teaching data to buffer memory address [1648] and [1649],
in the same fashion as for axis 1.

End teaching?

Turn OFF the PLC READY

signal [Y0].

Carry out a writing request to

the flash ROM. Set 1 in buffer memory address [1900].

Confirm completion of writing. Confirm 0 in buffer memory address [1900].

End

[Motion path]

(Axis 2)
Forward direction

Movement by circular interpolation

*1 Sub point address
(arc address) *2 End point address
(positioning address)

Start point address Arc center point

(current stop position)
Reverse direction Forward direction (Axis 1)

OP
Reverse direction

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[5] Teaching program example

The following shows a sequence program example for setting (writing) the
positioning data obtained with the teaching function to the QD75.
(1) Setting conditions
• When setting the current feed value as the positioning address, write it
when the BUSY signal is OFF.

(2) Program example

• The following example shows a program to carry out the teaching of axis
1 by the dedicated instruction "ZP.TEACH 1".
1) Move the workpiece to the target position using a JOG operation (or
an inching operation, a manual pulse generator operation).
Example

Target position

Forward run JOG start signal [Y8]

PLC READY signal [Y0]

QD75 READY signal [X0]

BUSY signal [XC]

Error detection signal [X8]

Md.20 Current feed value n1 nx n2

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2) Carry out the teaching operation with the following program.

Example

No.20 Teaching program

Position to the target position with manual operation.

<Pulsate teaching command>

<Hold teaching command>

<Set teaching data>

<Set positioning data No.>

<Execute teaching>

<Turn OFF teaching command

memory>

POINT
(1) Confirm the teaching function and teaching procedure before setting the positioning data.
(2) The positioning addresses that are written are absolute address (ABS) values.
(3) If the positioning operation is correctly completed with the written positioning data, it is
recommended that the positioning data be registered in the QD75 flash ROM.

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12.7.5 Target position change function

The "target position change function" is a function to change a target position to a

newly designated target position at any timing during the position control (1-axis linear
control). A command speed can also be changed simultaneously.
The target position and command speed changed are set directly in the buffer
memory, and the target position change is executed by " Cd.29 Target position
change request flag".

The following shows the details of the "target position change function".
[1] Details of control
[2] Precaution during operation
[3] Method of setting target position change function from PLC CPU

[1] Details of control

The following charts show the details of control of the target position change
function.

(a) When the address after change is positioned away from the start point more than the positioning address:

Target position change request Positioning address Address after change

(b) When the speed is changed simultaneously with changing the address:
Speed after
change

Speed before
change

Target position change request Positiioning address Address after change

(c) When the direction of the operation is changed:

Address after
change

Positioning address

Target position change

request

Fig. 12.41 Target position change operation

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[2] Precautions during operation

(1) If the positioning movement direction from the stop position to a new target
position is reversed, stop the operation once and then position to the new
target position. (Refer to Fig. 12.41 (c).)
(2) If a command speed exceeding the speed limit value is set to change the
command speed, a warning will be given, and the new command speed will
be the speed limit value (warning code: 501).
Also, if the command speed change disables the remaining distance to the
target value from being assured, a warning will be given (warning code: 509).
(3) During interpolation control, a target position change request given is ignored
and a warning (warning code: 518) occurs if a new target position value
(address) is outside the software stroke limit range, if the axis is decelerating
to a stop, or if the operation pattern is continuous path control.
(4) When a command speed is changed, the current speed is also changed.
When the next positioning speed uses the current speed in the continuous
positioning, the next positioning operation is carried out at the new speed
value. When the speed is set with the next positioning data, that speed
becomes the current speed and the operation is carried out at the current
speed.
(5) When a target position change request is given during automatic deceleration
in position control, positioning control to a new position is exercised after the
axis has stopped once if the moving direction is reversed. If the moving
direction is not reversed, the axis is accelerated to the command speed again
and positioned to the new position.
(6) If the constant speed status is regained or the output is reversed by a target
position change made while " Md.48 Deceleration start flag" is ON, the
deceleration start flag remains ON. (For details, refer to Section 12.7.9.)

POINT
When carrying out the target position change continuously, take an interval of 100 ms or longer between the
times of the target position changes. Also, take an interval of 100 ms or longer when the speed change is
carried out after changing the target position or the target position change is carried out after the speed
change.

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[3] Method of setting target position change function from PLC CPU
The following table and chart show the example of a data setting and sequence
program used to change the target position of the axis 1 by the command from
the PLC CPU, respectively. (example in which the target position value and
command speed are changed to a new target position of "300.0 m" and a new
command speed of "10000.00 mm/min".)
(1) The following data is set.
(Referring to the starting time chart shown in item (2) below, carry out the
setting with the sequence program shown in item (3).)

Buffer memory address

Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4
Target position
1534 1634 1734 1834
Cd.27 value 3000 Set the new address.
1535 1635 1735 1835
(new address)
Target position 1536 1636 1736 1836
Cd.28 1000000 Set the new speed.
value (new speed) 1537 1637 1737 1837
Cd.29 Target position 1 Set "1: Carry out speed change". 1538 1638 1738 1838
change request flag
Refer to Section 5.7 "List of control data" for details on the setting details.

(2) The following shows the time chart for target position change.

V
Dwell time

Positioning start signal [Y10]

PLC READY signal [Y0]

QD75 READY signal [X0]

Start complete signal [X10]

BUSY signal [XC]

Positioning complete signal [X14]

Error detection signal [X8]

Cd.27 Target position value (new address) 3000

Cd.28 Target position value (new speed) 1000000

Cd.29 Target position change request flag 0 1 0

Fig. 12.42 Time chart for target position change from PLC CPU

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(3) The following sequence program is added to the control program, and written
to the PLC CPU.
Example

No.22 Target position change program

<Pulsate target position change command>

<Hold target position change command>

<Set target position change value 300.0 m

(address)>

<Set target position change request>

<Write speed change>

<Turn OFF speed change request memory>

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12.7.6 Command in-position function

The "command in-position function" checks the remaining distance to the stop position
during the automatic deceleration of positioning control, and raises a flag. This flag is
called the "command in-position flag". The command in-position flag is used as a front-
loading signal indicating beforehand the completion of the position control.

The details shown below explain about the "command in-position function".
[1] Control details
[2] Precautions during control
[3] Setting the command in-position function
[4] Confirming the command in-position flag

[1] Control details

The following shows control details of the command in-position function.
(1) When the remaining distance to the stop position during the automatic
deceleration of positioning control becomes equal to or less than the value
set in " Pr.16 Command in-position width", "1" is stored in the command
in-position flag ( Md.31 Status: b2).

(Command in-position width check)

Remaining distance ≤ " Pr.16 Command in-position width" setting value

Positioning t
ON
Command in-position flag OFF
[ Md.31 Status : b2]
Command in-position
width setting value

Fig. 12.43 Command in-position operation

(2) A command in-position width check is carried out every 1.8ms.

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[2] Precautions during control

(1) A command in-position width check will not be carried out in the following
cases.
• During speed control
• During speed control in speed-position switching control
• During speed control in position-speed switching control

Command in-position
V width setting value Speed to position switching
Speed-position
Positioning switching Command in-position
control start control start width setting value

Command in-position flag ON

[ Md. 31 Status: b2] OFF

Execution of the command in-position width check Execution of the command in-position
width check

Fig. 12.44 Command in-position width check

(2) The command in-position flag will be turned OFF in the following cases.
("0" will be stored in " Md.31 Status: b2".)
• At the positioning control start
• At the speed control start
• At the speed-position switching control, position-speed switching control
start
• At the OPR control start
• At the JOG operation start
• At the inching operation start
• When the manual pulse generator operation is enabled.

(3) The " Pr.16 Command in-position width" and command in-position flag
( Md.31 Status: b2) of the reference axis are used during interpolation
control.

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[3] Setting the command in-position function

To use the "command in-position function", set the required value in the
parameter shown in the following table, and write it to the QD75.
The set details are validated at the rising edge (OFF ON) of the PLC READY
signal (Y0).
Setting Factory-set
Setting item Setting details
value initial value
Turn ON the command in-position flag, and set the
Pr.16 Command in-
remaining distance to the stop position of the position 100
position width
control.
Refer to Section 5.2 "List of parameters" for setting details.

[4] Confirming the command in-position flag

The "command in-position flag" is stored in the following buffer memory.
Buffer memory address
Monitor
Monitor item Storage details Axis Axis Axis Axis
value
1 2 3 4

Md.31 Status The command in-position flag is stored in the

817 917 1017 1117
"b2" position.
Refer to Section 5.6 "List of monitor data" for information on the storage details.

REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will
increase.

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12.7.7 Acceleration/deceleration processing function

The "acceleration/deceleration processing function" adjusts the

acceleration/deceleration when each control is executed.
Adjusting the acceleration/deceleration processing to match the control enables more
precise control to be carried out.
There are two acceleration/deceleration adjustment items that can be set:
"Acceleration/deceleration time 0 to 3", and "acceleration/deceleration method setting".

The details shown below explain about the "acceleration/deceleration processing

function".
[1] "Acceleration/deceleration time 0 to 3" control details and setting
[2] "Acceleration/deceleration method setting" control details and setting

[1] "Acceleration/deceleration time 0 to 3" control details and setting

In the QD75, four types each of acceleration time and deceleration time can be
set. By using separate acceleration/deceleration times, control can be carried out
with different acceleration/deceleration times for positioning control, JOG
operation, OPR, etc.
Set the required values for the acceleration/deceleration time in the parameters
shown in the following table, and write them to the QD75.
The set details are validated when written to the QD75.

Setting Factory-set
Setting item Setting details
value initial value
Pr.9 Acceleration time 0 1000

Pr.25 Acceleration time 1 1000

Set the acceleration time at a value within the range
of 1 to 8388608 ms.
Pr.26 Acceleration time 2 1000

Pr.27 Acceleration time 3 1000

Pr.10 Deceleration time 0 1000

Pr.28 Deceleration time 1 1000

Set the deceleration time at a value within the range
of 1 to 8388608 ms.
Pr.29 Deceleration time 2 1000

Pr.30 Deceleration time 3 1000

Refer to Section 5.2 "List of parameters" for setting details.

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[2] "Acceleration/deceleration method setting" control details and

setting
In the "acceleration/deceleration method setting", the acceleration/deceleration
processing method is selected and set. The set acceleration/deceleration
processing is applied to all acceleration/deceleration.
The two types of "acceleration/deceleration method setting" are shown below.
(1) Automatic trapezoidal acceleration/deceleration processing
method
This is a method in which linear acceleration/deceleration is carried out
based on the acceleration time, deceleration time, and speed limit value set
by the user.

Velocity

Time

Fig. 12.45 Automatic trapezoidal acceleration/deceleration processing method

(2) S-curve acceleration/deceleration processing method
In this method, the motor burden is reduced during starting and stopping.
This is a method in which acceleration/deceleration is carried out gradually,
based on the acceleration time, deceleration time, speed limit value, and
" Pr.35 S-curve ratio" (1 to 100%) set by the user.
When the stepping motor is used, the S-curve acceleration/deceleration
processing method cannot be carried out. When using this processing
method, ensure to use a servomotor.

Velocity

Time

Fig. 12.46 S-curve acceleration/deceleration processing method

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When a speed change request is given during S-curve

acceleration/deceleration processing, S-curve acceleration/deceleration
processing begins at a speed change request start.

When speed change Speed change (acceleration)

request is not given

Command speed before speed change

Speed change request

Speed change (deceleration)

Fig. 12.47 Speed change during S-curve acceleration/deceleration processing

Set the required values for the "acceleration/deceleration method setting" in

the parameters shown in the following table, and write them to the QD75.
The set details are validated when written to the QD75.
Setting Factory-set
Setting item Setting details
value initial value
Set the acceleration/deceleration method.
Acceleration/
Pr.34 0: Automatic trapezoidal acceleration/deceleration
deceleration 0
processing
process selection
1: S-curve acceleration/deceleration processing
Set the acceleration/deceleration curve when "1" is set
Pr.35 S-curve ratio in " Pr.34 Acceleration/deceleration processing 100
selection".

Refer to Section 5.2 "List of parameters" for setting details.

REMARK
• Parameters are set for each axis.
• It is recommended that the parameters be set whenever possible with GX
Configurator-QP. Execution by sequence program uses many sequence programs
and devices. The execution becomes complicated, and the scan times will
increase.

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12.7.8 Pre-reading start function

The "pre-reading start function" does not output pulses while the execution prohibition
flag is ON if a positioning start request is given with the execution prohibition flag ON,
and starts outputting pulses within 3m after OFF of the execution prohibition flag is
detected. The positioning start request is given when the axis is in a standby status,
and the execution prohibition flag is turned OFF at the axis operating timing. This
shortens the virtual start time. The QD75 normally takes 6 to 7ms from when it
receives a positioning start request until it starts pulse output (start time). Some
systems often need the start time to be shortened. This "pre-reading start function" can
improve the tact time of the system.

The "pre-reading start function" will be explained below.

[1] Controls
[2] Controlling instructions
[3] Program examples

[1] Controls
The pre-reading start function is performed by turning ON the positioning start
signal [Y10, Y11, Y12, Y13] with the execution prohibition flag [Y14, Y15, Y16,
Y17] ON, or by executing the dedicated instruction (ZP.PSTRT1, ZP.PSTRT2,
ZP.PSTRT3, ZP.PSTRT4). However, if positioning is started with the execution
prohibition flag ON, the positioning data is analyzed but pulse output is not
provided. While the execution prohibition flag is ON, " Md.26 Axis operation
status" remains unchanged from "5: Analyzing". Pulse output starts within 3ms
after the execution prohibition flag [Y14, Y15, Y16, Y17] has turned OFF, and
" Md.26 Axis operation status" changes to the status (e.g. during position
control, during speed control) that matches the control system. (Refer to Fig.
12.48)

t
Start time
Positioning start signal ON
[Y10,Y11,Y12,Y13] OFF
Positioning start timing

Execution prohibition flag OFF ON

[Y14,Y15,Y16,Y17] 3ms or less
Ta
BUSY signal ON
[XC,XD,XE,XF] OFF
Positioning data
analysis Execution prohibition flag OFF waiting

Md. 26 Axis operation During position Standby Analyzing During position

status control control

Fig. 12.48 Operations of pre-reading start function

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The pre-reading start function is effective for the system as shown below.

Cutter

Cutter shaft

Feed shaft

Stock

Fig. 12.49 System example using pre-reading start function

Fig. 12.49 shows a system example which repeats:

1) Feeding a stock with a feed shaft; and
2) Cutting it with a cutter
to cut the stock to fixed size. The operations of the feed shaft and cutter shaft are
represented as shown in Fig. 12.50.

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Feed shaft
t
Start Stop time Start
time Tw time
Ts Ts

Cutter shaft
Start t
time
Ts

Feed shaft
start request

Cutter shaft
start request
1 2

Fig. 12.50 Operation timings of system example

The cutter shaft starts from the moment the feed shaft has completed feeding the
stock " 1 ", and the feed shaft starts from the moment the cutter shaft has
returned to the standby position " 2 ". Actually, however, there is a delay of start
time Ts (6 to 7ms) from when the QD75 receives a start request until it outputs
pulses. The system's tact time can be reduced by the shortening of this delay
with the Pre-reading start function.
In Fig. 12.50, the feed shaft stands by during the stop time Tw.
Hence, pre-reading of the next data starts during the stop time Tw. If Tw is a
certain period of time, the analysis of the next data is completed during that
period, and the system is placed in an execution prohibition flag OFF waiting
status. Therefore, replacing the positioning start timing at 2 with the execution
prohibition flag OFF allows the time from when the axis operation request turns
ON until pulse output starts to be reduced to within 3ms in the sequence
program. (Refer to Fig. 12.48)

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[2] Controlling instructions

(1) The time required to analyze the positioning data is up to 7ms.
(2) After positioning data analysis, the system is put in an execution prohibition
flag OFF waiting status. Any change made to the positioning data in the
execution prohibition flag OFF waiting status is not reflected on the
positioning data. Change the positioning data before turning ON the
positioning start signal.
(3) The pre-reading start function is invalid if the execution prohibition flag is
turned OFF between when the positioning start signal has turned ON and
when positioning data analysis is completed (Ta<start time, Ta: Refer to Fig.
12.48).
(4) The data No. which can be executed positioning start using " Cd.3 Positioning
start No." with the pre-reading start function are No. 1 to 600 only. Performing
the pre-reading start function at the setting of No. 7000 to 7004 or 9001 to
9004 will result in an outside start No. range error (Error code: 543).
(5) Always turn ON the execution prohibition flag at the same time or before
turning ON the positioning start signal. Pre-reading may not be started if the
execution prohibition flag is turned ON during Ta after the positioning start
signal is turned ON. The pre-reading start function is invalid if the execution
prohibition flag is turned ON after positioning start (pulse output) with the
execution prohibition flag OFF. (It is made valid at the next positioning start.)

[3] Program examples

Pre-reading start function (when positioning start signal Y10 is used)

<Pre-reading start command pulse>

<Sets 1 to positioning start No.>

<Turns ON execution prohibition flag>

<Turns ON positioning start signal>

<Turns OFF execution prohibition flag>

<Turns OFF positioning start signal>

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Pre-reading start function (when dedicated instruction PSTRT1 is used)

<Turns ON execution prohibition flag>

<Sets 1 to positioning start No.>

<Executes positioning start>

<Turns OFF execution prohibition flag>

<Normal termination of positioning>

<Sets error code>

<Abnormal termination of positioning>

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12.7.9 Deceleration start flag function

The "deceleration start flag function" turns ON the flag when the constant speed status
or acceleration status switches to the deceleration status during position control whose
operation pattern is "Positioning complete". This function can be used as a signal to
start the operation to be performed by other equipment at each end of position control
or to perform preparatory operation, etc. for the next position control.

For the "deceleration start flag function", the following will be explained.
[1] Control details
[2] Precautions during control
[3] Deceleration start flag function setting method
[4] Checking of deceleration start flag

[1] Control details

When deceleration for a stop is started in the position control whose operation
pattern is "Positioning complete", "1" is stored into " Md.48 Deceleration start
flag". When the next operation start is made or the manual pulse generator
operation enable status is gained, "0" is stored. (Refer to Fig. 12.51.)

(1) Start made with positioning data No. specified

V Operation pattern: Positioning complete (00)

Time

Md.48 Deceleration start flag 0 1 0

Fig. 12.51 Operation of deceleration start flag

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(2) Block start

At a block start, this function is valid for only the position control whose
operation pattern is "Positioning complete" at the point whose shape has
been set to "End". (Refer to Fig. 12.52.)

The following table indicates the operation of the deceleration start flag in the
case of the following block start data and positioning data.

Da.13
Block start Da.11 Da.12
data Special start
Shape Start data No.
instruction

1st point 1: Continue 1 0: Block start

2nd point 1: Continue 3 0: Block start
3rd point 0: End 4 0: Block start
•
•

Positioning Da.1
Data No. Operation pattern
1 01: Continuous positioning control
2 00: Positioning complete
3 00: Positioning complete
4 11: Continuous path control
5 00: Positioning complete
•
•

V
1st point: Continue (1) 2nd point: Continue (1) 3rd point: End (0)
Operation
pattern
Positioning complete (00)
Positioning complete (00)
Continuous
Positioning complete (00) Continuous path
positioning
control (01) control (11)

Positioning Positioning Positioning Positioning Positioning

data No. 1 data No. 2 data No. 3 data No. 4 data No. 5
t

Md.48 Deceleration start flag 0 1

Fig. 12.52 Operation of deceleration start flag at block start

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[2] Precautions during control

(1) The deceleration start flag function is valid for the control system of "1-axis
linear control", "2-axis linear interpolation control", "3-axis linear interpolation
control", "4-axis linear interpolation control", "speed-position switching control"
or "position-speed switching control". (In the case of linear interpolation
control, the function is valid for only the reference axis.) Refer to Section 3.2.4
"Combination of QD75 main functions and sub functions".
(2) The deceleration start flag does not turn ON when the operation pattern is
"continuous positioning control" or "continuous path control".
(3) The deceleration start flag function is invalid for an OPR, JOG operation,
inching operation, manual pulse generator operation, and deceleration made
with a stop signal.
(4) The deceleration start flag does not turn ON when a speed change or
override is used to make deceleration.
(5) If a target position change is made while the deceleration start flag is ON, the
deceleration start flag remains ON.

Deceleration start point

Operation pattern: Positioning complet (00)

Execution of target position change request

Time

Md.48 Deceleration start flag 0 1

(6) When the movement direction is reversed by a target position change, the
deceleration start flag turns ON.

Operation pattern: Positioning complete (00)

Execution of target position change request

Time

Md.48 Deceleration start flag 0 1

(7) During position control of position-speed switching control, the deceleration

start flag is turned ON by automatic deceleration.
The deceleration start flag remains ON if position control is switched to speed
control by the position-speed switching signal after the deceleration start flag
has turned ON.
(8) During skip operation, the deceleration start flag is valid for only the
positioning data whose operation pattern is "Positioning complete".
(9) If the condition start of a block start is not made since the condition is not
satisfied, the deceleration start flag turns ON when the shape is "End".
(10) When an interrupt request during continuous operation is issued, the
deceleration start flag turns ON at a start of deceleration in the positioning
data being executed.

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[3] Deceleration start flag function setting method

To use the "deceleration start flag function", set "1" to the following control data
using a sequence program.
The set data is made valid on the rising edge (OFF to ON) of the PLC READY
signal [Y0].

Setting
Setting item Setting details Buffer memory address
value

Set whether the deceleration start flag function

Deceleration start is made valid or invalid.
Cd.41 1905
flag valid 0: Deceleration start flag invalid
1: Deceleration start flag valid

Refer to Section 5.7 "List of control data" for details on the setting details.

[4] Checking of deceleration start flag

The "deceleration start flag" is stored into the following buffer memory addresses.

Buffer memory address

Monitor
Monitor item Storage details
value Axis Axis Axis Axis
1 2 3 4
0: Status other than below
Deceleration start 1: Status from deceleration start to next
Md.48 899 999 1099 1199
flag operation start or manual pulse generator
operation enable

Refer to Section 5.6 "List of monitor data" for information on the storage details.

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12.7.10 Stop command processing for deceleration stop function

The "stop command processing for deceleration stop function" is provided to set the
deceleration curve if a stop cause occurs during deceleration stop processing
(including automatic deceleration).
This function is valid for both automatic trapezoidal and S-curve
acceleration/deceleration processing methods.
(For the stop cause, refer to Section 1.2.3 Outline of stopping.)

The "stop command processing for deceleration stop function"

performs the following two operations:
(1) Deceleration curve re-processing
Re-processes a deceleration curve starting from the speed at stop cause
occurrence to stop, according to the preset deceleration time.
(2) Deceleration curve continuation
Continues the current deceleration curve after a stop cause has occurred.

This section explains the "stop command processing for deceleration stop function" as
follows:
[1] Control
[2] Precautions for control
[3] Setting method

[1] Control
The operation of "stop command processing for deceleration stop function" is
explained below.

(1) Deceleration curve re-processing

A deceleration curve is re-processed starting from the speed at stop cause
occurrence to stop, according to the preset deceleration time.
If a stop cause occurs during automatic deceleration of position control, the
deceleration stop processing stops as soon as the target has reached the
positioning address specified in the positioning data that is currently
executed.

Deceleration curve according

Stop cause to preset deceleration time
V occurrence

Immediate stop at the specified

positioning address

Deceleration stop Deceleration curve when stop

processing (automatic cause does not occur
deceleration) start

Fig. 12.53 Deceleration curve re-processing operation (for position control or S-curve
acceleration/deceleration processing)

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(2) Deceleration curve continuation

The current deceleration curve is continued after a stop cause has
occurred.
If a stop cause occurs during automatic deceleration of position control, the
deceleration stop processing may be complete before the target has
reached the positioning address specified in the positioning data that is
currently executed.

V Stop cause occurrence

Deceleration stop
processing (automatic
deceleration) start

Fig. 12.54 Deceleration curve continuation operation (for position control or S-curve
acceleration/deceleration processing)

[2] Precautions for control

(1) In manual control (JOG operation, inching operation, manual pulse generator
operation), the stop command processing for deceleration stop function is
invalid.
(2) The stop command processing for deceleration stop function is valid when "0:
Normal deceleration stop" is set in " Pr.37 Stop group 1 sudden stop
selection" to " Pr.39 Stop group 3 sudden stop selection" as the stopping
method for stop cause occurrence.
(3) The stop command processing for deceleration stop function is invalid when
"1: Sudden stop" is set in " Pr.37 Stop group 1 sudden stop selection" to
" Pr.39 Stop group 3 sudden stop selection". (A deceleration curve is re-
processed, according to the " Pr.36 Sudden stop deceleration time" (starting
from the speed at stop cause occurrence to a stop))
In the position control (including position control of speed/position changeover
control or position/speed changeover control) mode, positioning may stop
immediately depending on the stop cause occurrence timing and
" Pr.36 Sudden stop deceleration time" setting.

Stop cause occurrence

V (Sudden stop cause) V Stop cause occurrence
(Sudden stop cause)
Deceleration curve according Deceleration curve
to sudden stop deceleration time according to sudden
stop deceleration time

Deceleration stop Deceleration stop Deceleration curve

Deceleration curve when
processing (automatic processing (automatic when stop cause
stop cause does not occur
deceleration) start deceleration) start does not occur

t t

(Sudden stop in front of the specified positioning address) (Immediate stop at the specified positioning address)

Fig. 12.55 Sudden stop operation (for position control or S-curve acceleration/deceleration processing)

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[3] Setting method

To use the "stop command processing for deceleration stop function", set the
following control data in a sequence program.
The set data are made valid as soon as they are written to the buffer memory.
The PLC ready signal [Y0] is irrelevant.

Setting
Setting item Setting details Buffer memory address
value

Stop command Set the stop command processing for

processing for deceleration stop function.
Cd.42 1907
deceleration stop 0: Deceleration curve re-processing
selection 1: Deceleration curve continuation

For details of the setting details, refer to "Section 5.7 Control data list".

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Chapter 13 Common Functions

The details and usage of the "common functions" executed according to the user's
requirements are explained in this chapter.

Common functions include functions required when using the QD75, such as parameter
initialization and execution data backup.
Read the setting and execution procedures for each common function indicated in this
chapter thoroughly, and execute the appropriate function where required.

13.1 Outline of common functions...................................................................................13- 2

13.2 Parameter initialization function ..............................................................................13- 3
13.3 Execution data backup function ..............................................................................13- 5
13.4 External I/O signal logic switching function.............................................................13- 7
13.5 External I/O signal monitor function ........................................................................13- 8

13

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13.1 Outline of common functions

"Common functions" are executed according to the user's requirements, regardless of

the control system, etc. These common functions are executed by peripheral devices
or using sequence programs.

The following table shows the functions included in the "common functions".
Means
Common function Details Sequence Peripheral
program devices
This function returns the
parameter stored in the QD75
Parameter initialization
buffer memory and flash ROM to
the factory-set initial value.
This function writes the
"execution data", currently being
Execution data backup
used for control, to the flash
ROM.
This function switches I/O signal
logic according to the equipment
connected to the QD75.
For the system in which drive unit
External I/O signal logic READY with b-contact, upper
switching limit switch, and lower limit switch
are not used, the parameter logic
setting can be controlled without
wiring if it is changed to a
"positive logic".
This function monitors the
external I/O signal monitor
External I/O signal information in the module's
⎯ ⎯
monitor detailed information which can be
displayed on the system monitor
of GX Developer .
Usable on GX Developer (SW6D5C-GPPW-E or later).

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13.2 Parameter initialization function

"The parameter initialization function" is used to return the setting data set in the QD75
buffer memory and flash ROM to their factory-set initial values.

The details shown below explain about the "parameter initialization function".
[1] Parameter initialization means
[2] Control details
[3] Precautions during control
[4] Parameter initialization method

[1] Parameter initialization means

• Initialization is executed with a sequence program.
• Initialization is executed by peripheral device.

Refer to GX Configurator-QP Operating Manual for the execution method by

peripheral device.

[2] Control details

The following table shows the setting data initialized by the "parameter
initialization function".
(The data initialized are "buffer memory" and " flash ROM " setting data.)
Setting data
Basic parameters ( Pr.1 to Pr.10 )
Detailed parameters ( Pr.11 to Pr.42 , Pr.150 )
OPR basic parameters ( Pr.43 to Pr.48 )
OPR detailed parameters ( Pr.49 to Pr.57 )

Positioning data (No.1 to No.600)

Block start data (No.7000 to No.7004)

[3] Precautions during control

(1) Parameter initialization is only executed when the positioning control is not
carried out (when the PLC READY signal (Y0) is OFF).
A warning "In PLC READY (warning code: 111)" will occur if executed when
the PLC READY signal (Y0) is ON.
(2) A writing to the flash ROM is up to 100,000 times. If writing to the flash ROM
exceeds 100,000 times, the writing may become impossible, and a flash
ROM write error (error code: 801) will occur.
(3) A "PLC CPU reset" or "PLC power restart" must be carried out after the
parameters are initialized.
(4) If an error occurs on the parameter set in the QD75 when the PLC READY
signal [Y0] is turned ON, the QD75 READY signal [X0] will not be turned ON
and the control cannot be carried out.

Important
Parameter initialization takes about 10 seconds. (Up to 30 seconds are sometimes
required.)
Do not turn the power ON/OFF; reset the PLC CPU, etc., during parameter
initialization. The flash ROM data may be corrupted.
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[4] Parameter initialization method

(1) Parameter initialization is carried out using the dedicated instruction
"ZP.PINIT".
(Refer to Chapter 14 "Dedicated instructions" for details.)

(2) Parameter initialization can also be carried out by the writing of the data
shown in the table below to the buffer memory using the TO
command/intelligent function device.
The initialization of the parameter is executed at the time point the data is
written to the QD75 buffer memory.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Cd.2 Parameter 1 Set "1" (parameter initialization request). 1901

initialization request

Refer to Section 5.7 "List of control data" for details on the setting details.

When the initialization is complete, "0" will be set in " Cd.2 Parameter
initialization request" by the QD75 automatically.

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13.3 Execution data backup function

When the QD75 buffer memory data is rewritten from the PLC CPU, "the data backed
up in the QD75 flash ROM" may differ from "the data (buffer memory data) for which
control is being executed".
In cases like these, the data being executed will be lost when the PLC power is turned
OFF. (Refer to Chapter 7.)
In cases like these, the "execution data backup function" backs up the data being
executed by writing it to the flash ROM. The data that was backed up is then written to
the buffer memory when the power is turned ON next.

The details shown below explain about the "execution data backup function".
[1] Execution data backup means
[2] Control details
[3] Precautions during control
[4] Execution data backup method

[1] Execution data backup (written to flash ROM) means

• The backup is executed with a sequence program.
• The backup is executed by peripheral device.

Refer to GX Configurator-QP Operating Manual for execution data backup

method by peripheral device.

[2] Control details

The following shows the data that can be written to the flash ROM using the
"execution data backup function".
Buffer memory Flash ROM
Parameters ( Pr.1 to Pr.57 , Pr.150 ) Parameters ( Pr.1 to Pr.57 , Pr.150 )
Positioning data (No. 1 to No. 600) Positioning data (No. 1 to No. 600)
Block start data (No. 7000 to 7004) Block start data (No. 7000 to 7004)

[3] Precautions during control

(1) Data can only be written to the flash ROM when the positioning control is not
carried out (when the PLC READY signal (Y0) is OFF).
(2) Writing to the flash ROM can be executed up to 100,000 times.
If writing to the flash ROM exceeds 100,000 times, the writing may become
impossible, and a "flash ROM write error (error code: 801)" will occur.
(3) After one power ON/PLC CPU reset operation, writing to the flash ROM
using a sequence program is limited to up to 25 times.
If the 26th writing is executed, a "flash ROM write number error (error code:
805)" will occur. If this error occurs, carry out the power OFF ON/PLC
CPU reset operation again.
Refer to Md.19 of Section 5.1.7 "Types and roles of monitor data" for
details.

Important
Do not turn the power ON/OFF, reset the PLC CPU, during writing to the flash
ROM. The flash ROM data may be corrupted.

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[4] Execution data backup method

(1) Execution data backup (writing to the flash ROM) is carried out using the
dedicated instruction "PFWRT". (Refer to Chapter 14 "Dedicated instructions"
for details.)
(2) Refer to Section 7.2 "Data transmission process" for the data transmission
processing at the backup of the execution data.
(3) Execution data backup can also be carried out by the writing of the data
shown in the table below to the QD75 buffer memory using the TO
command/intelligent function device.
The writing to the flash ROM is executed at the time point the data is written
to the QD75 buffer memory.
Buffer memory address
Setting
Setting item Setting details Axis Axis Axis Axis
value
1 2 3 4

Cd.1 Flash ROM write 1 Set "1" (flash ROM write request). 1900
request

Refer to Section 5.7 "List of control data" for details on the setting details.

When the writing to the flash ROM is complete, "0" will be set in " Cd.1 Flash
ROM write request" by the QD75 automatically.

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13.4 External I/O signal logic switching function

This function switches the signal logic according to the external equipment connected
to the QD75.
For the system in which drive unit READY with b-contact, upper limit switch, and lower
limit switch are not used, the parameter logic setting can be controlled without wiring if
it is changed to a "positive logic".
When the drive unit READY, upper limit switch, and lower limit switch are used, ensure
to use them with b-contact.
The details shown below explain about the "External I/O signal logic switching
function".
[1] Parameter setting details
[2] Precautions on parameter setting

[1] Parameter setting details

To use the "External I/O signal logic switching function", set the parameters
shown in the following table.
Factory-set Buffer memory address
Setting item Setting details
initial value Axis 1 Axis 2 Axis 3 Axis 4
• Selection of logic of signals input from external source to
QD75
b0 Lower limit
b1 Upper limit
Drive unit
b2
READY
0: Negative logic,
b3 Stop signal
Input signal logic 1: Positive logic
Pr.22 External 0 31 181 331 481
selection b4
command signal
b5 Zero signal
b6 Near-point signal
b7 Unused Set "0".
Manual pulse 0: Negative logic,
b8
generator input 1: Positive logic
b9 to b15 Unused Set "0".
• Selection of logic of signals output from QD75 to external
source
Command pulse 0: Negative logic,
b0
Output signal logic signal 1: Positive logic
Pr.23 0 32 182 332 482
selection b1 to b3 Unused Set "0".
Deviation counter 0: Negative logic,
b4
clear signal 1: Positive logic
b5 to b15 Unused Set "0".

Refer to Section 5.2 "List of parameters" for the information on detail settings.

[2] Precautions on parameter setting

(1) The external I/O signal logic switching parameters are validated when the
PLC READY signal [Y0] is turned OFF to ON. (The logic is negative right after
power-on.)
(2) If each signal logic is set erroneously, the operation may not be carried out
correctly.
Before setting, check the specifications of the equipment to be used.

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13.5 External I/O signal monitor function

The "External I/O signal monitor function" monitors the module's information and
external I/O signal monitor information in the module's detailed information which
can be displayed on the system monitor of GX Developer .

The information that can be monitored are the module's information (same as the
QD75 front "RUN", "ERR" LED indicators) and the following external I/O signals.
(Set the logic of the external I/O signals in " Pr.22 Input signal logic selection"
and " Pr.23 Output signal logic selection".)

0:OFF, 1:ON

Axis-by-axis external I/O

signals and module RUN,
ERR LEDs

Indicates that Drive unit ready of axis 1 is ON.

: Use GX Developer of "SW6D5C-GPPW-E or later". Refer to GX Developer

Operating Manual for the system monitor of GX Developer.

13 - 8
Chapter 14 Dedicated instructions

The QD75 dedicated instructions are explained in this chapter.

These instructions are used to facilitate the programming for the use of the functions
of the intelligent function module.
Using the dedicated instructions, the programming can be carried out without being
aware of the QD75 buffer memory address and interlock signal.

14.1 List of dedicated instructions ...................................................................................14- 2

14.2 Interlock during dedicated instruction is executed..................................................14- 2
14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4 ....................................................14- 3
14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4 ...........................................14- 8
14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4.........................................14- 12
14.6 ZP.PFWRT..............................................................................................................14- 16
14.7 ZP.PINIT .................................................................................................................14- 20

14

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14.1 List of dedicated instructions

The dedicated instructions explained in this Chapter are listed in Table 14.1.

Table 14.1 List of dedicated instructions

Dedicated
Application Outline of functions Reference
instruction
Z.ABRST1
Z.ABRST2 This function restores the absolute position of the designated
Absolute position restoration Section 14.3
Z.ABRST3 axis of the QD75.
Z.ABRST4
ZP.PSTRT1
ZP.PSTRT2 This function starts the positioning control of the designated
Positioning start Section 14.4
ZP.PSTRT3 axis of the QD75.
ZP.PSTRT4
ZP.TEACH1
ZP.TEACH2 This function carries out teaching the designated axis of the
Teaching Section 14.5
ZP.TEACH3 QD75.
ZP.TEACH4
This function writes the buffer memory parameters,
Writing to flash ROM ZP.PFWRT Section 14.6
positioning data and block start data to the flash ROM.
This function initializes the buffer memory and flash ROM
Parameter initialization ZP.PINIT Section 14.7
setting data to the factory-set data (initial values).

14.2 Interlock during dedicated instruction is executed

The absolute position restoration instruction (Z.ABRST ), positioning start instruction

(ZP.PSTRT ) and teaching instruction (ZP.TEACH ) cannot be executed
simultaneously in each axis. If they are executed at the same time, the second and
later instructions are ignored by an internal interlock (no error will occur).
The timing of the positioning start dedicated instruction (ZP.PSTRT ) is as shown
below.
ON
ZP.PSTRT instruction ON OFF
ON
Interlock provided by PLC CPU OFF
ON
BUSY (XC to XF) OFF
ON
Positioning completed (X14 to X17) OFF

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14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4

These dedicated instructions restore the absolute position of the designated axis.
Usable device
Internal device Link direct device J \ Intelligent Constant
Setting Index
File function
data register Others
Bit Word register Bit Word module K, H, $
Zn
U \G
(S) – – – –
(D) – – – –

[Instruction symbol] [Execution condition]

Z.ABRST1
Z.ABRST1 "Un" (S) (D)

Z.ABRST2
Z.ABRST2 "Un" (S) (D)

Z.ABRST3
Z.ABRST3 "Un" (S) (D)

Z.ABRST4
Z.ABRST4 "Un" (S) (D)

When Z.ABRST1, Z.ABRST2, Z.ABRST3, and Z.ABRST4 are common to each other, they are designated as
" Z.ABRST ".

[Setting data]
Setting side
Setting data Setting details Data type
( 1)
QD75 head I/O number
"Un" User BIN 16 bits
(00 to FE: High-order two digits of I/O number expressed in three digits)
(S) Head number of a device in which control data is stored – Device
Head number of a bit device which turns ON the operation by one scan at the
(D) time of completion of the instruction. System Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data.

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[Control data]
Setting side
Device Item Setting data Setting range
( 1)
(S)+0 System area – – –
The state at the time of completion is stored.
(S)+1 Complete status •0 : Normal completion – System
• Other than 0 : Abnormal completion (error code)( 2)
The following signal states taken in from the servo
amplifier to the input module are written. b0: 0/1
Signal received from
(S)+2 • b0: ABS data bit 0 b1: 0/1 User
servo amplifier
• b1: ABS data bit 1 b2: 0/1
• b2: Transmission data READY flag
The ON/OFF states of the following data which are
calculated using the dedicated instructions by the
"signals received from the servo amplifier" and output to
Signal transmitted to
(S)+3 the servo amplifier are stored. – System
servo amplifier
• b0: Servo amplifier ON
• b1: ABS transfer mode
• b2: ABS request flag
Status of communication with servo amplifier
•0 : Communication completed
(S)+4 Status 0 User/system
(Set by user at communication start)
• Other than 0 : During communication (System stores)
(S)+5 to
System area – – –
(S)+7
1: The data on the setting side is as follows.
• User : Data before the execution of dedicated instructions is stored by user.
• System : Data after the execution of dedicated instruction is stored by PLC CPU.
2: Refer to Section 15.2 for error codes at abnormal completion.

[Functions]
(1) The positioning data is read from the servo amplifier capable of processing the
absolute positions of the axes to be set (See below), and the values converted with
respect to a unit are stored in " Md.20 current feed value" and " Md.21 machine
feed value" area of the QD75.
• Z.ABRST1: Axis 1
• Z.ABRST2: Axis 2
• Z.ABRST3: Axis 3
• Z.ABRST4: Axis 4
For absolute position detection system, carry out the absolute position restoration
operation each time the power is turned ON or PLC CPU is reset.

PLC CPU QD75

Control data
Current
Servo amplifier Input module (S)+0 feed value
(S)+1
(S)+2 Machine
Output module (S)+3
feed value
(S)+4
(S)+5
Current value data
(S)+7
Z.ABRST

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14 DEDICATED INSTRUCTIONS
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(2) An I/O module is used for communication (data read/write) with the servo amplifier
capable of processing the absolute positions.
When using the Z.ABRST , prepare the input/output with the following number of
points, for each axis, for communication with the servo amplifier.
• Input : 3 points
• Output : 3 points
Refer to Section 12.6 for wiring of I/O signals.

(3) The Z.ABRST instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).

(a) Complete device ((D)+0)

This device is turned ON by the END processing of the scan for which
Z.ABRST instruction is completed, and turned OFF by the next END
processing.

(b) Complete state display device ((D)+1)

This device is turned ON and OFF according to the state in which Z.ABRST
instruction is completed.
• When completed normally : Kept unchanged at OFF.
• When completed abnormally: This device is turned ON by the END
processing of the scan for which Z.ABRST
instruction is completed, and turned OFF by
the next END processing. (same ON/OFF
operation as complete device).
END END END END
processing processing processing processing
Sequence program
Z.ABRST instruction
ON execution completion
OFF
Z.ABRST instruction
ON

OFF When
Complete device completed
ON abnormally
When
Complete state display OFF completed normally

device 1 scan

The completion of absolute position restoration can be confirmed using the ((S)+4)
"status".

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14 DEDICATED INSTRUCTIONS
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(4) Using the Z.ABRST instruction, the absolute position restoration is carried out in
the following procedure.
Start

Output the ((S)+3) data. ......... Output the servo ON, ABS transfer mode, and ABS request flag
to the output module using the sequence program.

Set the data in ((S)+2). ......... Set the ABS data bit 0/bit 1 and transmission data READY flag
using the sequence program.

Execute the Z.ABRST instruction.

Other than "0"

Is ((S)+4) "0"?

End

[Errors]
(1) When a dedicated instruction is completed abnormally, the error complete signal
((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
Check and take a measure against the error referring to Section 15.2 "List of error
codes".

[Precautions]
(1) After the absolute position detection system is configured, the absolute position
restoration must be carried out at least once after the power is turned ON or reset.
Unless the absolute position restoration of the QD75 is completed, the servo
amplifier will not be turned ON.
(2) Execute absolute position restoration when the PLC READY signal [Y0] is OFF.
(3) The restoration of the absolute position (Z.ABRST instruction execution) can
also be carried out when the servo amplifier is turned ON. If this is carried out,
however, the servo ON signal is turned OFF for about 20 ms (servo OFF) and the
motor may move.
When carrying out the absolute position restoration during servo OFF, install an
electromagnetic brake and output the Z.ABRST instruction to that brake during
the Z.ABRST instruction execution.
(4) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(Can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)
(5) When the remote I/O station (Q Corresponding MELSECNET/H network remote
I/O module) is used, the dedicated instruction (Z.ABRST ) is unusable.
(For the sequence program example for use when the dedicated instruction is not
used, refer to the Mitsubishi General-Purpose AC Servo "Absolute Position
Detection System" Installation Guide.)
: For details of the remote I/O station, refer to Q Corresponding MELSECNET/H
Network System Reference Manual (Remote I/O Network).

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14 DEDICATED INSTRUCTIONS
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(6) If the Z.ABRST instruction is executed in either of the following cases, an error
"Dedicated instruction error" (error code: 804) will occur and absolute position
restoration cannot be carried out.
• Any value other than 0 is set to "Status" (device: (S)+4) of the control data.
• The instruction for a non-existent axis is specified.
(Example: The Z.ABRST2 instruction is specified when the QD75P1 is used.)

[Program examples]
Program to restore the absolute position of axis 1.
The X47 to X49 and Y50 to Y52 are used for communication with the servo
amplifier.
X47: ABS data bit 0
X48: ABS data bit 1
X49: Transmission data READY flag
Y50: Servo ON signal
Y51: ABS transfer mode
Y52: ABS request flag

No. 23 Absolute position restoration program

(1) Absolute position restoration command acceptance

<Status reset>

(2) Setting of transmit data to servo-amplifier and confirmation of absolute position restoration completion
Z.ABRST1 instruction completed when M42 is ON and M43 is OFF.
Absolute position data restoration completed when status = 0.

<Error code transmission to D49>

(3) ABS data setting and Z.ABRST1 instruction execution

<ABS data bit 0 ON/OF>

<ABS data bit 1 ON/OF>

<Transmission data preparation

complete flag ON/OFF>

<ABRST1 instruction execution>

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14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4

These dedicated instructions are used to start the positioning of the designated axis.
Usable device
Internal device Link direct device J \ Intelligent Constant
Setting Index
File function
data register Others
Bit Word register Bit Word module K, H, $
Zn
U \G
(S) – – – –
(D) – – – –

[Instruction symbol] [Execution condition]

ZP.PSTRT1
ZP.PSTRT1 "Un" (S) (D)

ZP.PSTRT2
ZP.PSTRT2 "Un" (S) (D)

ZP.PSTRT3
ZP.PSTRT3 "Un" (S) (D)

ZP.PSTRT4
ZP.PSTRT4 "Un" (S) (D)

When ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, and ZP.PSTRT4 are common to each other, they are designated as "
ZP.PSTRT ".

[Setting data]
Setting side
Setting data Setting details Data type
( 1)
QD75 head I/O number
"Un" User BIN 16 bits
(00 to FE: High-order two digits of I/O number expressed in three digits)
(S) Head number of a device in which control data is stored – Device
Head number of a bit device which turns ON the operation by one scan at the
(D) time of completion of the instruction. System Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data.

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14 DEDICATED INSTRUCTIONS
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[Control data]
Setting side
Device Item Setting data Setting range
( 1)
(S)+0 System area – – –
The state at the time of completion is stored.
(S)+1 Complete status •0 : Normal completion – System
• Other than 0: Abnormal completion (error code)( 2)
The following data Nos. to be started by the ZP.PSTRT
instruction are designated.
• Positioning data No. : 1 to 600
1 to 600
• Block start : 7000 to 7004
(S)+2 Start No. 7000 to 7004 User
• Machine OPR : 9001
9000 to 9004
• Fast OPR : 9002
• Current value changing : 9003
• Multiple axes simultaneous start : 9004
1: The data on the setting side is as follows.
• User : Data before the execution of dedicated instructions is stored by user.
• System: Data after the execution of dedicated instruction is stored by PLC CPU.
2: Refer to Section 15.2 for error codes at abnormal completion.

[Functions]
(1) The positioning start of the axes to be processed (See below) is carried out.
• ZP.PSTRT1: Axis 1
• ZP.PSTRT2: Axis 2
• ZP.PSTRT3: Axis 3
• ZP.PSTRT4: Axis 4

(2) The block start, OPR start, current value changing, and multiple axes simultaneous
start can be carried out by the setting of "start number" 7000 to 7004/9001 to 9004
in ((S)+2).

(3) The ZP.PSTRT instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).

(a) Complete device ((D)+0)

This device is turned ON by the END processing of the scan for which
ZP.PSTRT instruction is completed, and turned OFF by the next END
processing.

(b) Complete state display device ((D)+1)

This device is turned ON and OFF according to the state in which
ZP.PSTRT instruction is completed.
• When completed normally : Kept unchanged at OFF.
• When completed abnormally: This device is turned ON by the END
processing of the scan for which ZP.PSTRT
instruction is completed, and turned OFF by
the next END processing. (same ON/OFF
operation as complete device).

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14 DEDICATED INSTRUCTIONS
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END END END END

processing processing processing processing
Sequence program
ZP.PSTRT instruction
ON execution completion
OFF
ZP.PSTRT instruction
ON

OFF When
Complete device completed
ON abnormally
When
Complete state display OFF completed normally

device 1 scan

[Errors]
(1) When an ZP.PSTRT instruction is completed abnormally, the error complete
signal ((D)+1) is turned ON, and the error code is stored in the complete status
((S)+1).
Check and take a measure against the error referring to Section 15.2 "List of error
codes".

[Precautions]
(1) When positioning is started by the ZP.PSTRT instruction, the positioning start
signals (Y10 to Y13) and start complete signals (X10 to X13) will not turn ON.
To confirm that positioning control is being executed, use the ZP.PSTRT start
command or BUSY signals (XC to XF).

(2) If, after positioning has been started by the ZP.PSTRT instruction, a stop
command is input before positioning is complete, the complete device (D) turns
ON one scan and the execution of the ZP.PSTRT instruction is completed.

(3) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(Can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)

(4) The ZP.PSTRT instruction can only be executed when the QD75 READY signal
(X0) is turned ON.
Even if the ZP.PSTRT instruction execution request is given when the QD75
READY signal is turned OFF, the ZP.PSTRT instruction will not be executed.
(not processed.)
Before executing the ZP.PSTRT instruction, turn ON the PLC READY signal
(Y0), and turn ON the QD75 READY signal (X0).

(5) When the remote I/O station (Q Corresponding MELSECNET/H network remote
I/O module) is used, the dedicated instruction (ZP.PSTRT ) is unusable.
: For details of the remote I/O station, refer to Q Corresponding MELSECNET/H
Network System Reference Manual (Remote I/O Network).

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(6) If the ZP.PSTRT instruction is executed in either of the following cases, an error
"Dedicated instruction error" (error code: 804) will occur and positioning cannot be
started.
• Any value other than 1 to 600, 7000 to 7004, and 9001 to 9004 is set to
"Starting number" (device: (S)+2) of the control data.
• The instruction for a non-existent axis is specified.
(Example: The ZP.PSTRT2 instruction is specified when the QD75P1 is used.)

[Program examples]
• The following program executes the positioning start of positioning data No. 1 when
X100 turns ON.
Use D30 to D32 as the control data devices of positioning data No. 1, and M32 and
M33 as the completion devices.

Positioning start program

<Positioning start command pulse>

<Positioning start No. 1 setting>

<Positioning start command hold>

<Positioning start execution>

<Positioning start command storage OFF>

[Program example for use when dedicated instruction is not used]

Positioning start program (when dedicated instruction is not used)

<Positioning start command pulse>

<Positioning start No. 1 setting>

<Positioning start execution>

DX0C
<Positioning start signal OFF>

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14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4

These dedicated instructions are used to teach the designated axis.

Usable device
Internal device Link direct device J \ Intelligent Constant
Setting
File function
data Zn Others
Bit Word register Bit Word module K, H, $
U \G
(S) – – – –
(D) – – – –

[Instruction symbol] [Execution condition]

ZP.TEACH1
ZP.TEACH1 "Un" (S) (D)

ZP.TEACH2
ZP.TEACH2 "Un" (S) (D)

ZP.TEACH3
ZP.TEACH3 "Un" (S) (D)

ZP.TEACH4
ZP.TEACH4 "Un" (S) (D)

When ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, and ZP.TEACH4 are common to each other, they are designated as
"ZP.TEACH ".

[Setting data]
Setting side
Setting data Setting details Data type
( 1)
QD75 head I/O number
"Un" User BIN 16 bits
(00 to FE: High-order two digits of I/O number expressed in three digits)
(S) Head number of a device in which control data is stored – Device
Head number of a bit device which turns ON the operation by one scan at the
(D) time of completion of the instruction. System Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data.

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[Control data]
Setting side
Device Item Setting data Setting range
( 1)
(S)+0 System area – – –
The state at the time of completion is stored.
(S)+1 Complete status 0 : Normal completion – System
Other than 0 : Abnormal completion (error code)( 2)
The address (positioning address/arc address) to which
Teaching data the current feed value is written is set.
(S)+2 0, 1 User
selection 0: Current feed value is written to positioning address.
1: Current feed value is written to arc address.
The positioning data No. for which teaching is carried out
(S)+3 Positioning data No. 1 to 600 User
is set.
1: The data on the setting side is as follows.
• User : Data before the execution of dedicated instructions is stored by user.
• System: Data after the execution of dedicated instruction is stored by PLC CPU.
2: Refer to Section 15.2 for error codes at abnormal completion.

[Functions]
(1) The "current feed value" of the axes to be set (See below) is set in the positioning
address or arc address.
The positioning data other than the positioning addresses and arc addresses are
set by peripheral device or using a sequence program.
• ZP.TEACH1: Axis 1
• ZP.TEACH2: Axis 2
• ZP.TEACH3: Axis 3
• ZP.TEACH4: Axis 4

(2) Teaching can be carried out for the positioning data No. 1 to 600.

(3) The movement of the machine to the address (position) set in the positioning
address/arc address of the positioning data is carried out by the JOG operation,
inching operation, or manual pulse generator operation.

(4) The ZP.TEACH instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).

(a) Complete device ((D)+0)

This device is turned ON by the END processing of the scan for which
ZP.TEACH instruction is completed, and turned OFF by the next END
processing.

(b) Complete state display device ((D)+1)

This device is turned ON and OFF according to the state in which
ZP.TEACH instruction is completed.
• When completed normally : Kept unchanged at OFF.
• When completed abnormally: This device is turned ON by the END
processing of the scan for which ZP.TEACH
instruction is completed, and turned OFF by
the next END processing. (same ON/OFF
operation as complete device).

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END END END END

processing processing processing processing
Sequence program
ZP.TEACH instruction
ON execution completion
OFF
ZP.TEACH instruction
ON

OFF When
Complete device completed
ON abnormally
When
Complete state display OFF completed normally

device 1 scan

[Errors]
(1) When a ZP.TEACH instruction is completed abnormally, the error complete signal
((D)+1) is turned ON, and the error code is stored in the complete status (S)+1.
Check and take a measure against the error referring to Section 15.2 "List of error
codes".

[Precautions]
(1) The following dedicated instructions cannot be executed simultaneously for the
same axis.
(Can be executed simultaneously for different axes.)
• Positioning start instructions (ZP.PSTRT1 to ZP.PSTRT4)
• Absolute position restoration instructions (Z.ABRST1 to Z.ABRST4)
• Teaching instructions (ZP.TEACH1 to ZP.TEACH4)

(2) The ZP.TEACH instruction can only be executed when the BUSY signal (XC,
XD, XE, XF) is turned OFF.
When the BUSY signal is turned ON, the ZP.TEACH instruction will not be
executed. (not processed.)
Before executing the ZP.PFWRT instruction, make sure that the BUSY signal for
the axis to be processed is turned OFF.

(3) When the remote I/O station* (Q Corresponding MELSECNET/H network remote
I/O module) is used, the dedicated instruction (ZP.TEACH ) is unusable.
: For details of the remote I/O station, refer to Q Corresponding MELSECNET/H
Network System Reference Manual (Remote I/O Network).

(4) If the ZP.TEACH instruction is executed in any of the following cases, an error
"Dedicated instruction error" (error code: 804) will occur and teaching cannot be
performed.
• Any value other than 0 and 1 is set to "Teaching selection" (device: (S)+2) of the
control data.
• Any value other than 1 to 600 is set to "Positioning No." (device: (S)+3) of the
control data.
• The instruction for a non-existent axis is specified.
(Example: The ZP.TEACH2 instruction is specified when the QD75P1 is used.)

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[Program example]
Program to execute the teaching of the positioning data No. 3 of the axis 1 when
X39 is turned ON.

No. 20 Teaching program

Positioned manually to target position.

<Teaching command pulse>

<Teaching command hold>

<Teaching data setting>

<Positioning data No. setting>

<Teaching execution>

<Teaching command storage OFF>

[Program example for use when dedicated instruction is not used]

Teaching program (when dedicated instruction is not used)

Positioned manually to target position.

<Teaching command pulse>

<Teaching command hold>

<Teaching positioning address>

<Sets teaching positioning data No. to 1>

<Turns OFF teaching command storage>

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14.6 ZP.PFWRT

These dedicated instructions are used to write the QD75 parameters, positioning data
and block start data to the flash ROM.
Usable device
Internal device Link direct device J \ Intelligent Constant
Setting Index
File function
data register Others
Bit Word register Bit Word module K, H, $
Zn
U \G
(S) – – – –
(D) – – – –

[Instruction symbol] [Execution condition]

ZP.PFWRT
ZP.PFWRT "Un" (S) (D)

[Setting data]
Setting side
Setting data Setting details Data type
( 1)
QD75 head I/O number
"Un" User BIN 16 bits
(00 to FE: High-order two digits of I/O number expressed in three digits)
(S) Head number of a device in which control data is stored – Device
Head number of a bit device which turns ON the operation by one scan at the
(D) time of completion of the instruction. System Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data.

[Control data]
Setting Setting side
Device Item Setting data
Range ( 1)
(S)+0 System area – – –
The state at the time of completion is stored.
(S)+1 Complete status 0 : Normal completion – System
Other than 0 : Abnormal completion (error code)( 2)
1: The data on the setting side is as follows.
• User : Data before the execution of dedicated instructions is stored by user.
• System: Data after the execution of dedicated instruction is stored by PLC CPU.
2: Refer to Section 15.2 for error codes at abnormal completion.

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14 DEDICATED INSTRUCTIONS
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[Functions]
(1) The ZP.PFWRT instruction completion can be confirmed using the complete
devices ((D)+0) and ((D)+1).

(a) Complete device ((D)+0)

This device is turned ON by the END processing of the scan for which
ZP.PFWRT instruction is completed, and turned OFF by the next END
processing.

(b) Complete state display device ((D)+1)

This device is turned ON and OFF according to the state in which ZP.PFWRT
instruction is completed.
• When completed normally : Kept unchanged at OFF.
• When completed abnormally : This device is turned ON by the END
processing of the scan for which ZP.PFWRT
instruction is completed, and turned OFF by
the next END processing. (same ON/OFF
operation as complete device).
[Instruction symbol] [Execution condition]

ZP.PFWRT
ZP.PFWRT "Un" (S) (D)

END END END END

processing processing processing processing
Sequence program
ZP.PFWRT instruction
ON execution completion
OFF
ZP.PFWRT instruction
ON

OFF When
Complete device completed
ON abnormally
When
Complete state display OFF completed normally

device 1 scan

[Errors]
(1) When a dedicated instruction is completed abnormally, the error complete signal
((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
Check and take measures against the error referring to Section 15.2 "List of error
codes".

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14 DEDICATED INSTRUCTIONS
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[Precautions]
(1) Do not turn ON the power and reset the PLC CPU while parameters, positioning
data and block start data are written to the flash ROM using the ZP.PFWRT
instruction.
A parameter error will occur or normal positioning start will become impossible
because the parameters, positioning data and block start data are not written
normally to the flash ROM.
If this occurs, restart the operation by the method shown below.
• For GX Configurator-QP, write the parameters, positioning data and block start
data again to the flash ROM.
• For a sequence program, write the parameters, positioning data and block start
data to the QD75 after initializing the parameters (ZP.PINIT instruction
execution and others).
Then execute the ZP.PFWRT instruction again.

(2) A writing to the flash ROM is up to 100,000 times.

If writing to the flash ROM exceeds 100,000 times, the writing to the flash ROM will
become impossible.

(3) After the power ON and PLC CPU reset operation, writing to the flash ROM using
a sequence program is limited to up to 25 times. (Not limited to up to 25 times
when writing to the flash ROM is carried out by peripheral device.)
If the 26th or more writing is requested after the power ON/PLC CPU reset
operation, a flash ROM write number error (error code: 805) will occur, and the
writing will be disabled. If a flash ROM write error occurs by one writing to the
flash ROM, check and correct the flash ROM writing program. Then reset the
error or turn ON the power and reset the PLC CPU again.

(4) The ZP.PFWRT instruction can only be executed when the QD75 READY signal
(X0) is turned OFF.
When the QD75 READY signal is turned ON, the ZP.PFWRT instruction cannot be
executed.
Before executing the ZP.PFWRT instruction, turn OFF the PLC READY signal (Y0)
and then turn OFF the QD75 READY signal.

(5) When the remote I/O station (Q Corresponding MELSECNET/H network remote
I/O module) is used, the dedicated instruction (ZP.PFWRT) is unusable.
: For details of the remote I/O station, refer to Q Corresponding MELSECNET/H
Network System Reference Manual (Remote I/O Network).

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14 DEDICATED INSTRUCTIONS
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[Program example]
Program used to write the parameters and positioning data stored in the buffer
memory to the flash ROM when X3D is turned ON.

No. 26 Flash ROM write program

<Flash ROM write command pulse>

<Flash ROM write command hold>

<PLC READY output to QD75 standby>

<Flash ROM write execution>

<Flash ROM write command storage OFF>

[Program example for use when dedicated instruction is not used]

Flash ROM write program (when dedicated instruction is not used)

<Flash ROM write command pulse>

<Flash ROM write command hold>

<PLC READY output to QD75 standby>

<Flash ROM write execution>

<Flash ROM write command storage OFF>

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14 DEDICATED INSTRUCTIONS
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14.7 ZP.PINIT

This dedicated instruction is used to initialize the setting data of the QD75.
Usable device
Setting Internal device Link direct device J \ Index Constant
File
data U \G register Others
Bit Word register Bit Word K, H, $
Zn
(S) – – – –
(D) – – – –

[Instruction symbol] [Execution condition]

ZP.PINIT
Z.PINIT "Un" (S) (D)

[Setting data]
Setting side
Setting data Setting details Data type
( 1)
QD75 head I/O number
"Un" User BIN 16 bits
(00 to FE: High-order two digits of I/O number expressed in three digits)
(S) Head number of a device in which control data is stored – Device
Head number of a bit device which turns ON the operation by one scan at the
(D) time of completion of the instruction. System Bit
If the instruction is completed abnormally, ((D) + 1) will also be turned ON.
Note) The file register of each of the local device and the program cannot be used as a device for setting data.

[Control data]
Setting side
Device Item Setting data Setting range
( 1)
(S)+0 System area – – –
The state at the time of completion is stored.
(S)+1 Complete status 0 : Normal completion – System
Other than 0: Abnormal completion (error code)( 2)
1: The data on the setting side is as follows.
• User : Data before the execution of dedicated instructions is stored by user.
• System: Data after the execution of dedicated instruction is stored by PLC CPU.
2: Refer to Section 15.2 for error codes at abnormal completion.

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14 DEDICATED INSTRUCTIONS
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[Functions]
(1) This dedicated instruction is used to return the setting data set in the QD75 buffer
memory and flash ROM to their factory-set data (initial values).
Initialized setting data
Parameters ( Pr.1 to Pr.57 , Pr.150 )
Positioning data (No. 1 to No. 600)
Block start data (No. 7000 to 7004)
(2) The ZP.PINIT instruction completion can be confirmed using the complete devices
((D)+0) and ((D)+1).
(a) Complete device ((D)+0)
This device is turned ON by the END processing of the scan for which
ZP.PINIT instruction is completed, and turned OFF by the next END
processing.
(b) Complete state display device ((D)+1)
This device is turned ON and OFF according to the state in which ZP.PINIT
instruction is completed.
• When completed normally : Kept unchanged at OFF.
• When completed abnormally : This device is turned ON by the END
processing of the scan for which ZP.PINIT
instruction is completed, and turned OFF by
the next END processing. (same ON/OFF
operation as complete device).
END END END END
processing processing processing processing
Sequence program
ZP.PINIT instruction
ON execution completion
OFF
ZP.PINIT instruction
ON

OFF When
Complete device completed
ON abnormally
When
Complete state display OFF completed normally

device 1 scan

[Errors]
(1) When a dedicated instruction is completed abnormally, the error complete signal
((D)+1) is turned ON, and the error code is stored in the complete status ((S)+1).
Check and take measures against the error referring to Section 15.2 "List of error
codes".
[Precautions]
(1) The ZP.PINIT instruction can only be executed when the QD75 READY signal
(X0) is turned OFF.
When the QD75 READY signal is turned ON, the ZP.PINIT instruction cannot be
executed.
Before executing the ZP.PINIT instruction, turn OFF the PLC READY signal (Y0)
and then turn OFF the QD75 READY signal.
(2) When the remote I/O station (Q Corresponding MELSECNET/H network remote
I/O module) is used, the dedicated instruction (ZP.PINIT) is unusable.
: For details of the remote I/O station, refer to Q Corresponding MELSECNET/H
Network System Reference Manual (Remote I/O Network).
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[Program example]
The following program initializes the parameters in buffer memory and flash ROM
when X3C turns ON.

No. 25 Parameter initialization program

<Parameter initialization command pulse>

<Parameter initialization command hold>

<PLC READY output to QD75 standby>

<Parameter initialization execution>

<Parameter initialization command storage OFF>

[Program example for use when dedicated instruction is not used]

Parameter initialization program (when dedicated instruction is not used)

<Parameter initialization command pulse>

<Parameter initialization command hold>

<PLC READY output to QD75 standby>

<Parameter initialization execution>

<Parameter initialization
command storagee OFF>

14 - 22
Chapter 15 Troubleshooting

The "errors" and "warnings" detected by the QD75 are explained in this chapter.

Errors can be confirmed with the QD75 LED display and peripheral devices.
When an error or warning is detected, confirm the detection details and carry out the
required measures.

15.1 Error and warning details.........................................................................................15- 2

15.2 List of errors .............................................................................................................15- 6
15.3 List of warnings .......................................................................................................15- 32
15.4 LED display functions .............................................................................................15- 38

15

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15.1 Error and warning details

[1] Errors

Types of errors
Errors detected by the QD75 include parameter setting range errors and errors at
the operation start or during operation.

(1) Parameter setting range errors

The parameters are checked when the power is turned ON and at the rising
edge (OFF ON) of the PLC READY signal [Y0]. An error will occur if there is
a mistake in the parameter setting details at that time.
When this kind of error occurs, the QD75 READY signal does not turn ON.
To cancel this kind of error, set the correct value in the parameter for which
the error occurred, and then turn ON the PLC READY signal [Y0].
(2) Errors at the operation start or during operation
These are errors that occur at the operation start or during operation when the
positioning control, JOG operation, or inching operation is used. If an axis
error occurs during interpolation operation, the error No. will be stored in both
the reference axis and the interpolation axis.
Note that, in the following cases (a) and (b), the axis error No. will be stored
only in the reference axis during analysis of the positioning data set in each
point of the positioning start data table.
(a) When the interpolation axis is BUSY.
(b) When the error occurred in positioning data or parameters unrelated to
interpolation control.
If the error occurred at the simultaneous start of a positioning operation, the
axis error storage details will differ depending on whether the error occurred
before or after the simultaneous start.
• If the error occurred before the simultaneous start (illegal axis No., other axis
BUSY, etc.), an "error before simultaneous start" will occur.
• If the error occurred after the simultaneous start (positioning data error,
software stroke limit error, etc.), an error code corresponding to the axis in
which the error occurred will be stored. Because a simultaneous start cannot
be carried out due to this, a "simultaneous start not possible error" error code
will be stored in all axes in which an error has not occurred.
The axis operation status will be displayed as "error occurring" for axes in
which an error occurred.
If an error occurs during operation, any moving axes will deceleration stop,
and their operation status will be displayed as "error occurring".
All axes will decelerate to a stop during interpolation operations, even if the
error occurs in only one axis.

(3) Types of error codes

Error code Error type
001 to 009 Fatal error
100 to 199 Common error
200 to 299 Error at OPR or absolute position restoration
Error during JOG operation or during inching
300 to 399
operation
500 to 599 Error during positioning operation
800 to 899 I/F (Interface) error
900 to 999 Error during parameter setting range check

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Error storage
When an error occurs, the error detection input turns ON, and the error code
corresponding to the error details is stored in the following buffer memory address
( Md.23 Axis error No.) for axis error No. storage. Note that there is a delay of up
to 1.8 ms after the error detection signal turns ON until the error code is stored.
Axis No. Error detection signal Buffer memory address
1 X8 806
2 X9 906
3 XA 1006
4 XB 1106

A new error code is stored in the buffer memory address ( Md.23 Axis error No.)
for axis error storage every time an error occurs.

[2] Warnings

Types of warnings

(1) Warnings include system warnings and axis warnings.

The types of system warnings are shown below.
• System control data setting warnings
An axis warning for axis 1 will occur.
• Positioning data setting warnings
An axis warning for each axis will occur.
Note that a warning will occur for the reference axis when an interpolation
designation or axis setting warning occurs.

(2) Axis warnings occur due to setting warnings from operations such as
positioning operations, JOG operations, manual pulse generator operations, or
system errors. They can be canceled by turning ON the " Cd.5 Axis error
reset".
Note that some warnings cannot be canceled unless the cause of the warning
is eliminated.
The axis operation status does not change even if an axis warning occurs.

(3) Types of warning codes

Warning code Warning type
100 to 199 Common warning
300 to 399 Warning during JOG operation
400 to 499 Warning during manual pulse generator operation
500 to 599 Warning during positioning operation

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Warning storage
(1) When an axis warning occurs, the warning code corresponding to the warning
details is stored in the following buffer memory ( Md.24 Axis warning No.) for
axis warning No. storage.
Axis No. Buffer memory address
1 807
2 907
3 1007
4 1107

(2) When an axis warning occurs in a positioning operation, etc., "1" is set in bit 9
(b9) of the following buffer memory ( Md.31 Status) for axis status storage.

Axis No. Buffer memory address

1 817
2 917
3 1017
4 1117

[3] Resetting errors and warnings

An error or warning state is canceled after the following processing has been
carried out by setting a "1" in the address [1502 (for axis 1)], [1602 (for axis 2)],
[1702 (for axis 3)], and [1802 (for axis 4)] of the buffer memory for axis error
resetting ( Cd.5 Axis error reset).
• Axis error detection signal turned OFF
• " Md.23 Axis error No." cleared
• " Md.24 Axis warning No." cleared
• Changing of " Md.26 operation status" from "Error" to "Standby".
• " Md.31 Axis warning detection (b9)" turned OFF

[4] Invalid operations

For the following operations, the setting details will be invalidated, and an error or
warning will not occur.
• Speed change during machine OPR
• Speed change before operation
(Speed override change, skip command, continuous operation interruption
request, target position change request)
• Axis stop during axis stop
• Axis sudden stop during axis stop
• Axis stop before axis operation
• Axis sudden stop before axis operation

[5] Confirming the error and warning definitions

The error and warning definitions can be confirmed with the error and warning
codes. Confirming them requires GX Developer or GX Configurator-QP. For
details, refer to GX Developer Operating Manual or GX Configurator-QP
Operating Manual. (Refer to Section 15.2 and Section 15.3 for details of the error
and warning codes.)

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MEMO

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15.2 List of errors

The following table shows the error details and remedies to be taken when an error
occurs.

Classification Error
Error name Error Operation status at error occurrence
of errors code

— 000 (Normal status) — —

001 Faults
Fatal errors Hardware is faulty. The system stops.
002 Internal circuit fault
The system stops with the setting
(deceleration stop/sudden stop) of the
detailed parameter 2 Sudden stop
PLC READY OFF A PLC READY signal (Y0) is turned
101 selection (stop group 2).
during operation OFF during operation.
(Note that the deceleration stop only
occurs during the manual pulse
generator operation.)

Drive unit READY The drive unit READY signal is

102 The system stops immediately.
OFF turned OFF during operation.

The system stops with the setting

(deceleration stop/sudden stop) of the
detailed parameter 2 Sudden stop
Test mode faults The personal computer cannot
103 selection (stop group 2).
during operation communicate with the CPU unit.
(Note that the deceleration stop only
occurs during the manual pulse
generator operation.)

Hardware stroke The hardware stroke limit (upper limit The system stops with the setting
104 (deceleration stop/sudden stop) of the
Common limit (+) signal FLS) is turned OFF.
detailed parameter 2 Sudden stop
selection (stop group 1).
(Note that the deceleration stop only
Hardware stroke The hardware stroke limit (lower limit occurs during the manual pulse
105
limit (–) signal RLS) is turned OFF. generator operation.)

Stop signal ON at Start is requested when a stop signal

106 The system does not start positioning.
start is turned ON.

The PLC READY signal is turned

READY OFF ON The QD75 READY signal (X0) is not
107 from OFF to ON when BUSY signal
during BUSY turned ON.
is turned ON.

When the OPR retry invalid is set,

the near-point dog machine OPR is
OPR 201 Start at OP The machine OPR is not started.
started with the OPR complete flag
turned ON.

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Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4
— — — — — —
• Check that there is no influence from noise.
— — — — —
• Check hardware for possibility of fault.

• Review the sequence program which turns ON/OFF

PLC READY signal (Y0).
— — — — —
• Cancel the error with an axis error reset.
(Refer to Section 15.1[3])

Check the drive unit power, wiring with the drive unit,
— — — — — and connection of connectors, and cancel the error
with an axis error reset. (Refer to Section 15.1[3])

Check that there is no error on the personal computer

— — — — —
side I/F to which a cable is connected.

After making an axis error reset (refer to [3] in Section

15.1), perform manual control operation (refer to
— — — — —
Chapter 11) to move the axis to the other position in
order that the upper limit signal (FLS) will not turn OFF.
After making an axis error reset (refer to [3] in Section
15.1), perform manual control operation (refer to
— — — — —
Chapter 11) to move the axis to the other position in
order that the lower limit signal (RLS) will not turn OFF.
Check whether the stop commands (output
signals/external inputs to QD75) are turned ON or
OFF. Turn OFF the ON commands.
• Output signals to QD75
Axis 1: Y4, Axis 2: Y5, Axis 3: Y6, Axis 4: Y7
— — — — — • External input
Connectors for external device connection:
Stop signals (STOP)
After confirming the stop command status, cancel the
error with an axis error reset. Then turn ON a start
signal. (Refer to Section 15.1[3])

Turn ON the PLC READY signal (Y0) with the BUSY

— — — — —
signals of all axes OFF.

• Validate the OPR retry function

(set value: 1). (Refer to Section 12.1.1)
<OPR retry>
78 228 378 528 • Move the workpiece from the current position (on OP)
0, 1
using the manual control operation (refer to Chapter
11), then carry out a machine OPR again.

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Classification Error
Error name Error Operation status at error occurrence
of errors code

The near-point dog signal is turned

Dog detection timing OFF during the deceleration from an
203
fault OPR speed to a creep speed by the
near-point dog machine OPR.
The system stops with the setting
(deceleration stop/sudden stop) of the
The zero signal is turned OFF during detailed parameter 2 Sudden stop
OP detection timing the deceleration from an OPR speed selection (stop group 3).
204
fault to a creep speed by the stopper (Note that the deceleration stop only
method 2)-OPR. occurs during the manual pulse
generator operation.)
A dwell time is passed during the
deceleration from a creep speed to a
205 Dwell time fault
OPR speed by the stopper method
1)-OPR.

In the count method 1 and 2

machine OPR, a parameter "Setting
Count method
of movement amount after near-
OPR 206 movement amount The machine OPR is not started.
point dog ON" is smaller than a
fault
distance necessary for deceleration
stop from an OPR speed.

The OPR request flag is turned ON

207 OPR request ON when a fast-OPR is started The fast OPR is not started.
(positioning start No. 9002).

The restart command is turned ON

OPR restart not
209 after the machine OPR is stopped The restart is not carried out.
possible
using a stop signal.

ABS transmission
213
time Communication cannot be carried
out with the servo-amplifier using an The absolute position restoration is
ABS transmission absolute position restoration not carried out.
214 instruction.
SUM

At the time of JOG starting, the JOG The JOG operation is not carried out
Outside JOG speed
300 speed comes out of a specified when the JOG speed is outside the
range
range. setting range at the time of JOG start.
JOG inching The inching operation is not carried
Inching movement The inching movement amount out when the inching movement
301
amount error exceeds the JOG speed limit. amount exceeds a JOG speed limit at
the time of inching start.
The condition data No. is outside the
setting range when a block using the
Positioning Illegal condition data condition data is started by a special
500 The operation is terminated.
operation No. starting (conditional start, wait start,
simultaneous start, FOR (condition)).
(1 Condition data No. 10)

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Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

• Lower the OPR speed.

74 224 374 524
75 225 375 525 • Increase the dog signal input time.
(Refer to Section 8.2.3)
<OPR speed>
1 to 1000000 [pulse/s] • Lower the OPR speed.
74 224 374 524 1 to 2000000000 [mm/min or others] • Input external zero signals during the movement at a
75 225 375 525 creep speed.
(Refer to Section 8.2.5)
74 224 374 524
• Lower the OPR speed.
75 225 375 525
• Increase the OPR dwell time.
<OPR dwell time> (Refer to Section 8.2.4)
79 229 379 529
0 to 65535
<Movement amount setting after • Calculate the movement distance using a speed limit,
80 230 380 530
near-point dog ON> OPR speed, and deceleration time, and set the
81 231 381 531
0 to 2147483647 movement amount after near-point dog ON so that
the distance becomes a deceleration distance or
longer.
<OPR speed> • Lower the OPR speed.
74 224 374 524
1 to 1000000 [pulse/s]
75 225 375 525 • Adjust the near-point dog position so that the
1 to 2000000000 [mm/min]
movement amount after near-point dog ON becomes
longer. (Refer to Section 8.2.7, 8.2.8)
<Positioning start No.>
1 to 600 Execute the machine OPR (positioning No. 9001).
1500 1600 1700 1800
7000 to 7004 (Refer to Section 8.2)
9001 to 9004
<Positioning start No.>
1 to 600 Start the machine OPR (positioning start No. 9001)
1500 1600 1700 1800
7000 to 7004 again. (Refer to Section 8.2)
9001 to 9004
• Review the wiring. (Refer to Section 12.6)
— — — — —
• Review the sequence program.
• Review the wiring. (Refer to Section 12.6)
• Review the sequence program.
— — — — —
• Review the dedicated instruction parameters.
(Refer to Section 14.3)
<JOG speed>
1518 1618 1718 1818 Bring the JOG speed into the setting range.
1 to 1000000 [pulse/s]
1519 1619 1719 1819 (Refer to Section 11.2)
1 to 2000000000 [mm/min or others]

<Inching movement amount> Reduce the inching movement amount.

1517 1617 1717 1817
0 to 65535 (Refer to Section 11.3)

Refer to Section 5.4 <Condition data No.> Review the condition data No.
"List of block start data" 1 to 10 (Refer to Section 5.4 Da.14 )

15 - 9
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

<When blocks are started

simultaneously>
• The partner axis for simultaneous
start is BUSY.

<When multiple axes are started and

controlled simultaneously> At start: The system will not operate.
Error before • The partner axis for simultaneous During operation:
501
simultaneous start start is BUSY. The system stops
• The "Simultaneous start axis start immediately.
data No." of the start axis is 0 or is
outside the setting range.
• The "Simultaneous start axis start
data No." of those axes other than
the start axis is outside the setting
range.
Positioning
operation • The positioning data No. tried to be
executed is outside the ranges of 1
to 600, 7000 to 7004, and 9001 to
9004.
502 Illegal data No. • The designation of a JUMP The positioning data is not executed.
destination is executed currently.
• The designation of a JUMP
destination is outside the ranges of
1 to 600.
• At the start of positioning, a current
speed (–1) is set for the command
speed of the positioning data to be
initially executed. At the start of positioning, operation
503 No command speed
• The current speed is set by speed does not start.
control.
• The current speed is set for speed-
position switching control.

15 - 10
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4
<Condition operators>
Refer to Section 5.5 Axis designation: Normalize the condition operators.
"List of condition data" 10H, 20H, 30H, 40H, 50H,
(Refer to Section 5.5 Da.16 )
60H, 70H, 80H, 90H, A0H,
B0H, C0H, D0H, E0H

1540 1640 1740 1840 Axis 1 start data No.

Simultaneous
1541 1641 1741 1841 Axis 2 start data No.
start axis start
Normalize the simultaneous start axis start data No.
data No.
(Refer to Section 10.5)
1542 1642 1742 1842 Axis 3 start data No.
0 to 600

1543 1643 1743 1843 Axis 4 start data No.

<Positioning start No.>

1 to 600,
1500 1600 1700 1800
7000 to 7004,
9001 to 9004 Normalize the positioning start No., positioning start
data (in block start), and positioning data (in JUMP
instruction).
<JUMP destination>
1 to 600

Refer to Section 5.3

"List of positioning data"
<Command speed>
1 to 1000000 [pulse/s] Normalize the positioning data.
1 to 2000000000 [mm/min or others]

15 - 11
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

• When the parameter "interpolation

speed designation method"
performs a linear interpolation in
setting a "composite speed", the
axis movement amount for each
positioning data exceeds At start: The system will not operate.
Outside linear 1073741824(230).
504 movement amount During operation:
range • The positioning address is The system stops
–360.00000 or less or 360.00000 immediately.
or more using INC instruction,
Positioning where the control unit is set to
operation "degree" and software stroke limit
upper limit is not equal to the
software stroke limit lower limit.

When an arc is interpolated by the At start: The circular interpolation

designation of the center point, a control by center point
difference between a radius of start designation is not executed.
Large arc error
506 point-center point and a radius of
deviation During operation :
end point-center point exceeds the
parameter "Circular interpolation The system will stop
error allowable limit". immediately.

15 - 12
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4
<Positioning address/movement
amount>
• ABS
unit [mm] [pulse] [inch]
–2147483648 to 2147483647
Unit [degree] 0 to 35999999
• INC
(When software stroke limits are
valid)
Unit [degree]: Review the positioning address.
Refer to Section 5.3 –35999999 to 35999999
"List of positioning data" Unit [mm], [pulse], [inch]:
–2147483648 to 2147483647
(When software stroke limits are
invalid)
–2147483648 to 2147483647
• Speed-position switching
INC mode: 0 to 2147483647
ABS mode: 0 to 35999999
• Position-speed switching
0 to 2147483647 • Center point address (positioning address)
<Arc address> Correct.
• End address (arc address)
–2147483648 to 2147483647

<Circular interpolation error

60 210 360 510 Correct the circular interpolation error allowable limit
allowable limit>
61 211 361 511 value.
0 to 1000000

15 - 13
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

At start: The system will not operate.

In the analysis of new current value:
• Positioning is carried out at a Current value is not
position beyond the software stroke changed.
limit upper limit.
During operation:
• The positioning address and new
• The system stops
Software stroke current value exceed the software
507 immediately when the
limit+ stroke limit upper limit.
positioning address during
• In the circular interpolation by the position control (including
designation of the sub points, the position control in speed-
sub points exceed the software position switching control or
stroke limit upper limit. position-speed switching
control) is switched to the
data outside the software
stroke limit range.
• The system makes a stop at
the setting (normal
• Positioning is carried out at a deceleration stop only) of
position beyond the software stroke sudden stop selection (stop
limit lower limit. group 3) in the detailed
• The positioning address and new parameter 2 when the
Software stroke current value exceed the software current feed value or
508 machine feed value during
limit– stroke limit lower limit.
speed control (including
• In the circular interpolation by the
speed control in speed-
designation of the sub points, the
position switching control or
sub points exceed the software
position-speed switching
stroke limit lower limit.
control) or during manual
Positioning control falls outside the
operation software stroke limit range.
The new current address is outside
Outside new current
514 the ranges of 0 to 359.99999, where
value range
the control unit is set to "degree".
• The control system sets an
operation pattern (continuous path
control) using new current The current value is not changed.
positioning data.
New current value
515 • The operation pattern sets a "new
not possible
current value" in the control system
using the data following the
"continuous path control"
positioning data.
• The continuous path control is
designated using a control system
which is not allowed to use for
continuous path control such as
speed control, speed-position
switching control, position-speed
switching control, and fixed-feed.
Continuous path
516 • The previous data such as those At start, the system will not operate.
control not possible
on speed control, speed-position
switching control, position-speed
switching control, and fixed-feed
shows a continuous path control.
• The continuous positioning control
is designated for speed control or
position-speed switching control.

15 - 14
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

New current value

1506 1606 1706 1806

1507 1607 1707 1807
At start: Bring the current feed value into the software
stroke limit using the manual control
operation.
(Refer to Chapter 11)
Software stroke limit <New current value> Correct the positioning address (Also check
upper limit <Software stroke upper and lower the arc address in circular interpolation with
limits> sub points designated).
• [mm] [inch] [pulse] New current value:
–2147483648 to 2147483647 Bring the new current value into the software
18 168 318 468 stroke limit. (Refer to Section 9.2.19)
• [degree]
19 169 319 469
0 to 35999999 During operation:
Correct the positioning address.
(For the positioning and arc addresses, refer
Software stroke limit to Da.6 and Da.7 in Section 5.3.)
lower limit

20 170 320 470

21 171 321 471

1506 1606 1706 1806 <New current value> Bring the new current value into the setting range.
1507 1607 1707 1807 [degree] 0 to 35999999 (Refer to Section 9.2.19)

• Do not designate a current value changing using the

positioning data following the continuous path control.
<Control system> • Do not designate a "current value changing" using the
01H to 1EH, 80H to 84H positioning data following the continuous path control.
• 03H, 0CH, 17H, 1CH: (Refer to Section 9.2.19)
1 to 4 axis fixed-feed control
• 04H, 05H, 13H, 14H, 18H, 19H, 1DH,
1EH:
1 to 4 axis speed control
• Do not designate a speed control, fixed-feed, speed-
Refer to Section 5.3 • 81H: current value changing position switching control, and position-speed
"List of positioning data"
• Speed-position switching control: switching control using the positioning data following
06H, 07H the continuous path control data.
• Position-speed switching control: • Do not carry out the fixed-feed, speed control, speed-
08H, 09H position switching control, and position-speed
<Operation pattern> 00, 01, 11 switching control using the continuous path control
operation pattern.
• 01: Continuous positioning control
• Do not carry out the speed control and position-speed
• 11: Continuous path control
switching control using the continuous path control
operation pattern.
(Refer to Chapter 9)

15 - 15
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

• The operation pattern set value is 2.

• A target position change is
requested on those control
systems other than ABS1 and
INC1.
Outside operation
518 • A target position change is carried
pattern range
out in continuous path control.
• A changed address is outside the
software stroke limit.
• A target position change is carried
out during deceleration stop.
Interpolation while
Interpolation is started during the
519 interpolation axis
operation of the interpolation axis.
BUSY
The reference and interpolation axis
units are different at the parameter
Unit group
520 "interpolation speed designation
unmatched
method" setting of "composite At start: The system will not operate.
speed".
During operation:
• The number of axes necessary for The system stops with the
interpolation operation is not setting (deceleration
Illegal interpolation present in the unit. stop/sudden stop) of the
Positioning 521 description
• In 2-axis interpolation, the axis to detailed parameter 2
operation command
be interpolated is the self axis or an Sudden stop selection
axis not present. (stop group 3).
The command speed is outside the (Note that the deceleration stop only
setting range. occurs during the manual pulse
generator operation.)
Linear interpolation, circular
interpolation:
Command speed Reference axis is outside the
522
setting error setting range.
Speed control interpolation:
Either of reference axis and
interpolation axis is outside the
speed range.
• For starting, a composite speed is
designated in the reference axis
parameter "Interpolation speed
designation method" using the
speed interpolation control or
Interpolation mode 4-axis linear interpolation control.
523
error
• For starting, a reference axis speed
is designated in the reference axis
parameter "Interpolation speed
designation method" using the
circular interpolation control.

15 - 16
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

Correct the operation pattern.

(Refer to Section 5.3 Da.1 )
Same as error codes 515 to 516

Correct the control system.

(Refer to Section 5.3 Da.2 )

Correct the positioning data or change the parameter

<Unit setting>
0 150 300 450 "Unit setting" of the axis to be interpolated.
0, 1, 2, 3
(Refer to Section 9.1.6)

• Correct the control system.

(Refer to Section 5.3 Da.2 )
Same as error codes 515 to 516
• Correct the axis to be interpolated.
(Refer to Section 5.3 Da.5 )

Command speed storage <Command speed>

Correct the command speed.
addresses of positioning 1 to 1000000 [pulse/s]
data No. 1 to 600 1 to 2000000000 [mm/min or others] (Refer to Section 5.3 Da.8 )

<Interpolation speed designation

Set the "Interpolation speed designation method"
method>
29 179 329 479 correctly.
0: Composite speed
(Refer to Section 9.1.6)
1: Reference axis speed

15 - 17
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

• The control system setting value is

outside the specified limit.
• The number of control axes differs
from the previous data when At start: The system will not operate.
continuous positioning control or During operation:
continuous path control is to be The system stops with the
exercised for continuously. setting (deceleration
• Machine OPR, fast OPR, or speed- stop/sudden stop) of the
Control system
524 position or position-speed switching detail parameter 2 Sudden
setting error
control was performed in the stop selection
wiring-less mode. (stop group 3).
• The NOP instruction was set to the (Note that the deceleration stop only
control system of positioning data occurs during the manual pulse
No. 600. generator operation.)
• Any value other than 0 was set at
buffer memory address 1906 (use
prohibited area).
Either of the following applies in the
circular interpolation with sub points
designated.
• Start point = sub point
Sub point setting • End point = sub point
525
error • Start point, end point, and sub point
are in line with each other.
• Sub point address and center point At start: The system will not operate.
address are outside the range of During operation:
–2147483648 to 2147483647. The system stops
Positioning • Start point is equal to end point in immediately.
operation the circular interpolation with sub
points designated.
End point setting • End point address is outside the
526 range of –2147483648 to
error
2147483647 in the circular
interpolation with auxiliary point
designation and center point
designation.
Circular interpolation with center
point designation applicable to one
of the followings. At start: The system will not operate.
Center point setting • Start point = Center point During operation:
527
error • End point = Center point The system stops
• Center point address is outside the immediately.
range of –2147483648 to
2147483647.
• In the speed-position switching At start: The system will not operate.
control and the position-speed
switching control, the setting value During operation:
of a positioning address is The system stops
Outside address negative. immediately with the setting
530
range (deceleration stop/sudden
• In ABS1, ABS2, ABS3 and ABS4,
stop) of the detailed
the setting value of a positioning
parameter 2 sudden stop
address is outside the range of 0 to
359.99999 degrees. selection
(stop group 3).
Among the axes to be started (Note that the deceleration stop only
Simultaneous start simultaneously, there is an axis on occurs during the manual pulse
532
not possible which an error other than this error
generator operation.)
occurs.

15 - 18
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

• Correct the control system or parameter.

(Refer to Section 9.1.6, 9.2.20)
Same as error codes 515 to 516
• Do not make setting at buffer memory address 1906
(use prohibited area).

Correct the sub address (arc address).

(Refer to Section 9.2.10)

<Positioning address/movement
amount>
• unit [mm] [pulse] [inch]
–2147483648 to 2147483647
(Unit [degree]) cannot be set. Correct the end address (positioning address).
(Refer to Section 9.2.10)
<Arc address>
–2147483648 to 2147483647
Refer to Section 5.3
"List of positioning data"

Correct the center point address (arc address).

(Refer to Section 9.2.11)

Correct the positioning address.

Same as in error codes 504, 506.
(Refer to Section 9.2.16, 9.2.17, 9.2.18)

Refer to Section 5.3

In the error history, check the axis where the error
"List of positioning data"
— other than this error occurred, and remove the error
and Section 5.4
factor. Correct the block start data and positioning data.
"Block start data"
15 - 19
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

• The condition setting values are not

set or outside the setting range.
• The condition operator setting
values are not set or outside the
setting range.
• The condition operator is a bit
533 Condition data error operator, and the parameter 1 is 32
or more.
• An unusable condition operator is
set for the set condition.
• The conditional operator has been The operation is terminated.
[parameter 1 parameter 2] with
05H (P1 ** P2).
• The partner axis designation for
simultaneous start includes the
Special start
534 self-axis.
instruction error
• No applicable special start
instruction is present.
Circular interpolation Circular interpolation is carried out
535
not possible on an axis in the unit of degree.
The positioning start is carried out
M code ON signal
Positioning 536 when an M code ON signal (X4 to
start
operation X7) is turned ON.
The positioning start is carried out
PLC READY OFF
537 when the PLC READY signal (Y0) is
start
turned OFF.
The positioning start is carried out
538 READY OFF start when the QD75 READY signal (X0)
is turned OFF. At start, the system will not operate.
• At the start of positioning, the
setting value of the "positioning
start No." of the axis control data is
outside the ranges of 1 to 600,
Outside start No.
543 7000 to 7004, and 9000 to 9004.
range
• At a Pre-reading start, the
"positioning start No." setting of the
axis control data is other than 1 to
600.
At start: The system will not operate.
During operation:
544 Outside radius range The arc radius exceeds 536870912.
The system stops
immediately.
Control system A "0" is set in the control system
545 The operation is terminated.
LOOP setting error "LOOP".

15 - 20
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

— Normalize the block start data.

Refer to Section 5.4

"Block start data"

<Special start instruction> Correct the instruction code of the special start data.
00H to 06H (Refer to Section 5.4 Da.13 )

Refer to Section 5.3 Correct the control system.

—
"List of positioning data" (Refer to Section 5.3 Da.2 )

<M code OFF request> After turning OFF the M code ON signal, start the
1504 1604 1704 1804
1: M code ON signal is turned OFF system. (Refer to Section 12.7.3)

Check the sequence program which turns ON/OFF the

— — — — — PLC READY signal (Y0), and turn ON the PLC READY
signal. Then start the system.

Check the QD75 READY ON signal, and then start the

— — — — —
system. (Refer to Section 3.3.2)

<Positioning start No.>

1 to 600, Normalize the positioning start No.
1500 1600 1700 1800
7000 to 7004, (Refer to Section 12.7.8)
9001 to 9004

<Maximum radius> Correct the positioning data.

Refer to Section 5.3 536870912 (Refer to Section 9.2.10, 9.2.11)
"List of positioning data"
<LOOP to LEND>
Set 1 to 65535 in LOOP. (Refer to Section 9.2.22)
1 to 65535

15 - 21
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

At start: The system will not operate.

During operation:
The setting value of ABS direction in The system decelerates to a
the unit of degree is as follows. stop.
Illegal setting of ABS
Positioning (Note that, in the continuous
546 direction in unit of • Set outside the setting range.
operation positioning control and continuous
degree • A figure other than "0" is set when
path control, the system continues
the software stroke limit is valid.
operating with the setting set at the
time of start even if the setting is
changed during the operation.)

At start: The system will not operate.

During operation:
The system stops with the
setting (deceleration
In the PLC CPU unit parameter stop/sudden stop) of the
800 Hold error "Output at error stop", the setting for detailed parameter 2 sudden
QD75 is "Hold". stop selection
(stop group 3).
(Note that the deceleration stop only
occurs during the manual pulse
generator operation.)

Flash ROM write

801 Data is not written to the flash ROM.
error
At start: The system will not operate.
Flash ROM sum While data is written to the flash
802
check error ROM, the power is turned OFF.

803 PLC CPU error The PLC CPU resulted in an error.

• The Z.ABRST instruction is
executed with the status set to
other than 0. At start: The system will not operate.
• The ZP.PSTRT instruction is During operation:
I/F executed with the start No. set to The system stops with the
other than 10 to 600, 7000 to 7004 setting (deceleration
and 9001 to 9004.
stop/sudden stop) of the
• The ZP.TEACH instruction is detailed parameter 2 sudden
Dedicated instruction
804 executed with the teaching data stop selection
error selection set to other than 0 and 1. (stop group 3).
• The ZP.TEACH instruction is
(Note that the deceleration stop only
executed with the positioning data
No. set to other than 1 to 600. occurs during the manual pulse
generator operation.)
• The instruction of a non-existent
axis is specified by the Z.ABRST ,
ZP.PSTRT or ZP.TEACH
instruction.

Data is written to the flash ROM

Flash ROM write
805 continuously 25 times or more from
number error
the sequence program. At start: The system will not operate.

Dedicated instruction Mismatching occurs between the

806
I/F error PLC CPU and QD75.

15 - 22
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4
ABS setting direction in the • Set the ABS setting direction in the unit of degree
unit of degree 0: Shortcut
within the setting range.
1: Clockwise
• Set "0" when the software stroke limits are valid.
1550 1650 1750 1850 2: Counterclockwise (Refer to Section 9.1.5)
Software stroke limit
upper limit
18 168 318 468 • [mm] [inch] [pulse] Invalidate the software stroke limit.
19 169 319 469 –2147483648 to 2147483647 (To invalidate, set the software stroke limit upper limit
Software stroke limit • [degree] value to the software stroke limit lower limit value.)
lower limit 0 to 35999999 (Refer to Section 9.1.5)
20 170 320 470
21 171 321 471

Clear the setting of the PLC CPU module parameter

— — — — — "Output at error stop".
(Refer to "QCPU User’s Manual")

The flash ROM is expected to be at the end of its

— — — — — writable life.
Replace the flash ROM with a new one.
<Parameter initialization request>
Return the parameter to that set at the time of delivery
1901 1: Parameter initialization is
from the plant. (Refer to Section 13.2)
requested
— — — — — (Refer to "QCPU User’s Manual")

< Z.ABRST status>

0: Communication complete • When executing the Z.ABRST instruction, set the
(received from the servo amplifier) status to 0 (refer to Section 14.3).
< ZP.PSTRT start No.> • When executing the ZP.PSTRT instruction, set the
< ZP.TEACH teaching data start No. to within the setting range (refer to Section
selection> 14.4).
— — — — 0: The current feed value is written to • When executing the ZP.TEACH instruction, set the
the positioning address. teaching data selection and positioning data No. to
1: The current feed value is written to within the setting range (refer to Section 14.5).
the arc address. • Do not specify the instruction of a non-existent axis by
< ZP.TEACH positioning data the Z.ABRST , ZP.PSTRT and ZP.TEACH
No.> instructions (refer to Section 14.3 to Section 14.5).
1 to 600

Review the sequence program so that data is not

written continuously to the flash ROM. (Using Md.19 in
Section 5.6.1, the number of flash ROM write times can
— — — — — be monitored.)
(If this error has occurred in a proper using method,
writing is enabled by resetting the error, switching
power OFF, then ON, or resetting the PLC CPU.)

— — — — — A trouble occurs. Repair.

15 - 23
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

The set range of the basic parameter

Outside unit setting
900 1 "Unit setting" is outside the setting
range
range.
Outside pulse The set range of the basic parameter
901 number per rotation 1 "No. of pulses per rotation" is
range outside the setting range.
Outside movement The set range of the basic parameter
902 amount per rotation 1 "Movement amount per rotation" is
range outside the setting range.
The set range of the basic parameter
Outside unit
903 1 "Unit magnification" is outside the
magnification range The QD75 READY signal (X0) is not
setting range.
turned ON.
The set range of the basic parameter
Pulse output mode
904 1 "Pulse output mode" is outside the
error
setting range.
The set range of the basic parameter
Rotation direction
905 1 "Rotation direction setting" is
setting error
outside the setting range.
• The set range of the basic
parameter 1 "Bias speed at start" is
Outside bias speed outside the setting range.
906
range
• The bias speed exceeds the speed
limit.
• The set range of the basic
Parameter parameter 2 "Speed limit value" is
outside the setting range.
• The value obtained by the
Outside speed limit conversion of the speed limit value
910
value range with respect to the frequency When the power is turned ON or PLC
exceeds the maximum output READY signal (Y0) is turned from
frequency of the unit. OFF to ON:
• The speed limit value is smaller QD75 READY signal (X0) is
than the OPR speed. not turned ON.
The set range of the basic parameter At start: The system will not operate.
Outside acceleration
911 2 "Acceleration time 0" is outside the
time 0 range
setting range.
The set range of the basic parameter
Outside deceleration
912 2 "Deceleration time 0" is outside the
time 0 range
setting range.
Backlash The value converted into pulse
920 compensation number using the movement amount
amount error per pulse is 256 pulses or more.
• In the unit of degree, the set value
of the detailed parameter 1 The QD75 READY signal (X0) is not
"Software stroke limit upper limit turned ON.
Software stroke limit value" is outside the setting range.
921
upper limit • In a unit other than degree, the
software stroke limit upper limit
value is smaller than the software
stroke limit lower limit value.

15 - 24
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

0 150 300 450 0, 1, 2, 3

1 151 301 451 1 to 65535

2 152 302 452 1 to 65535

With the setting brought into the setting range, turn the
PLC READY signal [Y0] from OFF to ON.
3 153 303 453 1, 10, 100, 1000

4 154 304 454 0, 1, 2, 3

5 155 305 455 0, 1

Set the bias speed to not more than the speed limit
6 156 306 456 0 to 1000000 [pulse/s] value.
7 157 307 457 0 to 2000000000 [mm/min or others] With the setting brought into the setting range, turn the
PLC READY signal [Y0] from OFF to ON.

QD75P :
1 to 200000 [pulse/s] • The value converted into the frequency should not
1 to 2000000000 exceed the maximum output frequency ("maximum
10 160 310 460 [mm/min or another] output pulse" in Section 3.1) of the module.
11 161 311 461 QD75D : • Set a value which is not less than the OPR speed.
1 to 1000000 [pulse/s] • With the setting brought into the setting range, turn
1 to 2000000000 the PLC READY signal [Y0] from OFF to ON.
[mm/min or another]

12 162 312 462

1 to 8388608
13 163 313 463
With the setting brought into the setting range, turn the
PLC READY signal [Y0] from OFF to ON.
14 164 314 464
1 to 8388608
15 165 315 465

Set the value converted into the pulse number using

17 167 317 467 0 to 255 "the movement amount per pulse" to less than 256
pulses. (Refer to Section 12.3.1)

• [mm] [inch] [pulse] • Bring the setting into the setting range.
18 168 318 468 –2147483648 to 2147483647
19 169 319 469 • In a unit other than degree, set the setting so that the
• [degree] 0 to 35999999 lower limit value is smaller than the upper limit value.

15 - 25
15 TROUBLESHOOTING
MELSEC-Q

Classification Error Operation status at error

Error name Error
of errors code occurrence

• In the unit of degree, the set range of

the detailed parameter 1 "Software
stroke limit lower limit value" is outside
Software stroke limit the setting range.
922
lower limit • In a unit other than degree, the
software stroke limit upper limit value
is smaller than the software stroke
limit lower limit value.
The set range of the detailed parameter
Software stroke limit
923 1 "Software stroke limit selection" is
selection
outside the setting range.
The set range of the detailed parameter
Software stroke limit
924 1 "Software stroke limit valid/invalid
valid/invalid setting
setting" is outside the setting range.
The set range of the detailed parameter
Command
925 1 "Command in-position width" is
in-position width
outside the setting range.
The set range of the detailed parameter
Illegal torque limit
926 1 "Torque limit setting value" is outside
setting value
the setting range.
The set range of the detailed parameter 1 The QD75 READY signal (X0) is
M code ON timing
927 "M code ON signal output timing" is not turned ON.
error
outside the setting range.
The set range of the detailed parameter
Speed changeover
928 1 "Speed changeover mode" is outside
mode error
the setting range.
Interpolation speed The set range of the detailed parameter
Parameter
929 designation method 1 "Interpolation speed designation
error method" is outside the setting range.
The set range of the detailed parameter
Current value update
930 1 "Current feed value during speed
request error
control" is outside the setting range.
Manual pulse The set range of the detailed parameter
932 generator input 1 "Manual pulse generator input
mode error selection" is outside the setting range.
The detailed parameter 1 "speed-
position function selection" is preset to
Speed-position 2 and the following three conditions are
935 function selection not satisfied:
error 1) Unit is "degree".
2) Software stroke limits are invalid.
3) Update current feed value.
The set range of the detailed parameter At start: The system will not
Acceleration time 1
950 2 "Acceleration time 1" is outside the operate.
setting error
setting range.
During operation:
The set range of the detailed parameter The system stops with the
Acceleration time 2
951 2 "Acceleration time 2" is outside the setting (deceleration
setting error
setting range. stop/sudden stop) of the
The set range of the detailed parameter detailed parameter 2
Acceleration time 3 sudden stop selection
952 2 "Acceleration time 3" is outside the
setting error (stop group 3).
setting range.
The set range of the detailed parameter (Note that the deceleration stop
Deceleration time 1 only occurs during the manual
953 2 "Deceleration time 1" is outside the
setting error pulse generator operation.)
setting range.

15 - 26
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

• [mm] [inch] [pulse] • Bring the setting into the setting range.
20 170 320 470 –2147483648 to 2147483647
21 171 321 471 • In a unit other than degree, set so that the lower limit
• [degree] 0 to 35999999 value is smaller than the upper limit value.

22 172 322 472 0, 1

23 173 323 473 0, 1

24 174 324 474

1 to 2147483647
25 175 325 475

26 176 326 476 1 to 500

With the setting brought into the setting range, turn the
27 177 327 477 0, 1
PLC READY signal [Y0] from OFF to ON.

28 178 328 478 0, 1

29 179 329 479 0, 1

30 180 330 480 0, 1, 2

33 0, 1, 2, 3

Speed-position switching control (ABS mode) should

satisfy the conditions 1) to 3) given on the left. When
34 184 334 484 0, 2 speed-position switching control (ABS mode) is not to
be exercised, set 0 to speed-position function selection
and turn the PLC READY signal (Y0) from OFF to ON.

36 186 336 486

1 to 8388608
37 187 337 487

38 188 338 488

1 to 8388608
39 189 339 489
With the setting brought into the setting range, turn the
PLC READY signal [Y0] from OFF to ON.
40 190 340 490
1 to 8388608
41 191 341 491

42 192 342 492

1 to 8388608
43 193 343 493

15 - 27
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

The set range of the detailed

Deceleration time 2
954 parameter 2 "Deceleration time 2" is
setting error
outside the setting range.
The set range of the detailed
Deceleration time 3
955 parameter 2 "Deceleration time 3" is
setting error
outside the setting range.

• The set range of the detailed

parameter 2 "JOG speed limit value"
JOG speed limit is outside the setting range.
956
value error • The set range of the detailed
parameter 2 "JOG speed limit value"
exceeds the speed limit.

JOG acceleration The set range of the detailed parameter

957 time selection setting 2 "JOG acceleration time selection
error setting" is outside the setting range.
JOG deceleration The set range of the detailed parameter
958 time selection setting 2 "JOG deceleration time selection
error setting" is outside the setting range. At start: The system will not
Acceleration/ The set range of the detailed operate.
deceleration process parameter 2 "Acceleration/deceleration During operation:
959
selection setting process selection setting" is outside The system stops with the
error the setting range. setting (deceleration
The set range of the detailed stop/sudden stop) of the
S-curve ratio setting detailed parameter 2
960 parameter 2 "S-curve ratio" is outside
error Sudden stop selection
Parameter the setting range.
(stop group 3).
The set range of the detailed
Illegal sudden stop (Note that the deceleration stop only
961 parameter 2 "Sudden stop deceleration
deceleration time occurs during the manual pulse
time" is outside the setting range.
generator operation.)
The set range of the detailed
Stop group 1 sudden parameter 2 "Stop group 1 sudden
962
stop selection error stop selection" is outside the setting
range.
The set range of the detailed
Stop group 2 sudden parameter 2 "Stop group 2 sudden
963
stop selection error stop selection" is outside the setting
range.
The set range of the detailed
Stop group 3 sudden parameter 2 "Stop group 3 sudden
964
stop selection error stop selection" is outside the setting
range.
The set range of the detailed
Outside allowance
parameter 2 "Allowance circular
966 circular interpolation
interpolation error width" is outside the
error width
setting range.
The set range of the detailed
External command
parameter 2 "External command
967 function selection
function selection" is outside the
error
setting range.
The set range of the OPR basic
The QD75 READY signal (X0) is not
980 OPR method error parameter "OPR method" is outside
turned ON.
the setting range.

15 - 28
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

44 194 344 494

1 to 8388608
45 195 345 495
With the setting brought into the setting range, turn the
PLC READY signal [Y0] from OFF to ON.
46 196 346 496
1 to 8388608
47 197 347 497

QD75P :
1 to 200000 [pulse/s]
1 to 2000000000
• With the setting brought into the setting range, turn
48 198 348 498 [mm/min or another]
the PLC READY signal [Y0] from OFF to ON.
49 199 349 499 QD75D :
• Bring the setting into the speed limit value or below.
1 to 1000000 [pulse/s]
1 to 2000000000
[mm/min or another]

50 200 350 500 0, 1, 2, 3

51 201 351 501 0, 1, 2, 3

52 202 352 502 0, 1

53 203 353 503 1 to 100

54 204 354 504

1 to 8388608
55 205 355 505

56 206 356 506 0, 1

With the setting brought into the setting range, turn the
PLC READY signal [Y0] from OFF to ON.

57 207 357 507 0, 1

58 208 358 508 0, 1

60 210 360 510

0 to 10000
61 211 361 511

62 212 362 512 0, 1, 2, 3

70 220 370 520 0, 1, 2, 3, 4, 5

15 - 29
15 TROUBLESHOOTING
MELSEC-Q

Classification Error
Error name Error Operation status at error occurrence
of errors code

The set range of the OPR basic

981 OPR direction error parameter "OPR direction" is outside
the setting range.
The set range of the OPR basic
OP address setting
982 parameter "OP address" is outside
error
the setting range.
• The set range of the OPR basic
parameter "OPR speed" is outside
the setting range.
983 OPR speed error
• The set range of the OPR basic
parameter "OPR speed" is smaller
than the bias speed at start.
• The set range of the OPR basic
parameter "Creep speed" is outside
the setting range.
• The set range of the OPR basic
parameter "Creep speed" is larger
984 Creep speed error
than the OPR speed.
• The set range of the OPR basic
parameter "Creep speed" is
smaller than the bias speed at
start.
The set range of the OPR basic
985 OPR retry error parameter "OPR retry" is outside the
setting range.
The set range of the OPR detailed
990 OPR dwell time error parameter "OPR dwell time" is The QD75 READY signal (X0) is not
Parameter outside the setting range. turned ON.
Setting for the The set range of the OPR detailed
movement amount parameter "Setting for the movement
991
after near-point dog amount after near-point dog ON" is
ON error outside the setting range.
The set range of the OPR detailed
OPR acceleration parameter "OPR acceleration time
992
time selection error selection" is outside the setting
range.
The set range of the OPR detailed
OPR deceleration parameter "OPR deceleration time
993
time selection error selection" is outside the setting
range.
• The set range of the OPR detailed
parameter "OPR torque limit value"
is outside the setting range.
OPR torque limit
995 • The OPR detailed parameter "OPR
value error
torque limit value" has exceeded
the detailed parameter 1 "Torque
limit setting value".
The set range of the OPR detailed
Deviation counter
parameter "Deviation counter clear
996 clear signal output
signal output time" is outside the
time setting error
setting range.
The set range of the OPR detailed
Speed designation parameter "Speed designation
997
during OP shift error during OP shift" is outside the setting
range.

15 - 30
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

71 221 371 521 0, 1

With the setting brought into the setting range, turn the
• [mm] [inch] [pulse] PLC READY signal [Y0] from OFF to ON.
72 222 372 522
–2147483648 to 2147483647
73 223 373 523
• [degree] 0 to 35999999

• Bring the setting into the setting range.

74 224 374 524 1 to 1000000 [pulse/s]
75 225 375 525 1 to 2000000000 [mm/min or others] • Set the speed to the bias speed at start or higher.
(Refer to Section 5.2.5)

• Bring the setting into the setting range.

76 226 376 526 1 to 1000000 [pulse/s] • Set the speed to that below the OPR speed.
77 227 377 527 1 to 2000000000 [mm/min or others] • Set the value to the bias speed at start or higher.
(Refer to Section 5.2.5)

78 228 378 528 0, 1

79 229 379 529 0 to 65535

80 230 380 530

0 to 2147483647
81 231 381 531

82 232 382 532 0, 1, 2, 3

83 233 383 533 0, 1, 2, 3 With the setting brought into the setting range, turn the
PLC READY signal [Y0] from OFF to ON.

86 236 386 536 1 to 300

87 237 387 537 1 to 65535

88 238 388 538 0, 1

15 - 31
15 TROUBLESHOOTING
MELSEC-Q

15.3 List of warnings

The following table shows the warning details and remedies to be taken when a
warning occurs.

Classification Warning Operation status at warning

Warning name Warning
of warnings code occurrence

— 000 (Normal status) — —

Start during The start request is issued while the
100 Continue the operation.
operation axis is BUSY.
Deviation counter The deviation counter clear request The deviation counter clear request is
102
clear request is issued while the axis is BUSY. ignored.
The restart command is issued when
104 Restart not possible the axis operation status is not Continue the operation.
"Stopped".

The warning is issued for the axis

The teaching request is issued while
109 Teaching in BUSY designated at the time of the teaching
the axis is BUSY.
request.

Less than minimum The system is controlled with the

110 The overridden speed becomes “0”.
speed currently executing unit of 1.

The request for writing to the flash

ROM is issued when the PLC
Common 111 In PLC READY The warning for axis 1 is issued.
READY is turned ON (at the time of
teaching request).
• Controlled at a setting value of
Illegal override A value other than 1 to 300 is set for 0 : 100.
112
value the override value. • Controlled at a setting value of
301 or over : 300.

Outside new torque A value other than 1 to 500 is set for

113 The torque change is not carried out.
value range the new torque value.

The command speed is below the

114 Below bias speed Operate by the bias speed at start.
bias speed at start.

The speed change request is issued

Speed change
300 during deceleration stop with JOG The speed change is not carried out.
during deceleration
start signal OFF.

• When the speed exceeds the JOG

speed limit, the JOG operation is
JOG
The new speed value exceeds the carried out with the JOG speed limit
JOG speed limit value.
301 JOG speed limit value when the
value
speed is changed during operation. • While the speed is limited by the
JOG speed limit value, the "Speed
limiting flag" is turned ON.

15 - 32
15 TROUBLESHOOTING
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Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4
— — — — — —

— — — — — Normalize the start request ON timing.

Do not carry out the deviation counter clear while the

— — — — —
axis is running. (Refer to Chapter 8)
Normalize the start request ON timing.
<Restart command>
1503 1603 1703 1803 (Do not issue the restart command when the axis
1: Restart
operation is not stopped.)
<Teaching data selection>
1548 1648 1748 1848 0, 1 Carry out the teaching request when the axis is not
1549 1649 1749 1849 <Teaching positioning data No.> BUSY. (Refer to Section 12.7.4)
1 to 600
<Positioning operation speed
Prevent the overridden speed from being reduced to 0.
1513 1613 1713 1813 override>
(Refer to Section 12.5.2)
1 to 300

None (If the PLC READY signal (Y0) is turned OFF,

Same as warning code 109
respond to the teaching write request).

<Positioning operation speed

1513 1613 1713 1813 override>
1 to 300
Set a value within the setting range.
<New torque value>
1525 1625 1725 1825
1 to [Torque limit set value]
<Torque limit set value>
26 176 326 476
1 to 500
Refer to Section 5.3 <Command speed>
"List of positioning data" 1 to 1000000 [pulse/s]
for command speed 1 to 2000000000 [mm/min or another] Re-set the command speed/bias speed at start so that
the command speed is equal to or larger than the bias
Bias speed at start <Bias speed at start> speed at start.
6 156 306 456 0 to 1000000 [pulse/s]
7 157 307 457 0 to 2000000000 [mm/min or another]

<Speed change request> Do not carry out the JOG speed change during
1516 1616 1716 1816
1: Speed change is requested deceleration with the JOG start signal OFF.

New speed value

0 to 1000000 [pulse/s]
1514 1614 1714 1814 0 to 2000000000 [mm/min or another]
1515 1615 1715 1815
JOG speed limit value QD75P :
1 to 200000 [pulse/s]
1 to 2000000000 Bring the set value into the setting range.
[mm/min or another]
48 198 348 498 QD75D :
49 199 349 499 1 to 1000000 [pulse/s]
1 to 2000000000
[mm/min or another]

15 - 33
15 TROUBLESHOOTING
MELSEC-Q

Classification Warning Operation status at warning

Warning name Warning
of warnings code occurrence

Outside manual • When input magnification is set at

The manual pulse generator 1 pulse 101 or higher: Re-set to 100.
Manual pulse pulse generator
401 input magnification is set at 0 or 101
generator input magnification • When input magnification is set at 0:
or higher.
range Re-set to 1.

Deceleration/stop The speed change request is issued

500 The speed change is not carried out.
speed change during deceleration stop.

• The speed is controlled with the

The new value exceeds the speed speed limit value.
Speed limit value
501 limit value when the speed is
over • The "speed limiting flag" is turned
changed during operation.
ON.

The M code ON signal is turned ON

M code ON signal Continue executing the positioning
503 when the positioning data is
ON start data.
executed.

In the positioning by block starting,

No operation
505 the 50th point of the positioning start The operation is terminated.
termination setting
data is set to CONTINUE.

FOR to NEXT nest

506 FOR to NEXT is nested.
Positioning construction
operation Speed-position The switching signal for speed- The operation is continued.
switching (during position switching control (INC
508
acceleration) signal mode) is turned ON during
ON acceleration.
• When a command speed is
changed:
• At a continuous operation interrupt Change to a value as near a new
request, the distance required speed value as possible.
deceleration stop is not long • When a target position is changed:
Insufficient enough. Adjust the speed to a value as
509
remaining distance • At a speed change request, the near the command speed as
remaining distance is shorter than possible, and then change to a
the distance required for speed target position.
change. (When the operation pattern is a
continuous path control, ignore the
operations stated above.)
Code 1 is set for the step start
511 Step not possible information when the step is outside The step will not start.
standby.
The detailed parameter 2 "External Even if the external command signal
Illegal external
512 command function selection" setting is turned ON, the system will not
command function
range is exceeded. perform anything.
Insufficient The movement amount is not large The system stops immediately after it
513
movement amount enough for automatic deceleration. reaches the positioning address.

15 - 34
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4

<Manual pulse generator 1 pulse

1522 1622 1722 1822 Set the manual pulse generator 1 pulse input
input magnification>
1523 1623 1723 1823 magnification to within the setting range.
1 to 100

Do not carry out the speed change during deceleration

<Speed change request>
1516 1616 1716 1816 with a stop command, during stoppage, or during
1: Speed change is requested
automatic deceleration with position control.
New speed value
0 to 1000000 [pulse/s]
1514 1614 1714 1814 0 to 2000000000 [mm/min or another]
1515 1615 1715 1815
Speed limit value QD75P :
1 to 200000 [pulse/s] Set the new speed value to a range of 0 to "speed limit
1 to 2000000000 value".
[mm/min or another]
10 160 310 460 QD75D :
11 161 311 461 1 to 1000000 [pulse/s]
1 to 2000000000
[mm/min or another]

<M code OFF request> Normalize the ON and OFF timings of the "M code
1504 1604 1704 1804
1: M code ON signal is turned OFF OFF request". (Refer to Section 12.7.3)

<Operation pattern>
Refer to Section 5.3 00: Positioning complete Set the operation termination to the 50th point.
"List of positioning data" 01: Continuous positioning control (Refer to Chapter 10)
11: Continuous path control
Make 1 nest construction for FOR to NEXT.
— — — — —
(Refer to Section 10.3.8)

Do not turn ON the speed-position switching signal

— — — — — during acceleration.
(Refer to Section 9.2.16)

Give a request at the position where there is an

— — — — —
enough remaining distance.

<Step start information>

Do not set a "1" to the step start information when the
1546 1646 1746 1846 1: Step is continued
step is not in standby state. (Refer to Section 12.7.1)
2: Re-start is carried out
<External command function
Set the detailed parameter 2 "External command
62 212 362 512 selection>
function selection" to within the setting range.
0, 1, 2, 3
Refer to Section 5.3 Set a decelerating address or a movement amount to
—
"List of positioning data" the positioning data.

15 - 35
15 TROUBLESHOOTING
MELSEC-Q

Classification Warning Operation status at warning

Warning name Warning
of warnings code occurrence

• The command speed is controlled at

Outside command The command speed exceeds the the "speed limit value".
514
speed range speed limit.
• The "speed limiting flag" turns ON.

Teaching is not carried out when the

set value is 0 or 601 or more.
Illegal teaching data The positioning data No. is set
516 (A "0" is canceled by the QD75
No. outside the setting range.
Positioning automatically even when a "0" or
operation "601" or more is set.)
Illegal teaching data The teaching data selection set
517 Teaching is not carried out.
selection value is outside the setting range.
• A target position change request
was given for the control system
other than ABS1 and INC1.
• The target position change request
is turned ON during continuous
Target position path control. The target position change is not
518
change not possible • A new target position address is carried out.
outside the software stroke limit
range.
• A target position change request
was given during deceleration to a
stop.

15 - 36
15 TROUBLESHOOTING
MELSEC-Q

Related buffer memory

address Set range
Remedy
(Setting with sequence program)
Axis 1 Axis 2 Axis 3 Axis 4
For command speed,
1 to 1000000 [pulse/s]
refer to Section 5.3
1 to 2000000000 [mm/min or another]
"List of positioning data"
Speed limit value QD75P :
1 to 200000 [pulse/s]
1 to 2000000000 Set the command speed to within the setting range.
[mm/min or another]
10 160 310 460 QD75D :
11 161 311 461 1 to 1000000 [pulse/s]
1 to 2000000000
[mm/min or another]

<Teaching positioning data No.>

1549 1649 1749 1849 Set the positioning data No. to within the setting range.
1 to 600

<Teaching data selection> Set the teaching data selection set value to within the
1548 1648 1748 1848
0, 1 setting range.

• Do not turn ON the target position change request in

the following cases.
A control system other than ABS1, and INC1 is used.
<Target position change request During deceleration stop. An operating pattern
1538 1638 1738 1838 flag> "continuous path control" is used.
1: Target position change request
• When the target position change address is outside
the stroke limit, correct the target position change
address. (Refer to Section 12.7.5)

15 - 37
15 TROUBLESHOOTING
MELSEC-Q

15.4 LED display functions

The states of QD75 and each axis control can be confirmed by the LEDs located on
the front panel of the QD75 main unit.

QD75P4
RUN AX1
AX2
AX3
ERR AX4

Each axis can be monitored by the states of the LEDs.

The operation and indications of the LEDs are as shown below.
Details of indication
Goes OFF Points to be
Error Remedy
Goes ON confirmed
Flashes
RUN AX1
AX2 Extinguishment of The hardware is If the RUN LED does not light up even when the
AX3 RUN LED faulty or watch dog power is turned ON, the module may be out of order.
timer error occurs. Replace the module with a new one.
ERR AX4
RUN AX1
AX2 Lighting of RUN LED, The module is
AX3 Extinguishment of normal.
—
ERR LED
ERR AX4

RUN AX1 An operation condition setting error or installation PLC

AX2 CPU type error occurs.
AX3 Lighting of ERR LED System error (The setting and PLC CPU type are outside the
specification range.) Set the PLC CPU type to a one
ERR AX4
contained in the specification.
RUN AX1
AX2 Extinguishment of During axis stop,
—
AX3 AX1 to AX4 LEDs during axis standby
ERR AX4
RUN AX1 This lights up from the positioning start until the
AX2 Lighting of AX1 During axis positioning is completed, stopped temporarily, or
AX3 (Same even if the operation stopped by error (corresponding at a ratio of 1 : 1 to
other axis is lit)
ERR AX4 BUSY signals).
RUN AX1 Flashing of ERR LED
AX2 Check the error observed on the buffer memory batch
Flashing of AX1 LED
Axis error processing monitor of a peripheral device and correct
AX3 (Same even if the
the applicable parameters and positioning data.
ERR AX4 other axis flashes)
RUN AX1
AX2 The hardware is The module comes out of order. Replace the module
AX3 Lighting of all LEDs faulty with a new one.
ERR AX4

15 - 38
Appendices

Appendix 1 Version up of the functions .................................................................................Appendix- 2

Appendix 1.1 Comparison of functions according to function versions........................Appendix- 2
Appendix 2 Format sheets ....................................................................................................Appendix- 4
Appendix 2.1 Positioning Module operation chart ........................................................Appendix- 4
Appendix 2.2 Parameter setting value entry table ........................................................Appendix- 6
Appendix 2.3 Positioning data setting value entry table .............................................Appendix- 12
Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses ....................Appendix- 13
Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI
Electric Corporation............................................................................................Appendix- 37
Appendix 4.1 Connection example of QD75D and MR-H A
(Differential driver) ...........................................................................Appendix- 37
Appendix 4.2 Connection example of QD75D and MR-J2/J2S- A
(Differential driver) ...........................................................................Appendix- 38
Appendix 4.3 Connection example of QD75D and MR-C A
(Differential driver) ...........................................................................Appendix- 39
Appendix 5 Connection examples with stepping motors manufactured by
ORIENTALMOTOR Co., Ltd............................................................................Appendix- 40
Appendix 5.1 Connection example of QD75P and VEXTA UPD
(Open collector) ...............................................................................Appendix- 40
Appendix 6 Connection examples with servo amplifiers manufactured by
Matsushita Electric Industrial Co., Ltd. ............................................................Appendix- 41
Appendix 6.1 Connection example of QD75D and MINAS-A series
(Differential driver) ...........................................................................Appendix- 41
Appendix 7 Connection examples with servo amplifiers manufactured by
SANYO DENKI Co., Ltd.....................................................................................Appendix- 42
Appendix 7.1 Connection example of QD75D and PYO series
(Differential driver) ...........................................................................Appendix- 42
Appendix 8 Connection examples with servo amplifiers manufactured by
YASKAWA Electric Corporation. .......................................................................Appendix- 43
Appendix 8.1 Connection example of QD75D and ∑- series
(Differential driver)...................................................................................Appendix- 43
Appendix 9 Comparisons with conventional positioning modules .......................................Appendix- 44
Appendix 9.1 Comparisons with A1SD71S2 model.....................................................Appendix- 44
Appendix 9.2 Comparisons with A1SD75P1-S3/A1SD75P2-S3/ A1SD75P3-S3
models .............................................................................................Appendix- 45
Appendix 10 MELSEC Explanation of positioning terms .....................................................Appendix- 68
Appendix 11 Positioning control troubleshooting .................................................................Appendix- 92
Appendix 12 List of buffer memory addresses .....................................................................Appendix- 98
Appendix 13 External dimension drawing ..........................................................................Appendix- 107

Appen-
dices

Appendix - 1
APPENDICES
MELSEC-Q

Appendix 1 Version up of the functions

Appendix 1.1 Comparison of functions according to function versions

The following tables list the QD75P1/QD75P2/QD75P4/QD75D1/QD75D2/QD75D4

functions compared according to function versions and the buffer memory for their
additional functions.
(1) Function comparison
Function versions of
Item QD75P /QD75D Reference
A B
Speed-position switching control (ABS mode) Section 9.2.17
Pre-reading start function Section 12.7.8
1
External I/O signal monitor function Section 13.5
Multiple PLC compatible function
2

3 3
Deceleration start flag function Section 12.7.9
Stop command processing for deceleration 4
Section 12.7.10
stop function
1: Usable on GX Developer of SW6D5C-GPPW-E or later.
2: Compatible with QCPU of function version B.
3: Supported by the module whose first five digits of SERIAL No. are "03042" or later.
4: Supported by the module whose first five digits of SERIAL No. are "05072" or later.

(2) Additional buffer memory

Buffer memory addresses
Name Used function
Axis 1 Axis 2 Axis 3 Axis 4
Speed-position function Speed-position switching
34 184 334 484
selection control
899 999 1099 1199 Deceleration start flag
Deceleration start flag
Deceleration start flag function
1905
valid
Stop command processing Stop command processing
1907 for deceleration stop for deceleration stop
selection function

(3) Additional devices

Device No. Name Used function
Y14 Axis 1
Y15 Axis 2
Execution prohibition flag Pre-reading start function
Y16 Axis 3
Y17 Axis 4

Appendix - 2
APPENDICES
MELSEC-Q

MEMO

Appendix - 3
APPENDICES
MELSEC-Q

Appendix 2 Format sheets

Appendix 2.1 Positioning Module operation chart

mm, inch, degree, pulse

Axis address

Axis address
mm, inch, degree, pulse

Appendix - 4
APPENDICES
MELSEC-Q

mm, inch, degree, pulse

Axis address

Axis address
mm, inch, degree, pulse

Appendix - 5
APPENDICES
MELSEC-Q

Appendix 2.2 Parameter setting value entry table

Setting range
Item
mm inch degree pulse
Pr.1 Unit setting 0 1 2 3

Pr.2 No. of pulses per rotation (Ap) 1 to 65535 pulse

Movement amount per rotation 1 to 65535 1 to 65535 1 to 65535 1 to 65535

Basic parameters 1

Pr.3
(Al) × 10-1μm × 10-5inch × 10-5degree pulse
Pr.4 Unit magnification (Am) 1: 1-fold, 10: 10-fold, 100: 100-fold, 1000: 1000-fold

Pr.5 0: PULSE/SIGN mode, 1: CW/CCW mode,

Pulse output mode
2: A phase/B phase (multiple of 4), 3: A phase/B phase (multiple of 1)
Pr.6 0: Current value increment with forward run pulse output
Rotation direction setting
1: Current value increment with reverse run pulse output

Pr.7
0 to 2000000000 0 to 2000000000 0 to 2000000000 0 to 1000000
Bias speed at start
× 10-2mm/min × 10-3inch/min × 10-3degree/min pulse/s
1 to 1000000/
Basic parameters

Pr.8
1 to 2000000000 1 to 2000000000 1 to 2000000000
Speed limit value 1 to 200000
× 10-2mm/min × 10-3mm/min × 10-3degree/min
pulse
2

Pr.9 Acceleration time 0

1 to 8388608ms
Pr.10 Deceleration time 0

Pr.11
0 to 65535 0 to 65535 0 to 65535 0 to 65535
Backlash compensation amount
× 10-1μm × 10-5inch × 10-5degree pulse

Pr.12 Software stroke limit upper limit

–2147483648 to –2147483648 to
value 0 to 35999999 –2147483648 to
2147483647 2147483647
× 10-5degree 2147483647
Pr.13 Software stroke limit lower limit × 10-1μm × 10-5inch pulse
value

Pr.14 0: Apply software stroke limit on current feed value

Software stroke limit selection
1: Apply software stroke limit on machine feed value
Detailed parameters 1

0: Software stroke limit valid during JOG operation, inching operation,

Pr.15 Software stroke limit valid/invalid and manual pulse generator operation
selection 1: Software stroke limit invalid during JOG operation, inching
operation, and manual pulse generator operation
1 to 2147483647 1 to 2147483647 1 to 2147483647 1 to 2147483647
Pr.16 Command in-position width × 10-1μm × 10-5inch × 10-5degree pulse

Pr.17 Torque limit setting value 1 to 500%

Pr.18 M code ON signal output timing 0: WITH mode, 1: AFTER mode

Pr.19 0: Standard speed switching mode

Speed switching mode
1: Front-loading speed switching mode
Pr.20 Interpolation speed designation
0: Composite speed, 1: Reference axis speed
method
Pr.21 Current feed value during speed 0: Do not update current feed value, 1: Update current feed value
control 2: Clear current feed value
: "1 to 1000000" for QD75D and "1 to 200000" for QD75P when the unit is "pulse".

Appendix - 6
APPENDICES
MELSEC-Q

Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks

20000

20000

20000

1000

1000

2147483647

–2147483648

100

300

Appendix - 7
APPENDICES
MELSEC-Q

Setting range
Item
mm inch degree pulse
b0 Lower limit b3 Stop signal b6 Near-point signal
External b7, b9 Setting of
Pr.22
b1 Upper limit b4 Unused each bit value
Input signal logic selection command to b15
0: Negative
Drive unit Manual pulse logic
b2 b5 Zero signal b8
Detailed parameters 1

READY generator input

1: Positive
Command Deviation logic
b0 b2 Unused b4
pulse signal counter clear
Pr.23 Output signal logic selection ("0" is set for
b5 to unused bit.)
b1 Unused b3 Unused Unused
b15
0: A phase/B phase multiple of 4
Pr.24 Manual pulse generator 1: A phase/B phase multiple of 2
input selection 2: A phase/B phase multiple of 1
3: PULSE/SIGN mode
Speed -position function 0: Speed-position switching control (INC mode)
Pr.150
selection 2: Speed-position switching control (ABS mode)
Pr.25 Acceleration time 1

Pr.26 Acceleration time 2

Pr.27 Acceleration time 3

1 to 8388608ms
Pr.28 Deceleration time 1

Pr.29 Deceleration time 2

Pr.30 Deceleration time 3

1 to 1 to 1000000/
Pr.31 1 to 2000000000 1 to 2000000000
JOG speed limit value 2000000000 × 10-3inch/min × 10-3degree/min 1 to 200000
-2
× 10 mm/min pulse
Pr.32 JOG operation acceleration
time selection
Detailed parameters 2

0 to 3
Pr.33 JOG operation deceleration
time selection

Pr.34 Acceleration/deceleration 0: Automatic trapezoidal acceleration/deceleration process

process selection 1: S-curve acceleration/deceleration process

Pr.35 S-curve ratio 1 to 100%

Pr.36 Sudden stop deceleration

1 to 8388608ms
time
Pr.37 Stop group 1 sudden stop
selection
Stop group 2 sudden stop 0: Normal deceleration stop
Pr.38
selection 1: Sudden stop
Pr.39 Stop group 3 sudden stop
selection
Pr.40 Positioning complete signal
0 to 65535ms
output time
Allowable circular 1 to 100000 1 to 100000 1 to 100000 1 to 100000
Pr.41
interpolation error width × 10-1μm × 10-5inch × 10-5degree pulse
0: External positioning start 1: External speed change request
Pr.42 External command function
2: Speed-position or position-speed switching request
selection
3: Skip request
: "1 to 1000000" for QD75D and "1 to 200000" for QD75P when the unit is "pulse".
Appendix - 8
APPENDICES
MELSEC-Q

Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks

1000

1000

1000

1000

1000

1000

20000

100

1000

300

100

Appendix - 9
APPENDICES
MELSEC-Q

Setting range
Item
mm inch degree pulse
0: Near-point dog method
1: Stopper method 1) (By dwell time elapse)
2: Stopper method 2) (By OP signal when stopper is hit)
Pr.43 OPR method
3: Stopper method 3) (Without near-point dog method)
4: Count method 1) (Use zero signal)
OPR basic parameters

5: Count method 2) (Do not use zero signal)

0: Positive direction (address increment direction)
Pr.44 OPR direction
1: Negative direction (address decrement direction)
–2147483648 to –2147483648 to
0 to 35999999 –2147483648 to
Pr.45 OP address 2147483647 2147483647
× 10-5degree 2147483647
× 10-1μm × 10-5inch pulse/s

Pr.46 OPR speed 1 to 2000000000 1 to 2000000000 1 to 2000000000 1 to 1000000

× 10-2mm/min × 10-3inch/min × 10-3degree/min pulse/s
Pr.47 Creep speed
0: Do not retry OPR with upper/lower limit switch
Pr.48 OPR retry
1: Retry OPR with upper/lower limit switch
Pr.49 OPR dwell time 0 to 65535ms

Pr.50 Setting for the movement amount 0 to 2147483647 0 to 2147483647 0 to 2147483647 0 to 2147483647
after near-point dog ON × 10-1μm × 10-5inch × 10-5degree pulse

Pr.51 OPR acceleration time selection

OPR detailed parameters

0 to 3
Pr.52 OPR deceleration time selection

–2147483648 to –2147483648 to
0 to 35999999 –2147483648 to
Pr.53 2147483647 2147483647
OP shift amount × 10-5degree 2147483647
× 10-1μm × 10-5inch pulse

Pr.54 OPR torque limit value 0 to 300%

Pr.55 Deviation counter clear signal

1 to 65535ms
output time

Pr.56 Speed designation during OP shift 0: OPR speed 1: Creep speed

Pr.57 Dwell time during OPR retry 0 to 65535ms

Appendix - 10
APPENDICES
MELSEC-Q

Initial value Axis 1 Axis 2 Axis 3 Axis 4 Remarks

300

11

Appendix - 11
APPENDICES
MELSEC-Q

Appendix 2.3 Positioning data setting value entry table [data No. to ]

Axis
Da.1 Da.2 Da.3 Da.4 Da.5 Da.6 Da.7 Da.8 Da.9 Da.10
Operation Control Accelera- Decelera- Axis to be Positioning Arc Command Dwell M code
Data pattern system tion time tion time interpola- address/ address speed time
No. No. ted movement
amount
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0
1
2
3
4
5
6
7
8
9
0

Appendix - 12
APPENDICES
MELSEC-Q

Appendix 3 Positioning data (No. 1 to 600)

List of buffer memory addresses
(1) For axis 1
Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
1 2000 2001 2002 2004 2005 2006 2007 2008 2009 51 2500 2501 2502 2504 2505 2506 2507 2508 2509
2 2010 2011 2012 2014 2015 2016 2017 2018 2019 52 2510 2511 2512 2514 2515 2516 2517 2518 2519
3 2020 2021 2022 2024 2025 2026 2027 2028 2029 53 2520 2521 2522 2524 2525 2526 2527 2528 2529
4 2030 2031 2032 2034 2035 2036 2037 2038 2039 54 2530 2531 2532 2534 2535 2536 2537 2538 539
5 2040 2041 2042 2044 2045 2046 2047 2048 2049 55 2540 2541 2542 2544 2545 2546 2547 2548 2549
6 2050 2051 2052 2054 2055 2056 2057 2058 2059 56 2550 2551 2552 2554 2555 2556 2557 2558 2559
7 2060 2061 2062 2064 2065 2066 2067 2068 2069 57 2560 2561 2562 2564 2565 2566 2567 2568 2569
8 2070 2071 2072 2074 2075 2076 2077 2078 2079 58 2570 2571 2572 2574 2575 2576 2577 2578 2579
9 2080 2081 2082 2084 2085 2086 2087 2088 2089 59 2580 2581 2582 2584 2585 2586 2587 2588 2589
10 2090 2091 2092 2094 2095 2096 2097 2098 2099 60 2590 2591 2592 2594 2595 2596 2597 2598 2599
11 2100 2101 2102 2104 2105 2106 2107 2108 2109 61 2600 2601 2602 2604 2605 2606 2607 2608 2609
12 2110 2111 2112 2114 2115 2116 2117 2118 2119 62 2610 2611 2612 2614 2615 2616 2617 2618 2619
13 2120 2121 2122 2124 2125 2126 2127 2128 2129 63 2620 2621 2622 2624 2625 2626 2627 2628 2629
14 2130 2131 2132 2134 2135 2136 2137 2138 2139 64 2630 2631 2632 2634 2635 2636 2637 2638 2639
15 2140 2141 2142 2144 2145 2146 2147 2148 2149 65 2640 2641 2642 2644 2645 2646 2647 2648 2649
16 2150 2151 2152 2154 2155 2156 2157 2158 2159 66 2650 2651 2652 2654 2655 2656 2657 2658 2659
17 2160 2161 2162 2164 2165 2166 2167 2168 2169 67 2660 2661 2662 2664 2665 2666 2667 2668 2669
18 2170 2171 2172 2174 2175 2176 2177 2178 2179 68 2670 2671 2672 2674 2675 2676 2677 2678 2679
19 2180 2181 2182 2184 2185 2186 2187 2188 2189 69 2680 2681 2682 2684 2685 2686 2687 2688 2689
20 2190 2191 2192 2194 2195 2196 2197 2198 2199 70 2690 2691 2692 2694 2695 2696 2697 2698 2699
21 2200 2201 2202 2204 2205 2206 2207 2208 2209 71 2700 2701 2702 2704 2705 2706 2707 2708 2709
22 2210 2211 2212 2214 2215 2216 2217 2218 2219 72 2710 2711 2712 2714 2715 2716 2717 2718 2719
23 2220 2221 2222 2224 2225 2226 2227 2228 2229 73 2720 2721 2722 2724 2725 2726 2727 2728 2729
24 2230 2231 2232 2234 2235 2236 2237 2238 2239 74 2730 2731 2732 2734 2735 2736 2737 2738 2739
25 2240 2241 2242 2244 2245 2246 2247 2248 2249 75 2740 2741 2742 2744 2745 2746 2747 2748 2749
26 2250 2251 2252 2254 2255 2256 2257 2258 2259 76 2750 2751 2752 2754 2755 2756 2757 2758 2759
27 2260 2261 2262 2264 2265 2266 2267 2268 2269 77 2760 2761 2762 2764 2765 2766 2767 2768 2769
28 2270 2271 2272 2274 2275 2276 2277 2278 2279 78 2770 2771 2772 2774 2775 2776 2777 2778 2779
29 2280 2281 2282 2284 2285 2286 2287 2288 2289 79 2780 2781 2782 2784 2785 2786 2787 2788 2789
30 2290 2291 2292 2294 2295 2296 2297 2298 2299 80 2790 2791 2792 2794 2795 2796 2797 2798 2799
31 2300 2301 2302 2304 2305 2306 2307 2308 2309 81 2800 2801 2802 2804 2805 2806 2807 2808 2809
32 2310 2311 2312 2314 2315 2316 2317 2318 2319 82 2810 2811 2812 2814 2815 2816 2817 2818 2819
33 2320 2321 2322 2324 2325 2326 2327 2328 2329 83 2820 2821 2822 2824 2825 2826 2827 2828 2829
34 2330 2331 2332 2334 2335 2336 2337 2338 2339 84 2830 2831 2832 2834 2835 2836 2837 2838 2839
35 2340 2341 2342 2344 2345 2346 2347 2348 2349 85 2840 2841 2842 2844 2845 2846 2847 2848 2849
36 2350 2351 2352 2354 2355 2356 2357 2358 2359 86 2850 2851 2852 2854 2855 2856 2857 2858 2859
37 2360 2361 2362 2364 2365 2366 2367 2368 2369 87 2860 2861 2862 2864 2865 2866 2867 2868 2869
38 2370 2371 2372 2374 2375 2376 2377 2378 2379 88 2870 2871 2872 2874 2875 2876 2877 2878 2879
39 2380 2381 2382 2384 2385 2386 2387 2388 2389 89 2880 2881 2882 2884 2885 2886 2887 2888 2889
40 2390 2391 2392 2394 2395 2396 2397 2398 2399 90 2890 2891 2892 2894 2895 2896 2897 2898 2899
41 2400 2401 2402 2404 2405 2406 2407 2408 2409 91 2900 2901 2902 2904 2905 2906 2907 2908 2909
42 2410 2411 2412 2414 2415 2416 2417 2418 2419 92 2910 2911 2912 2914 2915 2916 2917 2918 2919
43 2420 2421 2422 2424 2425 2426 2427 2428 2429 93 2920 2921 2922 2924 2925 2926 2927 2928 2929
44 2430 2431 2432 2434 2435 2436 2437 2438 2439 94 2930 2931 2932 2934 2935 2936 2937 2938 2939
45 2440 2441 2442 2444 2445 2446 2447 2448 2449 95 2940 2941 2942 2944 2945 2946 2947 2948 2949
46 2450 2451 2452 2454 2455 2456 2457 2458 2459 96 2950 2951 2952 2954 2955 2956 2957 2958 2959
47 2460 2461 2462 2464 2465 2466 2467 2468 2469 97 2960 2961 2962 2964 2965 2966 2967 2968 2969
48 2470 2471 2472 2474 2475 2476 2477 2478 2479 98 2970 2971 2972 2974 2975 2976 2977 2978 2979
49 2480 2481 2482 2484 2485 2486 2487 2488 2489 99 2980 2981 2982 2984 2985 2986 2987 2988 2989
50 2490 2491 2492 2494 2495 2496 2497 2498 2499 100 2990 2991 2992 2994 2995 2996 2997 2998 2999

Appendix - 13
APPENDICES
MELSEC-Q

(1) For axis 1

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
101 3000 3001 3002 3004 3005 3006 3007 3008 3009 151 3500 3501 3502 3504 3505 3506 3507 3508 3509
102 3010 3011 3012 3014 3015 3016 3017 3018 3019 152 3510 3511 3512 3514 3515 3516 3517 3518 3519
103 3020 3021 3022 3024 3025 3026 3027 3028 3029 153 3520 3521 3522 3524 3525 3526 3527 3528 3529
104 3030 3031 3032 3034 3035 3036 3037 3038 3039 154 3530 3531 3532 3534 3535 3536 3537 3538 3539
105 3040 3041 3042 3044 3045 3046 3047 3048 3049 155 3540 3541 3542 3544 3545 3546 3547 3548 3549
106 3050 3051 3052 3054 3055 3056 3057 3058 3059 156 3550 3551 3552 3554 3555 3556 3557 3558 3559
107 3060 3061 3062 3064 3065 3066 3067 3068 3069 157 3560 3561 3562 3564 3565 3566 3567 3568 3569
108 3070 3071 3072 3074 3075 3076 3077 3078 3079 158 3570 3571 3572 3574 3575 3576 3577 3578 3579
109 3080 3081 3082 3084 3085 3086 3087 3088 3089 159 3580 3581 3582 3584 3585 3586 3587 3588 3589
110 3090 3091 3092 3094 3095 3096 3097 3098 3099 160 3590 3591 3592 3594 3595 3596 3597 3598 3599
111 3100 3101 3102 3104 3105 3106 3107 3108 3109 161 3600 3601 3602 3604 3605 3606 3607 3608 3609
112 3110 3111 3112 3114 3115 3116 3117 3118 3119 162 3610 3611 3612 3614 3615 3616 3617 3618 3619
113 3120 3121 3122 3124 3125 3126 3127 3128 3129 163 3620 3621 3622 3624 3625 3626 3627 3628 3629
114 3130 3131 3132 3134 3135 3136 3137 3138 3139 164 3630 3631 3632 3634 3635 3636 3637 3638 3639
115 3140 3141 3142 3144 3145 3146 3147 3148 3149 165 3640 3641 3642 3644 3645 3646 3647 3648 3649
116 3150 3151 3152 3154 3155 3156 3157 3158 3159 166 3650 3651 3652 3654 3655 3656 3657 3658 3659
117 3160 3161 3162 3164 3165 3166 3167 3168 3169 167 3660 3661 3662 3664 3665 3666 3667 3668 3669
118 3170 3171 3172 3174 3175 3176 3177 3178 3179 168 3670 3671 3672 3674 3675 3676 3677 3678 3679
119 3180 3181 3182 3184 3185 3186 3187 3188 3189 169 3680 3681 3682 3684 3685 3686 3687 3688 3689
120 3190 3191 3192 3194 3195 3196 3197 3198 3199 170 3690 3691 3692 3694 3695 3696 3697 3698 3699
121 3200 3201 3202 3204 3205 3206 3207 3208 3209 171 3700 3701 3702 3704 3705 3706 3707 3708 3709
122 3210 3211 3212 3214 3215 3216 3217 3218 3219 172 3710 3711 3712 3714 3715 3716 3717 3718 3719
123 3220 3221 3222 3224 3225 3226 3227 3228 3229 173 3720 3721 3722 3724 3725 3726 3727 3728 3729
124 3230 3231 3232 3234 3235 3236 3237 3238 3239 174 3730 3731 3732 3734 3735 3736 3737 3738 3739
125 3240 3241 3242 3244 3245 3246 3247 3248 3249 175 3740 3741 3742 3744 3745 3746 3747 3748 3749
126 3250 3251 3252 3254 3255 3256 3257 3258 3259 176 3750 3751 3752 3754 3755 3756 3757 3758 3759
127 3260 3261 3262 3264 3265 3266 3267 3268 3269 177 3760 3761 3762 3764 3765 3766 3767 3768 3769
128 3270 3271 3272 3274 3275 3276 3277 3278 3279 178 3770 3771 3772 3774 3775 3776 3777 3778 3779
129 3280 3281 3282 3284 3285 3286 3287 3288 3289 179 3780 3781 3782 3784 3785 3786 3787 3788 3789
130 3290 3291 3292 3294 3295 3296 3297 3298 3299 180 3790 3791 3792 3794 3795 3796 3797 3798 3799
131 3300 3301 3302 3304 3305 3306 3307 3308 3309 181 3800 3801 3802 3804 3805 3806 3807 3808 3809
132 3310 3311 3312 3314 3315 3316 3317 3318 3319 182 3810 3811 3812 3814 3815 3816 3817 3818 3819
133 3320 3321 3322 3324 3325 3326 3327 3328 3329 183 3820 3821 3822 3824 3825 3826 3827 3828 3829
134 3330 3331 3332 3334 3335 3336 3337 3338 3339 184 3830 3831 3832 3834 3835 3836 3837 3838 3839
135 3340 3341 3342 3344 3345 3346 3347 3348 3349 185 3840 3841 3842 3844 3845 3846 3847 3848 3849
136 3350 3351 3352 3354 3355 3356 3357 3358 3359 186 3850 3851 3852 3854 3855 3856 3857 3858 3859
137 3360 3361 3362 3364 3365 3366 3367 3368 3369 187 3860 3861 3862 3864 3865 3866 3867 3868 3869
138 3370 3371 3372 3374 3375 3376 3377 3378 3379 188 3870 3871 3872 3874 3875 3876 3877 3878 3879
139 3380 3381 3382 3384 3385 3386 3387 3388 3389 189 3880 3881 3882 3884 3885 3886 3887 3888 3889
140 3390 3391 3392 3394 3395 3396 3397 3398 3399 190 3890 3891 3892 3894 3895 3896 3897 3898 3899
141 3400 3401 3402 3404 3405 3406 3407 3408 3409 191 3900 3901 3902 3904 3905 3906 3907 3908 3909
142 3410 3411 3412 3414 3415 3416 3417 3418 3419 192 3910 3911 3912 3914 3915 3916 3917 3918 3919
143 3420 3421 3422 3424 3425 3426 3427 3428 3429 193 3920 3921 3922 3924 3925 3926 3927 3928 3929
144 3430 3431 3432 3434 3435 3436 3437 3438 3439 194 3930 3931 3932 3934 3935 3936 3937 3938 3939
145 3440 3441 3442 3444 3445 3446 3447 3448 3449 195 3940 3941 3942 3944 3945 3946 3947 3948 3949
146 3450 3451 3452 3454 3455 3456 3457 3458 3459 196 3950 3951 3952 3954 3955 3956 3957 3958 3959
147 3460 3461 3462 3464 3465 3466 3467 3468 3469 197 3960 3961 3962 3964 3965 3966 3967 3968 3969
148 3470 3471 3472 3474 3475 3476 3477 3478 3479 198 3970 3971 3972 3974 3975 3976 3977 3978 3979
149 3480 3481 3482 3484 3485 3486 3487 3488 3489 199 3980 3981 3982 3984 3985 3986 3987 3988 3989
150 3490 3491 3492 3494 3495 3496 3497 3498 3499 200 3990 3991 3992 3994 3995 3996 3997 3998 3999

Appendix - 14
APPENDICES
MELSEC-Q

(1) For axis 1

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
201 4000 4001 4002 4004 4005 4006 4007 4008 4009 251 4500 4501 4502 4504 4505 4506 4507 4508 4509
202 4010 4011 4012 4014 4015 4016 4017 4018 4019 252 4510 4511 4512 4514 4515 4516 4517 4518 4519
203 4020 4021 4022 4024 4025 4026 4027 4028 4029 253 4520 4521 4522 4524 4525 4526 4527 4528 4529
204 4030 4031 4032 4034 4035 4036 4037 4038 4039 254 4530 4531 4532 4534 4535 4536 4537 4538 4539
205 4040 4041 4042 4044 4045 4046 4047 4048 4049 255 4540 4541 4542 4544 4545 4546 4547 4548 4549
206 4050 4051 4052 4054 4055 4056 4057 4058 4059 256 4550 4551 4552 4554 4555 4556 4557 4558 4559
207 4060 4061 4062 4064 4065 4066 4067 4068 4069 257 4560 4561 4562 4564 4565 4566 4567 4568 4569
208 4070 4071 4072 4074 4075 4076 4077 4078 4079 258 4570 4571 4572 4574 4575 4576 4577 4578 4579
209 4080 4081 4082 4084 4085 4086 4087 4088 4089 259 4580 4581 4582 4584 4585 4586 4587 4588 4589
210 4090 4091 4092 4094 4095 4096 4097 4098 4099 260 4590 4591 4592 4594 4595 4596 4597 4598 4599
211 4100 4101 4102 4104 4105 4106 4107 4108 4109 261 4600 4601 4602 4604 4605 4606 4607 4608 4609
212 4110 4111 4112 4114 4115 4116 4117 4118 4119 262 4610 4611 4612 4614 4615 4616 4617 4618 4619
213 4120 4121 4122 4124 4125 4126 4127 4128 4129 263 4620 4621 4622 4624 4625 4626 4627 4628 4629
214 4130 4131 4132 4134 4135 4136 4137 4138 4139 264 4630 4631 4632 4634 4635 4636 4637 4638 4639
215 4140 4141 4142 4144 4145 4146 4147 4148 4149 265 4640 4641 4642 4644 4645 4646 4647 4648 4649
216 4150 4151 4152 4154 4155 4156 4157 4158 4159 266 4650 4651 4652 4654 4655 4656 4657 4658 4659
217 4160 4161 4162 4164 4165 4166 4167 4168 4169 267 4660 4661 4662 4664 4665 4666 4667 4668 4669
218 4170 4171 4172 4174 4175 4176 4177 4178 4179 268 4670 4671 4672 4674 4675 4676 4677 4678 4679
219 4180 4181 4182 4184 4185 4186 4187 4188 4189 269 4680 4681 4682 4684 4685 4686 4687 4688 4689
220 4190 4191 4192 4194 4195 4196 4197 4198 4199 270 4690 4691 4692 4694 4695 4696 4697 4698 4699
221 4200 4201 4202 4204 4205 4206 4207 4208 4209 271 4700 4701 4702 4704 4705 4706 4707 4708 4709
222 4210 4211 4212 4214 4215 4216 4217 4218 4219 272 4710 4711 4712 4714 4715 4716 4717 4718 4719
223 4220 4221 4222 4224 4225 4226 4227 4228 4229 273 4720 4721 4722 4724 4725 4726 4727 4728 4729
224 4230 4231 4232 4234 4235 4236 4237 4238 4239 274 4730 4731 4732 4734 4735 4736 4737 4738 4739
225 4240 4241 4242 4244 4245 4246 4247 4248 4249 275 4740 4741 4742 4744 4745 4746 4747 4748 4749
226 4250 4251 4252 4254 4255 4256 4257 4258 4259 276 4750 4751 4752 4754 4755 4756 4757 4758 4759
227 4260 4261 4262 4264 4265 4266 4267 4268 4269 277 4760 4761 4762 4764 4765 4766 4767 4768 4769
228 4270 4271 4272 4274 4275 4276 4277 4278 4279 278 4770 4771 4772 4774 4775 4776 4777 4778 4779
229 4280 4281 4282 4284 4285 4286 4287 4288 4289 279 4780 4781 4782 4784 4785 4786 4787 4788 4789
230 4290 4291 4292 4294 4295 4296 4297 4298 4299 280 4790 4791 4792 4794 4795 4796 4797 4798 4799
231 4300 4301 4302 4304 4305 4306 4307 4308 4309 281 4800 4801 4802 4804 4805 4806 4807 4808 4809
232 4310 4311 4312 4314 4315 4316 4317 4318 4319 282 4810 4811 4812 4814 4815 4816 4817 4818 4819
233 4320 4321 4322 4324 4325 4326 4327 4328 4329 283 4820 4821 4822 4824 4825 4826 4827 4828 4829
234 4330 4331 4332 4334 4335 4336 4337 4338 4339 284 4830 4831 4832 4834 4835 4836 4837 4838 4839
235 4340 4341 4342 4344 4345 4346 4347 4348 4349 285 4840 4841 4842 4844 4845 4846 4847 4848 4849
236 4350 4351 4352 4354 4355 4356 4357 4358 3459 286 4850 4851 4852 4854 4855 4856 4857 4858 4859
237 4360 4361 4362 4364 4365 4366 4367 4368 4369 287 4860 4861 4862 4864 4865 4866 4867 4868 4869
238 4370 4371 4372 4374 4375 4376 4377 4378 4379 288 4870 4871 4872 4874 4875 4876 4877 4878 4879
239 4380 4381 4382 4384 4385 4386 4387 4388 4389 289 4880 4881 4882 4884 4885 4886 4887 4888 4889
240 4390 4391 4392 4394 4395 4396 4397 4398 4399 290 4890 4891 4892 4894 4895 4896 4897 4898 4899
241 4400 4401 4402 4404 4405 4406 4407 4408 4409 291 4900 4901 4902 4904 4905 4906 4907 4208 4209
242 4410 4411 4412 4414 4415 4416 4417 4418 4419 292 4910 4911 4912 4914 4915 4916 4917 4218 4219
243 4420 4421 4422 4424 4425 4426 4427 4428 4429 293 4920 4921 4922 4924 4925 4926 4927 4228 4229
244 4430 4431 4432 4434 4435 4436 4437 4438 4439 294 4930 4931 4932 4934 4935 4936 4937 4238 4239
245 4440 4441 4442 4444 4445 4446 4447 4448 4449 295 4940 4941 4942 4944 4945 4946 4947 4248 4249
246 4450 4451 4452 4454 4455 4456 4457 4458 4459 296 4950 4951 4952 4954 4955 4956 4957 4958 4959
247 4460 4461 4462 4464 4465 4466 4467 4468 4469 297 4960 4961 4962 4964 4965 4966 4967 4968 4969
248 4470 4471 4472 4474 4475 4476 4477 4478 4479 298 4970 4971 4972 4974 4975 4976 4977 4978 4979
249 4480 4481 4482 4484 4485 4486 4487 4488 4489 299 4980 4981 4982 4984 4985 4986 4987 4988 4989
250 4490 4491 4492 4494 4495 4496 4497 4498 4499 300 4990 4991 4992 4994 4995 4996 4997 4998 4999

Appendix - 15
APPENDICES
MELSEC-Q

(1) For axis 1

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
301 5000 5001 5002 5004 5005 5006 5007 5008 5009 351 5500 5501 5502 5504 5505 5506 5507 5508 5509
302 5010 5011 5012 5014 5015 5016 5017 5018 5019 352 5510 5511 5512 5514 5515 5516 5517 5518 5519
303 5020 5021 5022 5024 5025 5026 5027 5028 5029 353 5520 5521 5522 5524 5525 5526 5527 5528 5529
304 5030 5031 5032 5034 5035 5036 5037 5038 5039 354 5530 5531 5532 5534 5535 5536 5537 5538 5539
305 5040 5041 5042 5044 5045 5046 5047 5048 5049 355 5540 5541 5542 5544 5545 5546 5547 5548 5549
306 5050 5051 5052 5054 5055 5056 5057 5058 5059 356 5550 5551 5552 5554 5555 5556 5557 5558 5559
307 5060 5061 5062 5064 5065 5066 5067 5068 5069 357 5560 5561 5562 5564 5565 5566 5567 5568 5569
308 5070 5071 5072 5074 5075 5076 5077 5078 5079 358 5570 5571 5572 5574 5575 5576 5577 5578 5579
309 5080 5081 5082 5084 5085 5086 5087 5088 5089 359 5580 5581 5582 5584 5585 5586 5587 5588 5589
310 5090 5091 5092 5094 5095 5096 5097 5098 5099 360 5590 5591 5592 5594 5595 5596 5597 5598 5599
311 5100 5101 5102 5104 5105 5106 5107 5108 5109 361 5600 5601 5602 5604 5605 5606 5607 5608 5609
312 5110 5111 5112 5114 5115 5116 5117 5118 5119 362 5610 5611 5612 5614 5615 5616 5617 5618 5619
313 5120 5121 5122 5124 5125 5126 5127 5128 5129 363 5620 5621 5622 5624 5625 5626 5627 5628 5629
314 5130 5131 5132 5134 5135 5136 5137 5138 5139 364 5630 5631 5632 5634 5635 5636 5637 5638 5639
315 5140 5141 5142 5144 5145 5146 5147 5148 5149 365 5640 5641 5642 5644 5645 5646 5647 5648 5649
316 5150 5151 5152 5154 5155 5156 5157 5158 5159 366 5650 5651 5652 5654 5655 5656 5657 5658 5659
317 5160 5161 5162 5164 5165 5166 5167 5168 5169 367 5660 5661 5662 5664 5665 5666 5667 5668 5669
318 5170 5171 5172 5174 5175 5176 5177 5178 5179 368 5670 5671 5672 5674 5675 5676 5677 5678 5679
319 5180 5181 5182 5184 5185 5186 5187 5188 5189 369 5680 5681 5682 5684 5685 5686 5687 5688 5689
320 5190 5191 5192 5194 5195 5196 5197 5198 5199 370 5690 5691 5692 5694 5695 5696 5697 5698 5699
321 5200 5201 5202 5204 5205 5206 5207 5208 5209 371 5700 5701 5702 5704 5705 5706 5707 5708 5709
322 5210 5211 5212 5214 5215 5216 5217 5218 5219 372 5710 5711 5712 5714 5715 5716 5717 5718 5719
323 5220 5221 5222 5224 5225 5226 5227 5228 5229 373 5720 5721 5722 5724 5725 5726 5727 5728 5729
324 5230 5231 5232 5234 5235 5236 5237 5238 5239 374 5730 5731 5732 5734 5735 5736 5737 5738 5739
325 5240 5241 5242 5244 5245 5246 5247 5248 5249 375 5740 5741 5742 5744 5745 5746 5747 5748 5749
326 5250 5251 5252 5254 5255 5256 5257 5258 5259 376 5750 5751 5752 5754 5755 5756 5757 5758 5759
327 5260 5261 5262 5264 5265 5266 5267 5268 5269 377 5760 5761 5762 5764 5765 5766 5767 5768 5769
328 5270 5271 5272 5274 5275 5276 5277 5278 5279 378 5770 5771 5772 5774 5775 5776 5777 5778 5779
329 5280 5281 5282 5284 5285 5286 5287 5288 5289 379 5780 5781 5782 5784 5785 5786 5787 5788 5789
330 5290 5291 5292 5294 5295 5296 5297 5298 5299 380 5790 5791 5792 5794 5795 5796 5797 5798 5799
331 5300 5301 5302 5304 5305 5306 5307 5308 5309 381 5800 5801 5802 5804 5805 5806 5807 5808 5809
332 5310 5311 5312 5314 5315 5316 5317 5318 5319 382 5810 5811 5812 5814 5815 5816 5817 5818 5819
333 5320 5321 5322 5324 5325 5326 5327 5328 5329 383 5820 5821 5822 5824 5825 5826 5827 5828 5829
334 5330 5331 5332 5334 5335 5336 5337 5338 5339 384 5830 5831 5832 5834 5835 5836 5837 5838 5839
335 5340 5341 5342 5344 5345 5346 5347 5348 5349 385 5840 5841 5842 5844 5845 5846 5847 5848 5849
336 5350 5351 5352 5354 5355 5356 5357 5358 5359 386 5850 5851 5852 5854 5855 5856 5857 5858 5859
337 5360 5361 5362 5364 5365 5366 5367 5368 5369 387 5860 5861 5862 5864 5865 5866 5867 5868 5869
338 5370 5371 5372 5374 5375 5376 5377 5378 5379 388 5870 5871 5872 5874 5875 5876 5877 5878 5879
339 5380 5381 5382 5384 5385 5386 5387 5388 5389 389 5880 5881 5882 5884 5885 5886 5887 5888 5889
340 5390 5391 5392 5394 5395 5396 5397 5398 5399 390 5890 5891 5892 5894 5895 5896 5897 5898 5899
341 5400 5401 5402 5404 5405 5406 5407 5408 5409 391 5900 5901 5902 5904 5905 5906 5907 5908 5909
342 5410 5411 5412 5414 5415 5416 5417 5418 5419 392 5910 5911 5912 5914 5915 5916 5917 5918 5919
343 5420 5421 5422 5424 5425 5426 5427 5428 5429 393 5920 5921 5922 5924 5925 5926 5927 5928 5929
344 5430 5431 5432 5434 5435 5436 5437 5438 5439 394 5930 5931 5932 5934 5935 5936 5937 5938 5939
345 5440 5441 5442 5444 5445 5446 5447 5448 5449 395 5940 5941 5942 5944 5945 5946 5947 5948 5949
346 5450 5451 5452 5454 5455 5456 5457 5458 5459 396 5950 5951 5952 5954 5955 5956 5957 5958 5959
347 5460 5461 5462 5464 5465 5466 5467 5468 5469 397 5960 5961 5962 5964 5965 5966 5967 5968 5969
348 5470 5471 5472 5474 5475 5476 5477 5478 5479 398 5970 5971 5972 5974 5975 5976 5977 5978 5979
349 5480 5481 5482 5484 5485 5486 5487 5488 5489 399 5980 5981 5982 5984 5985 5986 5987 5988 5989
350 5490 5491 5492 5494 5495 5496 5497 5498 5499 400 5990 5991 5992 5994 5995 5996 5997 5998 5999

Appendix - 16
APPENDICES
MELSEC-Q

(1) For axis 1

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
401 6000 6001 6002 6004 6005 6006 6007 6008 6009 451 6500 6501 6502 6504 6505 6506 6507 6508 6509
402 6010 6011 6012 6014 6015 6016 6017 6018 6019 452 6510 6511 6512 6514 6515 6516 6517 6518 6519
403 6020 6021 6022 6024 6025 6026 6027 6028 6029 453 6520 6521 6522 6524 6525 6526 6527 6528 6529
404 6030 6031 6032 6034 6035 6036 6037 6038 6039 454 6530 6531 6532 6534 6535 6536 6537 6538 6539
405 6040 6041 6042 6044 6045 6046 6047 6048 6049 455 6540 6541 6542 6544 6545 6546 6547 6548 6549
406 6050 6051 6052 6054 6055 6056 6057 6058 6059 456 6550 6551 6552 6554 6555 6556 6557 6558 6559
407 6060 6061 6062 6064 6065 6066 6067 6068 6069 457 6560 6561 6562 6564 6565 6566 6567 6568 6569
408 6070 6071 6072 6074 6075 6076 6077 6078 6079 458 6570 6571 6572 6574 6575 6576 6577 6578 6579
409 6080 6081 6082 6084 6085 6086 6087 6088 6089 459 6580 6581 6582 6584 6585 6586 6587 6588 6589
410 6090 6091 6092 6094 6095 6096 6097 6098 6099 460 6590 6591 6592 6594 6595 6596 6597 6598 6599
411 6100 6101 6102 6104 6105 6106 6107 6108 6109 461 6600 6601 6602 6604 6605 6606 6607 6608 6609
412 6110 6111 6112 6114 6115 6116 6117 6118 6119 462 6610 6611 6612 6614 6615 6616 6617 6618 6619
413 6120 6121 6122 6124 6125 6126 6127 6128 6129 463 6620 6621 6622 6624 6625 6626 6627 6628 6629
414 6130 6131 6132 6134 6135 6136 6137 6138 6139 464 6630 6631 6632 6634 6635 6636 6637 6638 6639
415 6140 6141 6142 6144 6145 6146 6147 6148 6149 465 6640 6641 6642 6644 6645 6646 6647 6648 6649
416 6150 6151 6152 6154 6155 6156 6157 6158 6159 466 6650 6651 6652 6654 6655 6656 6657 6658 6659
417 6160 6161 6162 6164 6165 6166 6167 6168 6169 467 6660 6661 6662 6664 6665 6666 6667 6668 6669
418 6170 6171 6172 6174 6175 6176 6177 6178 6179 468 6670 6671 6672 6674 6675 6676 6677 6678 6679
419 6180 6181 6182 6184 6185 6186 6187 6188 6189 469 6680 6681 6682 6684 6685 6686 6687 6688 6689
420 6190 6191 6192 6194 6195 6196 6197 6198 6199 470 6690 6691 6692 6694 6695 6696 6697 6698 6699
421 6200 6201 6202 6204 6205 6206 6207 6208 6209 471 6700 6701 6702 6704 6705 6706 6707 6708 6709
422 6210 6211 6212 6214 6215 6216 6217 6218 6219 472 6710 6711 6712 6714 6715 6716 6717 6718 6719
423 6220 6221 6222 6224 6225 6226 6227 6228 6229 473 6720 6721 6722 6724 6725 6726 6727 6728 6729
424 6230 6231 6232 6234 6235 6236 6237 6238 6239 474 6730 6731 6732 6734 6735 6736 6737 6738 6739
425 6240 6241 6242 6244 6245 6246 6247 6248 6249 475 6740 6741 6742 6744 6745 6746 6747 6748 6749
426 6250 6251 6252 6254 6255 6256 6257 6258 6259 476 6750 6751 6752 6754 6755 6756 6757 6758 6759
427 6260 6261 6262 6264 6265 6266 6267 6268 6269 477 6760 6761 6762 6764 6765 6766 6767 6768 6769
428 6270 6271 6272 6274 6275 6276 6277 6278 6279 478 6770 6771 6772 6774 6775 6776 6777 6778 6779
429 6280 6281 6282 6284 6285 6286 6287 6288 6289 479 6780 6781 6782 6784 6785 6786 6787 6788 6789
430 6290 6291 6292 6294 6295 6296 6297 6298 6299 480 6790 6791 6792 6794 6795 6796 6797 6798 6799
431 6300 6301 6302 6304 6305 6306 6307 6308 6309 481 6800 6801 6802 6804 6805 6806 6807 6808 6809
432 6310 6311 6312 6314 6315 6316 6317 6318 6319 482 6810 6811 6812 6814 6815 6816 6817 6818 6819
433 6320 6321 6322 6324 6325 6326 6327 6328 6329 483 6820 6821 6822 6824 6825 6826 6827 6828 6829
434 6330 6331 6332 6334 6335 6336 6337 6338 6339 484 6830 6831 6832 6834 6835 6836 6837 6838 6839
435 6340 6341 6342 6344 6345 6346 6347 6348 6349 485 6840 6841 6842 6844 6845 6846 6847 6848 6849
436 6350 6351 6352 6354 6355 6356 6357 6358 6359 486 6850 6851 6852 6854 6855 6856 6857 6858 6859
437 6360 6361 6362 6364 6365 6366 6367 6368 6369 487 6860 6861 6862 6864 6865 6866 6867 6868 6869
438 6370 6371 6372 6374 6375 6376 6377 6378 6379 488 6870 6871 6872 6874 6875 6876 6877 6878 6879
439 6380 6381 6382 6384 6385 6386 6387 6388 6389 489 6880 6881 6882 6884 6885 6886 6887 6888 6889
440 6390 6391 6392 6394 6395 6396 6397 6398 6399 490 6890 6891 6892 6894 6895 6896 6897 6898 6899
441 6400 6401 6402 6404 6405 6406 6407 6408 6409 491 6900 6901 6902 6904 6905 6906 6907 6908 6909
442 6410 6411 6412 6414 6415 6416 6417 6418 6419 492 6910 6911 6912 6914 6915 6916 6917 6918 6919
443 6420 6421 6422 6424 6425 6426 6427 6428 6429 493 6920 6921 6922 6924 6925 6926 6927 6928 6929
444 6430 6431 6432 6434 6435 6436 6437 6438 6439 494 6930 6931 6932 6934 6935 6936 6937 6938 6939
445 6440 6441 6442 6444 6445 6446 6447 6448 6449 495 6940 6941 6942 6944 6945 6946 6947 6948 6949
446 6450 6451 6452 6454 6455 6456 6457 6458 6459 496 6950 6951 6952 6954 6955 6956 6957 6958 6959
447 6460 6461 6462 6464 6465 6466 6467 6468 6469 497 6960 6961 6962 6964 6965 6966 6967 6968 6969
448 6470 6471 6472 6474 6475 6476 6477 6478 6479 498 6970 6971 6972 6974 6975 6976 6977 6978 6979
449 6480 6481 6482 6484 6485 6486 6487 6488 6489 499 6980 6981 6982 6984 6985 6986 6987 6988 6989
450 6490 6491 6492 6494 6495 6496 6497 6498 6499 500 6990 6991 6992 6994 6995 6996 6997 6998 6999

Appendix - 17
APPENDICES
MELSEC-Q

(1) For axis 1

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
501 7000 7001 7002 7004 7005 7006 7007 7008 7009 551 7500 7501 7502 7504 7505 7506 7507 7508 7509
502 7010 7011 7012 7014 7015 7016 7017 7018 7019 552 7510 7511 7512 7514 7515 7516 7517 7518 7519
503 7020 7021 7022 7024 7025 7026 7027 7028 7029 553 7520 7521 7522 7524 7525 7526 7527 7528 7529
504 7030 7031 7032 7034 7035 7036 7037 7038 7039 554 7530 7531 7532 7534 7535 7536 7537 7538 7539
505 7040 7041 7042 7044 7045 7046 7047 7048 7049 555 7540 7541 7542 7544 7545 7546 7547 7548 7549
506 7050 7051 7052 7054 7055 7056 7057 7058 7059 556 7550 7551 7552 7554 7555 7556 7557 7558 7559
507 7060 7061 7062 7064 7065 7066 7067 7068 7069 557 7560 7561 7562 7564 7565 7566 7567 7568 7569
508 7070 7071 7072 7074 7075 7076 7077 7078 7079 558 7570 7571 7572 7574 7575 7576 7577 7578 7579
509 7080 7081 7082 7084 7085 7086 7087 7088 7089 559 7580 7581 7582 7584 7585 7586 7587 7588 7589
510 7090 7091 7092 7094 7095 7096 7097 7098 7099 560 7590 7591 7592 7594 7595 7596 7597 7598 7599
511 7100 7101 7102 7104 7105 7106 7107 7108 7109 561 7600 7601 7602 7604 7605 7606 7607 7608 7609
512 7110 7111 7112 7114 7115 7116 7117 7118 7119 562 7610 7611 7612 7614 7615 7616 7617 7618 7619
513 7120 7121 7122 7124 7125 7126 7127 7128 7129 563 7620 7621 7622 7624 7625 7626 7627 7628 7629
514 7130 7131 7132 7134 7135 7136 7137 7138 7139 564 7630 7631 7632 7634 7635 7636 7637 7638 7639
515 7140 7141 7142 7144 7145 7146 7147 7148 7149 565 7640 7641 7642 7644 7645 7646 7647 7648 7649
516 7150 7151 7152 7154 7155 7156 7157 7158 7159 566 7650 7651 7652 7654 7655 7656 7657 7658 7659
517 7160 7161 7162 7164 7165 7166 7167 7168 7169 567 7660 7661 7662 7664 7665 7666 7667 7668 7669
518 7170 7171 7172 7174 7175 7176 7177 7178 7179 568 7670 7671 7672 7674 7675 7676 7677 7678 7679
519 7180 7181 7182 7184 7185 7186 7187 7188 7189 569 7680 7681 7682 7684 7685 7686 7687 7688 7689
520 7190 7191 7192 7194 7195 7196 7197 7198 7199 570 7690 7691 7692 7694 7695 7696 7697 7698 7699
521 7200 7201 7202 7204 7205 7206 7207 7208 7209 571 7700 7701 7702 7704 7705 7706 7707 7708 7709
522 7210 7211 7212 7214 7215 7216 7217 7218 7219 572 7710 7711 7712 7714 7715 7716 7717 7718 7719
523 7220 7221 7222 7224 7225 7226 7227 7228 7229 573 7720 7721 7722 7724 7725 7726 7727 7728 7729
524 7230 7231 7232 7234 7235 7236 7237 7238 7239 574 7730 7731 7732 7734 7735 7736 7737 7738 7739
525 7240 7241 7242 7244 7245 7246 7247 7248 7249 575 7740 7741 7742 7744 7745 7746 7747 7748 7749
526 7250 7251 7252 7254 7255 7256 7257 7258 7259 576 7750 7751 7752 7754 7755 7756 7757 7758 7759
527 7260 7261 7262 7264 7265 7266 7267 7268 7269 577 7760 7761 7762 7764 7765 7766 7767 7768 7769
528 7270 7271 7272 7274 7275 7276 7277 7278 7279 578 7770 7771 7772 7774 7775 7776 7777 7778 7779
529 7280 7281 7282 7284 7285 7286 7287 7288 7289 579 7780 7781 7782 7784 7785 7786 7787 7788 7789
530 7290 7291 7292 7294 7295 7296 7297 7298 7299 580 7790 7791 7792 7794 7795 7796 7797 7798 7799
531 7300 7301 7302 7304 7305 7306 7307 7308 7309 581 7800 7801 7802 7804 7805 7806 7807 7808 7809
532 7310 7311 7312 7314 7315 7316 7317 7318 7319 582 7810 7811 7812 7814 7815 7816 7817 7818 7819
533 7320 7321 7322 7324 7325 7326 7327 7328 7329 583 7820 7821 7822 7824 7825 7826 7827 7828 7829
534 7330 7331 7332 7334 7335 7336 7337 7338 7339 584 7830 7831 7832 7834 7835 7836 7837 7838 7839
535 7340 7341 7342 7344 7345 7346 7347 7348 7349 585 7840 7841 7842 7844 7845 7846 7847 7848 7849
536 7350 7351 7352 7354 7355 7356 7357 7358 7359 586 7850 7851 7852 7854 7855 7856 7857 7858 7859
537 7360 7361 7362 7364 7365 7366 7367 7368 7369 587 7860 7861 7862 7864 7865 7866 7867 7868 7869
538 7370 7371 7372 7374 7375 7376 7377 7378 7379 588 7870 7871 7872 7874 7875 7876 7877 7878 7879
539 7380 7381 7382 7384 7385 7386 7387 7388 7389 589 7880 7881 7882 7884 7885 7886 7887 7888 7889
540 7390 7391 7392 7394 7395 7396 7397 7398 7399 590 7890 7891 7892 7894 7895 7896 7897 7898 7899
541 7400 7401 7402 7404 7405 7406 7407 7408 7409 591 7900 7901 7902 7904 7905 7906 7907 7908 7909
542 7410 7411 7412 7414 7415 7416 7417 7418 7419 592 7910 7911 7912 7914 7915 7916 7917 7918 7919
543 7420 7421 7422 7424 7425 7426 7427 7428 7429 593 7920 7921 7922 7924 7925 7926 7927 7928 7929
544 7430 7431 7432 7434 7435 7436 7437 7438 7439 594 7930 7931 7932 7934 7935 7936 7937 7938 7939
545 7440 7441 7442 7444 7445 7446 7447 7448 7449 595 7940 7941 7942 7944 7945 7946 7947 7948 7949
546 7450 7451 7452 7454 7455 7456 7457 7458 7459 596 7950 7951 7952 7954 7955 7956 7957 7958 7959
547 7460 7461 7462 7464 7465 7466 7467 7468 7469 597 7960 7961 7962 7964 7965 7966 7967 7968 7969
548 7470 7471 7472 7474 7475 7476 7477 7478 7479 598 7970 7971 7972 7974 7975 7976 7977 7978 7979
549 7480 7481 7482 7484 7485 7486 7487 7488 7489 599 7980 7981 7982 7984 7985 7986 7987 7988 7989
550 7490 7491 7492 7494 7495 7496 7497 7498 7499 600 7990 7991 7992 7994 7995 7996 7997 7998 7999

Appendix - 18
APPENDICES
MELSEC-Q

(2) For axis 2

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
1 8000 8001 8002 8004 8005 8006 8007 8008 8009 51 8500 8501 8502 8504 8505 8506 8507 8508 8509
2 8010 8011 8012 8014 8015 8016 8017 8018 8019 52 8510 8511 8512 8514 8515 8516 8517 8518 8519
3 8020 8021 8022 8024 8025 8026 8027 8028 8029 53 8520 8521 8522 8524 8525 8526 8527 8528 8529
4 8030 8031 8032 8034 8035 8036 8037 8038 8039 54 8530 8531 8532 8534 8535 8536 8537 8538 8539
5 8040 8041 8042 8044 8045 8046 8047 8048 8049 55 8540 8541 8542 8544 8545 8546 8547 8548 8549
6 8050 8051 8052 8054 8055 8056 8057 8058 8059 56 8550 8551 8552 8554 8555 8556 8557 8558 8559
7 8060 8061 8062 8064 8065 8066 8067 8068 8069 57 8560 8561 8562 8564 8565 8566 8567 8568 8569
8 8070 8071 8072 8074 8075 8076 8077 8078 8079 58 8570 8571 8572 8574 8575 8576 8577 8578 8579
9 8080 8081 8082 8084 8085 8086 8087 8088 8089 59 8580 8581 8582 8584 8585 8586 8587 8588 8589
10 8090 8091 8092 8094 8095 8096 8097 8098 8099 60 8590 8591 8592 8594 8595 8596 8597 8598 8599
11 8100 8101 8102 8104 8105 8106 8107 8108 8109 61 8600 8601 8602 8604 8605 8606 8607 8608 8609
12 8110 8111 8112 8114 8115 8116 8117 8118 8119 62 8610 8611 8612 8614 8615 8616 8617 8618 8619
13 8120 8121 8122 8124 8125 8126 8127 8128 8129 63 8620 8621 8622 8624 8625 8626 8627 8628 8629
14 8130 8131 8132 8134 8135 8136 8137 8138 8139 64 8630 8631 8632 8634 8635 8636 8637 8638 8639
15 8140 8141 8142 8144 8145 8146 8147 8148 8149 65 8640 8641 8642 8644 8645 8646 8647 8648 8649
16 8150 8151 8152 8154 8155 8156 8157 8158 8159 66 8650 8651 8652 8654 8655 8656 8657 8658 8659
17 8160 8161 8162 8164 8165 8166 8167 8168 8169 67 8660 8661 8662 8664 8665 8666 8667 8668 8669
18 8170 8171 8172 8174 8175 8176 8177 8178 8179 68 8670 8671 8672 8674 8675 8676 8677 8678 8679
19 8180 8181 8182 8184 8185 8186 8187 8188 8189 69 8680 8681 8682 8684 8685 8686 8687 8688 8689
20 8190 8191 8192 8194 8195 8196 8197 8198 8199 70 8690 8691 8692 8694 8695 8696 8697 8698 8699
21 8200 8201 8202 8204 8205 8206 8207 8208 8209 71 8700 8701 8702 8704 8705 8706 8707 8708 8709
22 8210 8211 8212 8214 8215 8216 8217 8218 8219 72 8710 8711 8712 8714 8715 8716 8717 8718 8719
23 8220 8221 8222 8224 8225 8226 8227 8228 8229 73 8720 8721 8722 8724 8725 8726 8727 8728 8729
24 8230 8231 8232 8234 8235 8236 8237 8238 8239 74 8730 8731 8732 8734 8735 8736 8737 8738 8739
25 8240 8241 8242 8244 8245 8246 8247 8248 8249 75 8740 8741 8742 8744 8745 8746 8747 8748 8749
26 8250 8251 8252 8254 8255 8256 8257 8258 8259 76 8750 8751 8752 8754 8755 8756 8757 8758 8759
27 8260 8261 8262 8264 8265 8266 8267 8268 8269 77 8760 8761 8762 8764 8765 8766 8767 8768 8769
28 8270 8271 8272 8274 8275 8276 8277 8278 8279 78 8770 8771 8772 8774 8775 8776 8777 8778 8779
29 8280 8281 8282 8284 8285 8286 8287 8288 8289 79 8780 8781 8782 8784 8785 8786 8787 8788 8789
30 8290 8291 8292 8294 8295 8296 8297 8298 8299 80 8790 8791 8792 8794 8795 8796 8797 8798 8799
31 8300 8301 8302 8304 8305 8306 8307 8308 8309 81 8800 8801 8802 8804 8805 8806 8807 8808 8809
32 8310 8311 8312 8314 8315 8316 8317 8318 8319 82 8810 8811 8812 8814 8815 8816 8817 8818 8819
33 8320 8321 8322 8324 8325 8326 8327 8328 8329 83 8820 8821 8822 8824 8825 8826 8827 8828 8829
34 8330 8331 8332 8334 8335 8336 8337 8338 8339 84 8830 8831 8832 8834 8835 8836 8837 8838 8839
35 8340 8341 8342 8344 8345 8346 8347 8348 8349 85 8840 8841 8842 8844 8845 8846 8847 8848 8849
36 8350 8351 8352 8354 8355 8356 8357 8358 8359 86 8850 8851 8852 8854 8855 8856 8857 8858 8859
37 8360 8361 8362 8364 8365 8366 8367 8368 8369 87 8860 8861 8862 8864 8865 8866 8867 8868 8869
38 8370 8371 8372 8374 8375 8376 8377 8378 8379 88 8870 8871 8872 8874 8875 8876 8877 8878 8879
39 8380 8381 8382 8384 8385 8386 8387 8388 8389 89 8880 8881 8882 8884 8885 8886 8887 8888 8889
40 8390 8391 8392 8394 8395 8396 8397 8398 8399 90 8890 8891 8892 8894 8895 8896 8897 8898 8899
41 8400 8401 8402 8404 8405 8406 8407 8408 8409 91 8900 8901 8902 8904 8905 8906 8907 8908 8909
42 8410 8411 8412 8414 8415 8416 8417 8418 8419 92 8910 8911 8912 8914 8915 8916 8917 8918 8919
43 8420 8421 8422 8424 8425 8426 8427 8428 8429 93 8920 8921 8922 8924 8925 8926 8927 8928 8929
44 8430 8431 8432 8434 8435 8436 8437 8438 8439 94 8930 8931 8932 8934 8935 8936 8937 8938 8939
45 8440 8441 8442 8444 8445 8446 8447 8448 8449 95 8940 8941 8942 8944 8945 8946 8947 8948 8949
46 8450 8451 8452 8454 8455 8456 8457 8458 8459 96 8950 8951 8952 8954 8955 8956 8957 8958 8959
47 8460 8461 8462 8464 8465 8466 8467 8468 8469 97 8960 8961 8962 8964 8965 8966 8967 8968 8969
48 8470 8471 8472 8474 8475 8476 8477 8478 8479 98 8970 8971 8972 8974 8975 8976 8977 8978 8979
49 8480 8481 8482 8484 8485 8486 8487 8488 8489 99 8980 8981 8982 8984 8985 8986 8987 8988 8989
50 8490 8491 8492 8494 8495 8496 8497 8498 8499 100 8990 8991 8992 8994 8995 8996 8997 8998 8999

Appendix - 19
APPENDICES
MELSEC-Q

(2) For axis 2

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
101 9000 9001 9002 9004 9005 9006 9007 9008 9009 151 9500 9501 9502 9504 9505 9506 9507 9508 9509
102 9010 9011 9012 9014 9015 9016 9017 9018 9019 152 9510 9511 9512 9514 9515 9516 9517 9518 9519
103 9020 9021 9022 9024 9025 9026 9027 9028 9029 153 9520 9521 9522 9524 9525 9526 9527 9528 9529
104 9030 9031 9032 9034 9035 9036 9037 9038 9039 154 9530 9531 9532 9534 9535 9536 9537 9538 9539
105 9040 9041 9042 9044 9045 9046 9047 9048 9049 155 9540 9541 9542 9544 9545 9546 9547 9548 9549
106 9050 9051 9052 9054 9055 9056 9057 9058 9059 156 9550 9551 9552 9554 9555 9556 9557 9558 9559
107 9060 9061 9062 9064 9065 9066 9067 9068 9069 157 9560 9561 9562 9564 9565 9566 9567 9568 9569
108 9070 9071 9072 9074 9075 9076 9077 9078 9079 158 9570 9571 9572 9574 9575 9576 9577 9578 9579
109 9080 9081 9082 9084 9085 9086 9087 9088 9089 159 9580 9581 9582 9584 9585 9586 9587 9588 9589
110 9090 9091 9092 9094 9095 9096 9097 9098 9099 160 9590 9591 9592 9594 9595 9596 9597 9598 9599
111 9100 9101 9102 9104 9105 9106 9107 9108 9109 161 9600 9601 9602 9604 9605 9606 9607 9608 9609
112 9110 9111 9112 9114 9115 9116 9117 9118 9119 162 9610 9611 9612 9614 9615 9616 9617 9618 9619
113 9120 9121 9122 9124 9125 9126 9127 9128 9129 163 9620 9621 9622 9624 9625 9626 9627 9628 9629
114 9130 9131 9132 9134 9135 9136 9137 9138 9139 164 9630 9631 9632 9634 9635 9636 9637 9638 9639
115 9140 9141 9142 9144 9145 9146 9147 9148 9149 165 9640 9641 9642 9644 9645 9646 9647 9648 9649
116 9150 9151 9152 9154 9155 9156 9157 9158 9159 166 9650 9651 9652 9654 9655 9656 9657 9658 9659
117 9160 9161 9162 9164 9165 9166 9167 9168 9169 167 9660 9661 9662 9664 9665 9666 9667 9668 9669
118 9170 9171 9172 9174 9175 9176 9177 9178 9179 168 9670 9671 9672 9674 9675 9676 9677 9678 9679
119 9180 9181 9182 9184 9185 9186 9187 9188 9189 169 9680 9681 9682 9684 9685 9686 9687 9688 9689
120 9190 9191 9192 9194 9195 9196 9197 9198 9199 170 9690 9691 9692 9694 9695 9696 9697 9698 9699
126 9250 9251 9252 9254 9255 9256 9257 9258 9259 176 9750 9751 9752 9754 9755 9756 9757 9758 9759
127 9260 9261 9262 9264 9265 9266 9267 9268 9269 177 9760 9761 9762 9764 9765 9766 9767 9768 9769
128 9270 9271 9272 9274 9275 9276 9277 9278 9279 178 9770 9771 9772 9774 9775 9776 9777 9778 9779
129 9280 9281 9282 9284 9285 9286 9287 9288 9289 179 9780 9781 9782 9784 9785 9786 9787 9788 9789
130 9290 9291 9292 9294 9295 9296 9297 9298 9299 180 9790 9791 9792 9794 9795 9796 9797 9798 9799
131 9300 9301 9302 9304 9305 9306 9307 9308 9309 181 9800 9801 9802 9804 9805 9806 9807 9808 9809
132 9310 9311 9312 9314 9315 9316 9317 9318 9319 182 9810 9811 9812 9814 9815 9816 9817 9818 9819
133 9320 9321 9322 9324 9325 9326 9327 9328 9329 183 9820 9821 9822 9824 9825 9826 9827 9828 9829
134 9330 9331 9332 9334 9335 9336 9337 9338 9339 184 9830 9831 9832 9834 9835 9836 9837 9838 9839
135 9340 9341 9342 9344 9345 9346 9347 9348 9349 185 9840 9841 9842 9844 9845 9846 9847 9848 9849
136 9350 9351 9352 9354 9355 9356 9357 9358 9359 186 9850 9851 9852 9854 9855 9856 9857 9858 9859
137 9360 9361 9362 9364 9365 9366 9367 9368 9369 187 9860 9861 9862 9864 9865 9866 9867 9868 9869
138 9370 9371 9372 9374 9375 9376 9377 9378 9379 188 9870 9871 9872 9874 9875 9876 9877 9878 9879
139 9380 9381 9382 9384 9385 9386 9387 9388 9389 189 9880 9881 9882 9884 9885 9886 9887 9888 9889
140 9390 9391 9392 9394 9395 9396 9397 9398 9399 190 9890 9891 9892 9894 9895 9896 9897 9898 9899
141 9400 9401 9402 9404 9405 9406 9407 9408 9409 191 9900 9901 9902 9904 9905 9906 9907 9908 9909
142 9410 9411 9412 9414 9415 9416 9417 9418 9419 192 9910 9911 9912 9914 9915 9916 9917 9918 9919
143 9420 9421 9422 9424 9425 9426 9427 9428 9429 193 9920 9921 9922 9924 9925 9926 9927 9928 9929
144 9430 9431 9432 9434 9435 9436 9437 9438 9439 194 9930 9931 9932 9934 9935 9936 9937 9938 9939
145 9440 9441 9442 9444 9445 9446 9447 9448 9449 195 9940 9941 9942 9944 9945 9946 9947 9948 9949
146 9450 9451 9452 9454 9455 9456 9457 9458 9459 196 9950 9951 9952 9954 9955 9956 9957 9958 9959
147 9460 9461 9462 9464 9465 9466 9467 9468 9469 197 9960 9961 9962 9964 9965 9966 9967 9968 9969
148 9470 9471 9472 9474 9475 9476 9477 9478 9479 198 9970 9971 9972 9974 9975 9976 9977 9978 9979
149 9480 9481 9482 9484 9485 9486 9487 9488 9489 199 9980 9981 9982 9984 9985 9986 9987 9988 9989
150 9490 9491 9492 9494 9495 9496 9497 9498 9499 200 9990 9991 9992 9994 9995 9996 9997 9998 9999

Appendix - 20
APPENDICES
MELSEC-Q

(2) For axis 2

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
201 10000 10001 10002 10004 10005 10006 10007 10008 10009 251 10500 10501 10502 10504 10505 10506 10507 10508 10509
202 10010 10011 10012 10014 10015 10016 10017 10018 10019 252 10510 10511 10512 10514 10515 10516 10517 10518 10519
203 10020 10021 10022 10024 10025 10026 10027 10028 10029 253 10520 10521 10522 10524 10525 10526 10527 10528 10529
204 10030 10031 10032 10034 10035 10036 10037 10038 10039 254 10530 10531 10532 10534 10535 10536 10537 10538 10539
205 10040 10041 10042 10044 10045 10046 10047 10048 10049 255 10540 10541 10542 10544 10545 10546 10547 10548 10549
206 10050 10051 10052 10054 10055 10056 10057 10058 10059 256 10550 10551 10552 10554 10555 10556 10557 10558 10559
207 10060 10061 10062 10064 10065 10066 10067 10068 10069 257 10560 10561 10562 10564 10565 10566 10567 10568 10569
208 10070 10071 10072 10074 10075 10076 10077 10078 10079 258 10570 10571 10572 10574 10575 10576 10577 10578 10579
209 10080 10081 10082 10084 10085 10086 10087 10088 10089 259 10580 10581 10582 10584 10585 10586 10587 10588 10589
210 10090 10091 10092 10094 10095 10096 10097 10098 10099 260 10590 10591 10592 10594 10595 10596 10597 10598 10599
211 10100 10101 10102 10104 10105 10106 10107 10108 10109 261 10600 10601 10602 10604 10605 10606 10607 10608 10609
212 10110 10111 10112 10114 10115 10116 10117 10118 10119 262 10610 10611 10612 10614 10615 10616 10617 10618 10619
213 10120 10121 10122 10124 10125 10126 10127 10128 10129 263 10620 10621 10622 10624 10625 10626 10627 10628 10629
214 10130 10131 10132 10134 10135 10136 10137 10138 10139 264 10630 10631 10632 10634 10635 10636 10637 10638 10639
215 10140 10141 10142 10144 10145 10146 10147 10148 10149 265 10640 10641 10642 10644 10645 10646 10647 10648 10649
216 10150 10151 10152 10154 10155 10156 10157 10158 10159 266 10650 10651 10652 10654 10655 10656 10657 10658 10659
217 10160 10161 10162 10164 10165 10166 10167 10168 10169 267 10660 10661 10662 10664 10665 10666 10667 10668 10669
218 10170 10171 10172 10174 10175 10176 10177 10178 10179 268 10670 10671 10672 10674 10675 10676 10677 10678 10679
219 10180 10181 10182 10184 10185 10186 10187 10188 10189 269 10680 10681 10682 10684 10685 10686 10687 10688 10689
220 10190 10191 10192 10194 10195 10196 10197 10198 10199 270 10690 10691 10692 10694 10695 10696 10697 10698 10699
221 10200 10201 10202 10204 10205 10206 10207 10208 10209 271 10700 10701 10702 10704 10705 10706 10707 10708 10709
222 10210 10211 10212 10214 10215 10216 10217 10218 10219 272 10710 10711 10712 10714 10715 10716 10717 10718 10719
223 10220 10221 10222 10224 10225 10226 10227 10228 10229 273 10720 10721 10722 10724 10725 10726 10727 10728 10729
224 10230 10231 10232 10234 10235 10236 10237 10238 10239 274 10730 10731 10732 10734 10735 10736 10737 10738 10739
225 10240 10241 10242 10244 10245 10246 10247 10248 10249 275 10740 10741 10742 10744 10745 10746 10747 10748 10749
226 10250 10251 10252 10254 10255 10256 10257 10258 10259 276 10750 10751 10752 10754 10755 10756 10757 10758 10759
227 10260 10261 10262 10264 10265 10266 10267 10268 10269 277 10760 10761 10762 10764 10765 10766 10767 10768 10769
228 10270 10271 10272 10274 10275 10276 10277 10278 10279 278 10770 10771 10772 10774 10775 10776 10777 10778 10779
229 10280 10281 10282 10284 10285 10286 10287 10288 10289 279 10780 10781 10782 10784 10785 10786 10787 10788 10789
230 10290 10291 10292 10294 10295 10296 10297 10298 10299 280 10790 10791 10792 10794 10795 10796 10797 10798 10799
231 10300 10301 10302 10304 10305 10306 10307 10308 10309 281 10800 10801 10802 10804 10805 10806 10807 10808 10809
232 10310 10311 10312 10314 10315 10316 10317 10318 10319 282 10810 10811 10812 10814 10815 10816 10817 10818 10819
233 10320 10321 10322 10324 10325 10326 10327 10328 10329 283 10820 10821 10822 10824 10825 10826 10827 10828 10829
234 10330 10331 10332 10334 10335 10336 10337 10338 10339 284 10830 10831 10832 10834 10835 10836 10837 10838 10839
235 10340 10341 10342 10344 10345 10346 10347 10348 10349 285 10840 10841 10842 10844 10845 10846 10847 10848 10849
236 10350 10351 10352 10354 10355 10356 10357 10358 10359 286 10850 10851 10852 10854 10855 10856 10857 10858 10859
237 10360 10361 10362 10364 10365 10366 10367 10368 10369 287 10860 10861 10862 10864 10865 10866 10867 10868 10869
238 10370 10371 10372 10374 10375 10376 10377 10378 10379 288 10870 10871 10872 10874 10875 10876 10877 10878 10879
239 10380 10381 10382 10384 10385 10386 10387 10388 10389 289 10880 10881 10882 10884 10885 10886 10887 10888 10889
240 10390 10391 10392 10394 10395 10396 10397 10398 10399 290 10890 10891 10892 10894 10895 10896 10897 10898 10899
241 10400 10401 10402 10404 10405 10406 10407 10408 10409 291 10900 10901 10902 10904 10905 10906 10907 10908 10909
242 10410 10411 10412 10414 10415 10416 10417 10418 10419 292 10910 10911 10912 10914 10915 10916 10917 10918 10919
243 10420 10421 10422 10424 10425 10426 10427 10428 10429 293 10920 10921 10922 10924 10925 10926 10927 10928 10929
244 10430 10431 10432 10434 10435 10436 10437 10438 10439 294 10930 10931 10932 10934 10935 10936 10937 10938 10939
245 10440 10441 10442 10444 10445 10446 10447 10448 10449 295 10940 10941 10942 10944 10945 10946 10947 10948 10949
246 10450 10451 10452 10454 10455 10456 10457 10458 10459 296 10950 10951 10952 10954 10955 10956 10957 10958 10959
247 10460 10461 10462 10464 10465 10466 10467 10468 10469 297 10960 10961 10962 10964 10965 10966 10967 10968 10969
248 10470 10471 10472 10474 10475 10476 10477 10478 10479 298 10970 10971 10972 10974 10975 10976 10977 10978 10979
249 10480 10481 10482 10484 10485 10486 10487 10488 10489 299 10980 10981 10982 10984 10985 10986 10987 10988 10989
250 10490 10491 10492 10494 10495 10496 10497 10498 10499 300 10990 10991 10992 10994 10995 10996 10997 10998 10999

Appendix - 21
APPENDICES
MELSEC-Q

(2) For axis 2

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
301 11000 11001 11002 11004 11005 11006 11007 11008 11009 351 11500 11501 11502 11504 11505 11506 11507 11508 11509
302 11010 11011 11012 11014 11015 11016 11017 11018 11019 352 11510 11511 11512 11514 11515 11516 11517 11518 11519
303 11020 11021 11022 11024 11025 11026 11027 11028 11029 353 11520 11521 11522 11524 11525 11526 11527 11528 11529
304 11030 11031 11032 11034 11035 11036 11037 11038 11039 354 11530 11531 11532 11534 11535 11536 11537 11538 11539
305 11040 11041 11042 11044 11045 11046 11047 11048 11049 355 11540 11541 11542 11544 11545 11546 11547 11548 11549
306 11050 11051 11052 11054 11055 11056 11057 11058 11059 356 11550 11551 11552 11554 11555 11556 11557 11558 11559
307 11060 11061 11062 11064 11065 11066 11067 11068 11069 357 11560 11561 11562 11564 11565 11566 11567 11568 11569
308 11070 11071 11072 11074 11075 11076 11077 11078 11079 358 11570 11571 11572 11574 11575 11576 11577 11578 11579
309 11080 11081 11082 11084 11085 11086 11087 11088 11089 359 11580 11581 11582 11584 11585 11586 11587 11588 11589
310 11090 11091 11092 11094 11095 11096 11097 11098 11099 360 11590 11591 11592 11594 11595 11596 11597 11598 11599
311 11100 11101 11102 11104 11105 11106 11107 11108 11109 361 11600 11601 11602 11604 11605 11606 11607 11608 11609
312 11110 11111 11112 11114 11115 11116 11117 11118 11119 362 11610 11611 11612 11614 11615 11616 11617 11618 11619
313 11120 11121 11122 11124 11125 11126 11127 11128 11129 363 11620 11621 11622 11624 11625 11626 11627 11628 11629
314 11130 11131 11132 11134 11135 11136 11137 11138 11139 364 11630 11631 11632 11634 11635 11636 11637 11638 11639
315 11140 11141 11142 11144 11145 11146 11147 11148 11149 365 11640 11641 11642 11644 11645 11646 11647 11648 11649
316 11150 11151 11152 11154 11155 11156 11157 11158 11159 366 11650 11651 11652 11654 11655 11656 11657 11658 11659
317 11160 11161 11162 11164 11165 11166 11167 11168 11169 367 11660 11661 11662 11664 11665 11666 11667 11668 11669
318 11170 11171 11172 11174 11175 11176 11177 11178 11179 368 11670 11671 11672 11674 11675 11676 11677 11678 11679
319 11180 11181 11182 11184 11185 11186 11187 11188 11189 369 11680 11681 11682 11684 11685 11686 11687 11688 11689
320 11190 11191 11192 11194 11195 11196 11197 11198 11199 370 11690 11691 11692 11694 11695 11696 11697 11698 11699
321 11200 11201 11202 11204 11205 11206 11207 11208 11209 371 11700 11701 11702 11704 11705 11706 11707 11708 11709
322 11210 11211 11212 11214 11215 11216 11217 11218 11219 372 11710 11711 11712 11714 11715 11716 11717 11718 11719
323 11220 11221 11222 11224 11225 11226 11227 11228 11229 373 11720 11721 11722 11724 11725 11726 11727 11728 11729
324 11230 11231 11232 11234 11235 11236 11237 11238 11239 374 11730 11731 11732 11734 11735 11736 11737 11738 11739
325 11240 11241 11242 11244 11245 11246 11247 11248 11249 375 11740 11741 11742 11744 11745 11746 11747 11748 11749
326 11250 11251 11252 11254 11255 11256 11257 11258 11259 376 11750 11751 11752 11754 11755 11756 11757 11758 11759
327 11260 11261 11262 11264 11265 11266 11267 11268 11269 377 11760 11761 11762 11764 11765 11766 11767 11768 11769
328 11270 11271 11272 11274 11275 11276 11277 11278 11279 378 11770 11771 11772 11774 11775 11776 11777 11778 11779
329 11280 11281 11282 11284 11285 11286 11287 11288 11289 379 11780 11781 11782 11784 11785 11786 11787 11788 11789
330 11290 11291 11292 11294 11295 11296 11297 11298 11299 380 11790 11791 11792 11794 11795 11796 11797 11798 11799
331 11300 11301 11302 11304 11305 11306 11307 11308 11309 381 11800 11801 11802 11804 11805 11806 11807 11808 11809
332 11310 11311 11312 11314 11315 11316 11317 11318 11319 382 11810 11811 11812 11814 11815 11816 11817 11818 11819
333 11320 11321 11322 11324 11325 11326 11327 11328 11329 383 11820 11821 11822 11824 11825 11826 11827 11828 11829
334 11330 11331 11332 11334 11335 11336 11337 11338 11339 384 11830 11831 11832 11834 11835 11836 11837 11838 11839
335 11340 11341 11342 11344 11345 11346 11347 11348 11349 385 11840 11841 11842 11844 11845 11846 11847 11848 11849
336 11350 11351 11352 11354 11355 11356 11357 11358 11359 386 11850 11851 11852 11854 11855 11856 11857 11858 11859
337 11360 11361 11362 11364 11365 11366 11367 11368 11369 387 11860 11861 11862 11864 11865 11866 11867 11868 11869
338 11370 11371 11372 11374 11375 11376 11377 11378 11379 388 11870 11871 11872 11874 11875 11876 11877 11878 11879
339 11380 11381 11382 11384 11385 11386 11387 11388 11389 389 11880 11881 11882 11884 11885 11886 11887 11888 11889
340 11390 11391 11392 11394 11395 11396 11397 11398 11399 390 11890 11891 11892 11894 11895 11896 11897 11898 11899
341 11400 11401 11402 11404 11405 11406 11407 11408 11409 391 11900 11901 11902 11904 11905 11906 11907 11908 11909
342 11410 11411 11412 11414 11415 11416 11417 11418 11419 392 11910 11911 11912 11914 11915 11916 11917 11918 11919
343 11420 11421 11422 11424 11425 11426 11427 11428 11429 393 11920 11921 11922 11924 11925 11926 11927 11928 11929
344 11430 11431 11432 11434 11435 11436 11437 11438 11439 394 11930 11931 11932 11934 11935 11936 11937 11938 11939
345 11440 11441 11442 11444 11445 11446 11447 11448 11449 395 11940 11941 11942 11944 11945 11946 11947 11948 11949
346 11450 11451 11452 11454 11455 11456 11457 11458 11459 396 11950 11951 11952 11954 11955 11956 11957 11958 11959
347 11460 11461 11462 11464 11465 11466 11467 11468 11469 397 11960 11961 11962 11964 11965 11966 11967 11968 11969
348 11470 11471 11472 11474 11475 11476 11477 11478 11479 398 11970 11971 11972 11974 11975 11976 11977 11978 11979
349 11480 11481 11482 11484 11485 11486 11487 11488 11489 399 11980 11981 11982 11984 11985 11986 11987 11988 11989
350 11490 11491 11492 11494 11495 11496 11497 11498 11499 400 11990 11991 11992 11994 11995 11996 11997 11998 11999

Appendix - 22
APPENDICES
MELSEC-Q

(2) For axis 2

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
401 12000 12001 12002 12004 12005 12006 12007 12008 12009 451 12500 12501 12502 12504 12505 12506 12507 12508 12509
402 12010 12011 12012 12014 12015 12016 12017 12018 12019 452 12510 12511 12512 12514 12515 12516 12517 12518 12519
403 12020 12021 12022 12024 12025 12026 12027 12028 12029 453 12520 12521 12522 12524 12525 12526 12527 12528 12529
404 12030 12031 12032 12034 12035 12036 12037 12038 12039 454 12530 12531 12532 12534 12535 12536 12537 12538 12539
405 12040 12041 12042 12044 12045 12046 12047 12048 12049 455 12540 12541 12542 12544 12545 12546 12547 12548 12549
406 12050 12051 12052 12054 12055 12056 12057 12058 12059 456 12550 12551 12552 12554 12555 12556 12557 12558 12559
407 12060 12061 12062 12064 12065 12066 12067 12068 12069 457 12560 12561 12562 12564 12565 12566 12567 12568 12569
408 12070 12071 12072 12074 12075 12076 12077 12078 12079 458 12570 12571 12572 12574 12575 12576 12577 12578 12579
409 12080 12081 12082 12084 12085 12086 12087 12088 12089 459 12580 12581 12582 12584 12585 12586 12587 12588 12589
410 12090 12091 12092 12094 12095 12096 12097 12098 12099 460 12590 12591 12592 12594 12595 12596 12597 12598 12599
411 12100 12101 12102 12104 12105 12106 12107 12108 12109 461 12600 12601 12602 12604 12605 12606 12607 12608 12609
412 12110 12111 12112 12114 12115 12116 12117 12118 12119 462 12610 12611 12612 12614 12615 12616 12617 12618 12619
413 12120 12121 12122 12124 12125 12126 12127 12128 12129 463 12620 12621 12622 12624 12625 12626 12627 12628 12629
414 12130 12131 12132 12134 12135 12136 12137 12138 12139 464 12630 12631 12632 12634 12635 12636 12637 12638 12639
415 12140 12141 12142 12144 12145 12146 12147 12148 12149 465 12640 12641 12642 12644 12645 12646 12647 12648 12649
416 12150 12151 12152 12154 12155 12156 12157 12158 12159 466 12650 12651 12652 12654 12655 12656 12657 12658 12659
417 12160 12161 12162 12164 12165 12166 12167 12168 12169 467 12660 12661 12662 12664 12665 12666 12667 12668 12669
418 12170 12171 12172 12174 12175 12176 12177 12178 12179 468 12670 12671 12672 12674 12675 12676 12677 12678 12679
419 12180 12181 12182 12184 12185 12186 12187 12188 12189 469 12680 12681 12682 12684 12685 12686 12687 12688 12689
420 12190 12191 12192 12194 12195 12196 12197 12198 12199 470 12690 12691 12692 12694 12695 12696 12697 12698 12699
421 12200 12201 12202 12204 12205 12206 12207 12208 12209 471 12700 12701 12702 12704 12705 12706 12707 12708 12709
422 12210 12211 12212 12214 12215 12216 12217 12218 12219 472 12710 12711 12712 12714 12715 12716 12717 12718 12719
423 12220 12221 12222 12224 12225 12226 12227 12228 12229 473 12720 12721 12722 12724 12725 12726 12727 12728 12729
424 12230 12231 12232 12234 12235 12236 12237 12238 12239 474 12730 12731 12732 12734 12735 12736 12737 12738 12739
425 12240 12241 12242 12244 12245 12246 12247 12248 12249 475 12740 12741 12742 12744 12745 12746 12747 12748 12749
426 12250 12251 12252 12254 12255 12256 12257 12258 12259 476 12750 12751 12752 12754 12755 12756 12757 12758 12759
427 12260 12261 12262 12264 12265 12266 12267 12268 12269 477 12760 12761 12762 12764 12765 12766 12767 12768 12769
428 12270 12271 12272 12274 12275 12276 12277 12278 12279 478 12770 12771 12772 12774 12775 12776 12777 12778 12779
429 12280 12281 12282 12284 12285 12286 12287 12288 12289 479 12780 12781 12782 12784 12785 12786 12787 12788 12789
430 12290 12291 12292 12294 12295 12296 12297 12298 12299 480 12790 12791 12792 12794 12795 12796 12797 12798 12799
431 12300 12301 12302 12304 12305 12306 12307 12308 12309 481 12800 12801 12802 12804 12805 12806 12807 12808 12809
432 12310 12311 12312 12314 12315 12316 12317 12318 12319 482 12810 12811 12812 12814 12815 12816 12817 12818 12819
433 12320 12321 12322 12324 12325 12326 12327 12328 12329 483 12820 12821 12822 12824 12825 12826 12827 12828 12829
434 12330 12331 12332 12334 12335 12336 12337 12338 12339 484 12830 12831 12832 12834 12835 12836 12837 12838 12839
435 12340 12341 12342 12344 12345 12346 12347 12348 12349 485 12840 12841 12842 12844 12845 12846 12847 12848 12849
436 12350 12351 12352 12354 12355 12356 12357 12358 12359 486 12850 12851 12852 12854 12855 12856 12857 12858 12859
437 12360 12361 12362 12364 12365 12366 12367 12368 12369 487 12860 12861 12862 12864 12865 12866 12867 12868 12869
438 12370 12371 12372 12374 12375 12376 12377 12378 12379 488 12870 12871 12872 12874 12875 12876 12877 12878 12879
439 12380 12381 12382 12384 12385 12386 12387 12388 12389 489 12880 12881 12882 12884 12885 12886 12887 12888 12889
440 12390 12391 12392 12394 12395 12396 12397 12398 12399 490 12890 12891 12892 12894 12895 12896 12897 12898 12899
441 12400 12401 12402 12404 12405 12406 12407 12408 12409 491 12900 12901 12902 12904 12905 12906 12907 12908 12909
442 12410 12411 12412 12414 12415 12416 12417 12418 12419 492 12910 12911 12912 12914 12915 12916 12917 12918 12919
443 12420 12421 12422 12424 12425 12426 12427 12428 12429 493 12920 12921 12922 12924 12925 12926 12927 12928 12929
444 12430 12431 12432 12434 12435 12436 12437 12438 12439 494 12930 12931 12932 12934 12935 12936 12937 12938 12939
445 12440 12441 12442 12444 12445 12446 12447 12448 12449 495 12940 12941 12942 12944 12945 12946 12947 12948 12949
446 12450 12451 12452 12454 12455 12456 12457 12458 12459 496 12950 12951 12952 12954 12955 12956 12957 12958 12959
447 12460 12461 12462 12464 12465 12466 12467 12468 12469 497 12960 12961 12962 12964 12965 12966 12967 12968 12969
448 12470 12471 12472 12474 12475 12476 12477 12478 12479 498 12970 12971 12972 12974 12975 12976 12977 12978 12979
449 12480 12481 12482 12484 12485 12486 12487 12488 12489 499 12980 12981 12982 12984 12985 12986 12987 12988 12989
450 12490 12491 12492 12494 12495 12496 12497 12498 12499 500 12990 12991 12992 12994 12995 12996 12997 12998 12999

Appendix - 23
APPENDICES
MELSEC-Q

(2) For axis 2

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
501 13000 13001 13002 13004 13005 13006 13007 13008 13009 551 13500 13501 13502 13504 13505 13506 13507 13508 13509
502 13010 13011 13012 13014 13015 13016 13017 13018 13019 552 13510 13511 13512 13514 13515 13516 13517 13518 13519
503 13020 13021 13022 13024 13025 13026 13027 13028 13029 553 13520 13521 13522 13524 13525 13526 13527 13528 13529
504 13030 13031 13032 13034 13035 13036 13037 13038 13039 554 13530 13531 13532 13534 13535 13536 13537 13538 13539
505 13040 13041 13042 13044 13045 13046 13047 13048 13049 555 13540 13541 13542 13544 13545 13546 13547 13548 13549
506 13050 13051 13052 13054 13055 13056 13057 13058 13059 556 13550 13551 13552 13554 13555 13556 13557 13558 13559
507 13060 13061 13062 13064 13065 13066 13067 13068 13069 557 13560 13561 13562 13564 13565 13566 13567 13568 13569
508 13070 13071 13072 13074 13075 13076 13077 13078 13079 558 13570 13571 13572 13574 13575 13576 13577 13578 13579
509 13080 13081 13082 13084 13085 13086 13087 13088 13089 559 13580 13581 13582 13584 13585 13586 13587 13588 13589
510 13090 13091 13092 13094 13095 13096 13097 13098 13099 560 13590 13591 13592 13594 13595 13596 13597 13598 13599
511 13100 13101 13102 13104 13105 13106 13107 13108 13109 561 13600 13601 13602 13604 13605 13606 13607 13608 13609
512 13110 13111 13112 13114 13115 13116 13117 13118 13119 562 13610 13611 13612 13614 13615 13616 13617 13618 13619
513 13120 13121 13122 13124 13125 13126 13127 13128 13129 563 13620 13621 13622 13624 13625 13626 13627 13628 13629
514 13130 13131 13132 13134 13135 13136 13137 13138 13139 564 13630 13631 13632 13634 13635 13636 13637 13638 13639
515 13140 13141 13142 13144 13145 13146 13147 13148 13149 565 13640 13641 13642 13644 13645 13646 13647 13648 13649
516 13150 13151 13152 13154 13155 13156 13157 13158 13159 566 13650 13651 13652 13654 13655 13656 13657 13658 13659
517 13160 13161 13162 13164 13165 13166 13167 13168 13169 567 13660 13661 13662 13664 13665 13666 13667 13668 13669
518 13170 13171 13172 13174 13175 13176 13177 13178 13179 568 13670 13671 13672 13674 13675 13676 13677 13678 13679
519 13180 13181 13182 13184 13185 13186 13187 13188 13189 569 13680 13681 13682 13684 13685 13686 13687 13688 13689
520 13190 13191 13192 13194 13195 13196 13197 13198 13199 570 13690 13691 13692 13694 13695 13696 13697 13698 13699
521 13200 13201 13202 13204 13205 13206 13207 13208 13209 571 13700 13701 13702 13704 13705 13706 13707 13708 13709
522 13210 13211 13212 13214 13215 13216 13217 13218 13219 572 13710 13711 13712 13714 13715 13716 13717 13718 13719
523 13220 13221 13222 13224 13225 13226 13227 13228 13229 573 13720 13721 13722 13724 13725 13726 13727 13728 13729
524 13230 13231 13232 13234 13235 13236 13237 13238 13239 574 13730 13731 13732 13734 13735 13736 13737 13738 13739
525 13240 13241 13242 13244 13245 13246 13247 13248 13249 575 13740 13741 13742 13744 13745 13746 13747 13748 13749
526 13250 13251 13252 13254 13255 13256 13257 13258 13259 576 13750 13751 13752 13754 13755 13756 13757 13758 13759
527 13260 13261 13262 13264 13265 13266 13267 13268 13269 577 13760 13761 13762 13764 13765 13766 13767 13768 13769
528 13270 13271 13272 13274 13275 13276 13277 13278 13279 578 13770 13771 13772 13774 13775 13776 13777 13778 13779
529 13280 13281 13282 13284 13285 13286 13287 13288 13289 579 13780 13781 13782 13784 13785 13786 13787 13788 13789
530 13290 13291 13292 13294 13295 13296 13297 13298 13299 580 13790 13791 13792 13794 13795 13796 13797 13798 13799
531 13300 13301 13302 13304 13305 13306 13307 13308 13309 581 13800 13801 13802 13804 13805 13806 13807 13808 13809
532 13310 13311 13312 13314 13315 13316 13317 13318 13319 582 13810 13811 13812 13814 13815 13816 13817 13818 13819
533 13320 13321 13322 13324 13325 13326 13327 13328 13329 583 13820 13821 13822 13824 13825 13826 13827 13828 13829
534 13330 13331 13332 13334 13335 13336 13337 13338 13339 584 13830 13831 13832 13834 13835 13836 13837 13838 13839
535 13340 13341 13342 13344 13345 13346 13347 13348 13349 585 13840 13841 13842 13844 13845 13846 13847 13848 13849
536 13350 13351 13352 13354 13355 13356 13357 13358 13359 586 13850 13851 13852 13854 13855 13856 13857 13858 13859
537 13360 13361 13362 13364 13365 13366 13367 13368 13369 587 13860 13861 13862 13864 13865 13866 13867 13868 13869
538 13370 13371 13372 13374 13375 13376 13377 13378 13379 588 13870 13871 13872 13874 13875 13876 13877 13878 13879
539 13380 13381 13382 13384 13385 13386 13387 13388 13389 589 13880 13881 13882 13884 13885 13886 13887 13888 13889
540 13390 13391 13392 13394 13395 13396 13397 13398 13399 590 13890 13891 13892 13894 13895 13896 13897 13898 13899
541 13400 13401 13402 13404 13405 13406 13407 13408 13409 591 13900 13901 13902 13904 13905 13906 13907 13908 13909
542 13410 13411 13412 13414 13415 13416 13417 13418 13419 592 13910 13911 13912 13914 13915 13916 13917 13918 13919
543 13420 13421 13422 13424 13425 13426 13427 13428 13429 593 13920 13921 13922 13924 13925 13926 13927 13928 13929
544 13430 13431 13432 13434 13435 13436 13437 13438 13439 594 13930 13931 13932 13934 13935 13936 13937 13938 13939
545 13440 13441 13442 13444 13445 13446 13447 13448 13449 595 13940 13941 13942 13944 13945 13946 13947 13948 13949
546 13450 13451 13452 13454 13455 13456 13457 13458 13459 596 13950 13951 13952 13954 13955 13956 13957 13958 13959
547 13460 13461 13462 13464 13465 13466 13467 13468 13469 597 13960 13961 13962 13964 13965 13966 13967 13968 13969
548 13470 13471 13472 13474 13475 13476 13477 13478 13479 598 13970 13971 13972 13974 13975 13976 13977 13978 13979
549 13480 13481 13482 13484 13485 13486 13487 13488 13489 599 13980 13981 13982 13984 13985 13986 13987 13988 13989
550 13490 13491 13492 13494 13495 13496 13497 13498 13499 600 13990 13991 13992 13994 13995 13996 13997 13998 13999

Appendix - 24
APPENDICES
MELSEC-Q

(3) For axis 3

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
1 14000 14001 14002 14004 14005 14006 14007 14008 14009 51 14500 14501 14502 14504 14505 14506 14507 14508 14509
2 14010 14011 14012 14014 14015 14016 14017 14018 14019 52 14510 14511 14512 14514 14515 14516 14517 14518 14519
3 14020 14021 14022 14024 14025 14026 14027 14028 14029 53 14520 14521 14522 14524 14525 14526 14527 14528 14529
4 14030 14031 14032 14034 14035 14036 14037 14038 14039 54 14530 14531 14532 14534 14535 14536 14537 14538 14539
5 14040 14041 14042 14044 14045 14046 14047 14048 14049 55 14540 14541 14542 14544 14545 14546 14547 14548 14549
6 14050 14051 14052 14054 14055 14056 14057 14058 14059 56 14550 14551 14552 14554 14555 14556 14557 14558 14559
7 14060 14061 14062 14064 14065 14066 14067 14068 14069 57 14560 14561 14562 14564 14565 14566 14567 14568 14569
8 14070 14071 14072 14074 14075 14076 14077 14078 14079 58 14570 14571 14572 14574 14575 14576 14577 14578 14579
9 14080 14081 14082 14084 14085 14086 14087 14088 14089 59 14580 14581 14582 14584 14585 14586 14587 14588 14589
10 14090 14091 14092 14094 14095 14096 14097 14098 14099 60 14590 14591 14592 14594 14595 14596 14597 14598 14599
11 14100 14101 14102 14104 14105 14106 14107 14108 14109 61 14600 14601 14602 14604 14605 14606 14607 14608 14609
12 14110 14111 14112 14114 14115 14116 14117 14118 14119 62 14610 14611 14612 14614 14615 14616 14617 14618 14619
13 14120 14121 14122 14124 14125 14126 14127 14128 14129 63 14620 14621 14622 14624 14625 14626 14627 14628 14629
14 14140 14131 14132 14134 14135 14136 14137 14138 14139 64 14630 14631 14632 14634 14635 14636 14637 14638 14639
15 14140 14141 14142 14144 14145 14146 14147 14148 14149 65 14640 14641 14642 14644 14645 14646 14647 14648 14649
16 14150 14151 14152 14154 14155 14156 14157 14158 14159 66 14650 14651 14652 14654 14655 14656 14657 14658 14659
17 14160 14161 14162 14164 14165 14166 14167 14168 14169 67 14660 14661 14662 14664 14665 14666 14667 14668 14669
18 14170 14171 14172 14174 14175 14176 14177 14178 14179 68 14670 14671 14672 14674 14675 14676 14677 14678 14679
19 14180 14181 14182 14184 14185 14186 14187 14188 14189 69 14680 14681 14682 14684 14685 14686 14687 14688 14689
20 14190 14191 14192 14194 14195 14196 14197 14198 14199 70 14690 14691 14692 14694 14695 14696 14697 14698 14699
21 14200 14201 14202 14204 14205 14206 14207 14208 14209 71 14700 14701 14702 14704 14705 14706 14707 14708 14709
22 14210 14211 14212 14214 14215 14216 14217 14218 14219 72 14710 14711 14712 14714 14715 14716 14717 14718 14719
23 14220 14221 14222 14224 14225 14226 14227 14228 14229 73 14720 14721 14722 14724 14725 14726 14727 14728 14729
24 14230 14231 14232 14234 14235 14236 14237 14238 14239 74 14730 14731 14732 14734 14735 14736 14737 14738 14739
25 14240 14241 14242 14244 14245 14246 14247 14248 14249 75 14740 14741 14742 14744 14745 14746 14747 14748 14749
26 14250 14251 14252 14254 14255 14256 14257 14258 14259 76 14750 14751 14752 14754 14755 14756 14757 14758 14759
27 14260 14261 14262 14264 14265 14266 14267 14268 14269 77 14760 14761 14762 14764 14765 14766 14767 14768 14769
28 14270 14271 14272 14274 14275 14276 14277 14278 14279 78 14770 14771 14772 14774 14775 14776 14777 14778 14779
29 14280 14281 14282 14284 14285 14286 14287 14288 14289 79 14780 14781 14782 14784 14785 14786 14787 14788 14789
30 14290 14291 14292 14294 14295 14296 14297 14298 14299 80 14790 14791 14792 14794 14795 14796 14797 14798 14799
31 14300 14301 14302 14304 14305 14306 14307 14308 14309 81 14800 14801 14802 14804 14805 14806 14807 14808 14809
32 14310 14311 14312 14314 14315 14316 14317 14318 14319 82 14810 14811 14812 14814 14815 14816 14817 14818 14819
33 14320 14321 14322 14324 14325 14326 14327 14328 14329 83 14820 14821 14822 14824 14825 14826 14827 14828 14829
34 14330 14331 14332 14334 14335 14336 14337 14338 14339 84 14830 14831 14832 14834 14835 14836 14837 14838 14839
35 14340 14341 14342 14344 14345 14346 14347 14348 14349 85 14840 14841 14842 14844 14845 14846 14847 14848 14849
36 14350 14351 14352 14354 14355 14356 14357 14358 14359 86 14850 14851 14852 14854 14855 14856 14857 14858 14859
37 14360 14361 14362 14364 14365 14366 14367 14368 14369 87 14860 14861 14862 14864 14865 14866 14867 14868 14869
38 14370 14371 14372 14374 14375 14376 14377 14378 14379 88 14870 14871 14872 14874 14875 14876 14877 14878 14879
39 14380 14381 14382 14384 14385 14386 14387 14388 14389 89 14880 14881 14882 14884 14885 14886 14887 14888 14889
40 14390 14391 14392 14394 14395 14396 14397 14398 14399 90 14890 14891 14892 14894 14895 14896 14897 14898 14899
41 14400 14401 14402 14404 14405 14406 14407 14408 14409 91 14900 14901 14902 14904 14905 14906 14907 14908 14909
42 14410 14411 14412 14414 14415 14416 14417 14418 14419 92 14910 14911 14912 14914 14915 14916 14917 14918 14919
43 14420 14421 14422 14424 14425 14426 14427 14428 14429 93 14920 14921 14922 14924 14925 14926 14927 14928 14929
44 14430 14431 14432 14434 14435 14436 14437 14438 14439 94 14930 14931 14932 14934 14935 14936 14937 14938 14939
45 14440 14441 14442 14444 14445 14446 14447 14448 14449 95 14940 14941 14942 14944 14945 14946 14947 14948 14949
46 14450 14451 14452 14454 14455 14456 14457 14458 14459 96 14950 14951 14952 14954 14955 14956 14957 14958 14959
47 14460 14461 14462 14464 14465 14466 14467 14468 14469 97 14960 14961 14962 14964 14965 14966 14967 14968 14969
48 14470 14471 14472 14474 14475 14476 14477 14478 14479 98 14970 14971 14972 14974 14975 14976 14977 14978 14979
49 14480 14481 14482 14484 14485 14486 14487 14488 14489 99 14980 14981 14982 14984 14985 14986 14987 14988 14989
50 14490 14491 14492 14494 14495 14496 14497 14498 14499 100 14990 14991 14992 14994 14995 14996 14997 14998 14999

Appendix - 25
APPENDICES
MELSEC-Q

(3) For axis 3

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
101 15000 15001 15002 15004 15005 15006 15007 15008 15009 151 15500 15501 15502 15504 15505 15506 15507 15508 15509
102 15010 15011 15012 15014 15015 15016 15017 15018 15019 152 15510 15511 15512 15514 15515 15516 15517 15518 15519
103 15020 15021 15022 15024 15025 15026 15027 15028 15029 153 15520 15521 15522 15524 15525 15526 15527 15528 15529
104 15030 15031 15032 15034 15035 15036 15037 15038 15039 154 15530 15531 15532 15534 15535 15536 15537 15538 15539
105 15040 15041 15042 15044 15045 15046 15047 15048 15049 155 15540 15541 15542 15544 15545 15546 15547 15548 15549
106 15050 15051 15052 15054 15055 15056 15057 15058 15059 156 15550 15551 15552 15554 15555 15556 15557 15558 15559
107 15060 15061 15062 15064 15065 15066 15067 15068 15069 157 15560 15561 15562 15564 15565 15566 15567 15568 15569
108 15070 15071 15072 15074 15075 15076 15077 15078 15079 158 15570 15571 15572 15574 15575 15576 15577 15578 15579
109 15080 15081 15082 15084 15085 15086 15087 15088 15089 159 15580 15581 15582 15584 15585 15586 15587 15588 15589
110 15090 15091 15092 15094 15095 15096 15097 15098 15099 160 15590 15591 15592 15594 15595 15596 15597 15598 15599
111 15100 15101 15102 15104 15105 15106 15107 15108 15109 161 15600 15601 15602 15604 15605 15606 15607 15608 15609
112 15110 15111 15112 15114 15115 15116 15117 15118 15119 162 15610 15611 15612 15614 15615 15616 15617 15618 15619
113 15120 15121 15122 15124 15125 15126 15127 15128 15129 163 15620 15621 15622 15624 15625 15626 15627 15628 15629
114 15130 15131 15132 15134 15135 15136 15137 15138 15139 164 15630 15631 15632 15634 15635 15636 15637 15638 15639
115 15140 15141 15142 15144 15145 15146 15147 15148 15149 165 15640 15641 15642 15644 15645 15646 15647 15648 15649
116 15150 15151 15152 15154 15155 15156 15157 15158 15159 166 15650 15651 15652 15654 15655 15656 15657 15658 15659
117 15160 15161 15162 15164 15165 15166 15167 15168 15169 167 15660 15661 15662 15664 15665 15666 15667 15668 15669
118 15170 15171 15172 15174 15175 15176 15177 15178 15179 168 15670 15671 15672 15674 15675 15676 15677 15678 15679
119 15180 15181 15182 15184 15185 15186 15187 15188 15189 169 15680 15681 15682 15684 15685 15686 15687 15688 15689
120 15190 15191 15192 15194 15195 15196 15197 15198 15199 170 15690 15691 15692 15694 15695 15696 15697 15698 15699
121 15200 15201 15202 15204 15205 15206 15207 15208 15209 171 15700 15701 15702 15704 15705 15706 15707 15708 15709
122 15210 15211 15212 15214 15215 15216 15217 15218 15219 172 15710 15711 15712 15714 15715 15716 15717 15718 15719
123 15220 15221 15222 15224 15225 15226 15227 15228 15229 173 15720 15721 15722 15724 15725 15726 15727 15728 15729
124 15230 15231 15232 15234 15235 15236 15237 15238 15239 174 15730 15731 15732 15734 15735 15736 15737 15738 15739
125 15240 15241 15242 15244 15245 15246 15247 15248 15249 175 15740 15741 15742 15744 15745 15746 15747 15748 15749
126 15250 15251 15252 15254 15255 15256 15257 15258 15259 176 15750 15751 15752 15754 15755 15756 15757 15758 15759
127 15260 15261 15262 15264 15265 15266 15267 15268 15269 177 15760 15761 15762 15764 15765 15766 15767 15768 15769
128 15270 15271 15272 15274 15275 15276 15277 15278 15279 178 15770 15771 15772 15774 15775 15776 15777 15778 15779
129 15280 15281 15282 15284 15285 15286 15287 15288 15289 179 15780 15781 15782 15784 15785 15786 15787 15788 15789
130 15290 15291 15292 15294 15295 15296 15297 15298 15299 180 15790 15791 15792 15794 15795 15796 15797 15798 15799
131 15300 15301 15302 15304 15305 15306 15307 15308 15309 181 15800 15801 15802 15804 15805 15806 15807 15808 15809
132 15310 15311 15312 15314 15315 15316 15317 15318 15319 182 15810 15811 15812 15814 15815 15816 15817 15818 15819
133 15320 15321 15322 15324 15325 15326 15327 15328 15329 183 15820 15821 15822 15824 15825 15826 15827 15828 15829
134 15330 15331 15332 15334 15335 15336 15337 15338 15339 184 15830 15831 15832 15834 15835 15836 15837 15838 15839
135 15340 15341 15342 15344 15345 15346 15347 15348 15349 185 15840 15841 15842 15844 15845 15846 15847 15848 15849
136 15350 15351 15352 15354 15355 15356 15357 15358 15359 186 15850 15851 15852 15854 15855 15856 15857 15858 15859
137 15360 15361 15362 15364 15365 15366 15367 15368 15369 187 15860 15861 15862 15864 15865 15866 15867 15868 15869
138 15370 15371 15372 15374 15375 15376 15377 15378 15379 188 15870 15871 15872 15874 15875 15876 15877 15878 15879
139 15380 15381 15382 15384 15385 15386 15387 15388 15389 189 15880 15881 15882 15884 15885 15886 15887 15888 15889
140 15390 15391 15392 15394 15395 15396 15397 15398 15399 190 15890 15891 15892 15894 15895 15896 15897 15898 15899
141 15400 15401 15402 15404 15405 15406 15407 15408 15409 191 15900 15901 15902 15904 15905 15906 15907 15908 15909
142 15410 15411 15412 15414 15415 15416 15417 15418 15419 192 15910 15911 15912 15914 15915 15916 15917 15918 15919
143 15420 15421 15422 15424 15425 15426 15427 15428 15429 193 15920 15921 15922 15924 15925 15926 15927 15928 15929
144 15430 15431 15432 15434 15435 15436 15437 15438 15439 194 15930 15931 15932 15934 15935 15936 15937 15938 15939
145 15440 15441 15442 15444 15445 15446 15447 15448 15449 195 15940 15941 15942 15944 15945 15946 15947 15948 15949
146 15450 15451 15452 15454 15455 15456 15457 15458 15459 196 15950 15951 15952 15954 15955 15956 15957 15958 15959
147 15460 15461 15462 15464 15465 15466 15467 15468 15469 197 15960 15961 15962 15964 15965 15966 15967 15968 15969
148 15470 15471 15472 15474 15475 15476 15477 15478 15479 198 15970 15971 15972 15974 15975 15976 15977 15978 15979
149 15480 15481 15482 15484 15485 15486 15487 15488 15489 199 15980 15981 15982 15984 15985 15986 15987 15988 15989
150 15490 15491 15492 15494 15495 15496 15497 15498 15499 200 15990 15991 15992 15994 15995 15996 15997 15998 15999

Appendix - 26
APPENDICES
MELSEC-Q

(3) For axis 3

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
201 16000 16001 16002 16004 16005 16006 16007 16008 16009 251 16500 16501 16502 16504 16505 16506 16507 16508 16509
202 16010 16011 16012 16014 16015 16016 16017 16018 16019 252 16510 16511 16512 16514 16515 16516 16517 16518 16519
203 16020 16021 16022 16024 16025 16026 16027 16028 16029 253 16520 16521 16522 16524 16525 16526 16527 16528 16529
204 16030 16031 16032 16034 16035 16036 16037 16038 16039 254 16530 16531 16532 16534 16535 16536 16537 16538 16539
205 16040 16041 16042 16044 16045 16046 16047 16048 16049 255 16540 16541 16542 16544 16545 16546 16547 16548 16549
206 16050 16051 16052 16054 16055 16056 16057 16058 16059 256 16550 16551 16552 16554 16555 16556 16557 16558 16559
207 16060 16061 16062 16064 16065 16066 16067 16068 16069 257 16560 16561 16562 16564 16565 16566 16567 16568 16569
208 16070 16071 16072 16074 16075 16076 16077 16078 16079 258 16570 16571 16572 16574 16575 16576 16577 16578 16579
209 16080 16081 16082 16084 16085 16086 16087 16088 16089 259 16580 16581 16582 16584 16585 16586 16587 16588 16589
210 16090 16091 16092 16094 16095 16096 16097 16098 16099 260 16590 16591 16592 16594 16595 16596 16597 16598 16599
211 16100 16101 16102 16104 16105 16106 16107 16108 16109 261 16600 16601 16602 16604 16605 16606 16607 16608 16609
212 16110 16111 16112 16114 16115 16116 16117 16118 16119 262 16610 16611 16612 16614 16615 16616 16617 16618 16619
213 16120 16121 16122 16124 16125 16126 16127 16128 16129 263 16620 16621 16622 16624 16625 16626 16627 16628 16629
214 16130 16131 16132 16134 16135 16136 16137 16138 16139 264 16630 16631 16632 16634 16635 16636 16637 16638 16639
215 16140 16141 16142 16144 16145 16146 16147 16148 16149 265 16640 16641 16642 16644 16645 16646 16647 16648 16649
216 16150 16151 16152 16154 16155 16156 16157 16158 16159 266 16650 16651 16652 16654 16655 16656 16657 16658 16659
217 16160 16161 16162 16164 16165 16166 16167 16168 16169 267 16660 16661 16662 16664 16665 16666 16667 16668 16669
218 16170 16171 16172 16174 16175 16176 16177 16178 16179 268 16670 16671 16672 16674 16675 16676 16677 16678 16679
219 16180 16181 16182 16184 16185 16186 16187 16188 16189 269 16680 16681 16682 16684 16685 16686 16687 16688 16689
220 16190 16191 16192 16194 16195 16196 16197 16198 16199 270 16690 16691 16692 16694 16695 16696 16697 16698 16699
221 16200 16201 16202 16204 16205 16206 16207 16208 16209 271 16700 16701 16702 16704 16705 16706 16707 16708 16709
222 16210 16211 16212 16214 16215 16216 16217 16218 16219 272 16710 16711 16712 16714 16715 16716 16717 16718 16719
223 16220 16221 16222 16224 16225 16226 16227 16228 16229 273 16720 16721 16722 16724 16725 16726 16727 16728 16729
224 16230 16231 16232 16234 16235 16236 16237 16238 16239 274 16730 16731 16732 16734 16735 16736 16737 16738 16739
225 16240 16241 16242 16244 16245 16246 16247 16248 16249 275 16740 16741 16742 16744 16745 16746 16747 16748 16749
226 16250 16251 16252 16254 16255 16256 16257 16258 16259 276 16750 16751 16752 16754 16755 16756 16757 16758 16759
227 16260 16261 16262 16264 16265 16266 16267 16268 16269 277 16760 16761 16762 16764 16765 16766 16767 16768 16769
228 16270 16271 16272 16274 16275 16276 16277 16278 16279 278 16770 16771 16772 16774 16775 16776 16777 16778 16779
229 16280 16281 16282 16284 16285 16286 16287 16288 16289 279 16780 16781 16782 16784 16785 16786 16787 16788 16789
230 16290 16291 16292 16294 16295 16296 16297 16298 16299 280 16790 16791 16792 16794 16795 16796 16797 16798 16799
231 16300 16301 16302 16304 16305 16306 16307 16308 16309 281 16800 16801 16802 16804 16805 16806 16807 16808 16809
232 16310 16311 16312 16314 16315 16316 16317 16318 16319 282 16810 16811 16812 16814 16815 16816 16817 16818 16819
233 16320 16321 16322 16324 16325 16326 16327 16328 16329 283 16820 16821 16822 16824 16825 16826 16827 16828 16829
234 16330 16331 16332 16334 16335 16336 16337 16338 16339 284 16830 16831 16832 16834 16835 16836 16837 16838 16839
235 16340 16341 16342 16344 16345 16346 16347 16348 16349 285 16840 16841 16842 16844 16845 16846 16847 16848 16849
236 16350 16351 16352 16354 16355 16356 16357 16358 16359 286 16850 16851 16852 16854 16855 16856 16857 16858 16859
237 16360 16361 16362 16364 16365 16366 16367 16368 16369 287 16860 16861 16862 16864 16865 16866 16867 16868 16869
238 16370 16371 16372 16374 16375 16376 16377 16378 16379 288 16870 16871 16872 16874 16875 16876 16877 16878 16879
239 16380 16381 16382 16384 16385 16386 16387 16388 16389 289 16880 16881 16882 16884 16885 16886 16887 16888 16889
240 16390 16391 16392 16394 16395 16396 16397 16398 16399 290 16890 16891 16892 16894 16895 16896 16897 16898 16899
241 16400 16401 16402 16404 16405 16406 16407 16408 16409 291 16900 16901 16902 16904 16905 16906 16907 16908 16909
242 16410 16411 16412 16414 16415 16416 16417 16418 16419 292 16910 16911 16912 16914 16915 16916 16917 16918 16919
243 16420 16421 16422 16424 16425 16426 16427 16428 16429 293 16920 16921 16922 16924 16925 16926 16927 16928 16929
244 16430 16431 16432 16434 16435 16436 16437 16438 16439 294 16930 16931 16932 16934 16935 16936 16937 16938 16939
245 16440 16441 16442 16444 16445 16446 16447 16448 16449 295 16940 16941 16942 16944 16945 16946 16947 16948 16949
246 16450 16451 16452 16454 16455 16456 16457 16458 16459 296 16950 16951 16952 16954 16955 16956 16957 16958 16959
247 16460 16461 16462 16464 16465 16466 16467 16468 16469 297 16960 16961 16962 16964 16965 16966 16967 16968 16969
248 16470 16471 16472 16474 16475 16476 16477 16478 16479 298 16970 16971 16972 16974 16975 16976 16977 16978 16979
249 16480 16481 16482 16484 16485 16486 16487 16488 16489 299 16980 16981 16982 16984 16985 16986 16987 16988 16989
250 16490 16491 16492 16494 16495 16496 16497 16498 16499 300 16990 16991 16992 16994 16995 16996 16997 16998 16999

Appendix - 27
APPENDICES
MELSEC-Q

(3) For axis 3

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
301 17000 17001 17002 17004 17005 17006 17007 17008 17009 351 17500 17501 17502 17504 17505 17506 17507 17508 17509
302 17010 17011 17012 17014 17015 17016 17017 17018 17019 352 17510 17511 17512 17514 17515 17516 17517 17518 17519
303 17020 17021 17022 17024 17025 17026 17027 17028 17029 353 17520 17521 17522 17524 17525 17526 17527 17528 17529
304 17030 17031 17032 17034 17035 17036 17037 17038 17039 354 17530 17531 17532 17534 17535 17536 17537 17538 17539
305 17040 17041 17042 17044 17045 17046 17047 17048 17049 355 17540 17541 17542 17544 17545 17546 17547 17548 17549
306 17050 17051 17052 17054 17055 17056 17057 17058 17059 356 17550 17551 17552 17554 17555 17556 17557 17558 17559
307 17060 17061 17062 17064 17065 17066 17067 17068 17069 357 17560 17561 17562 17564 17565 17566 17567 17568 17569
308 17070 17071 17072 17074 17075 17076 17077 17078 17079 358 17570 17571 17572 17574 17575 17576 17577 17578 17579
309 17080 17081 17082 17084 17085 17086 17087 17088 17089 359 17580 17581 17582 17584 17585 17586 17587 17588 17589
310 17090 17091 17092 17094 17095 17096 17097 17098 17099 360 17590 17591 17592 17594 17595 17596 17597 17598 17599
311 17100 17101 17102 17104 17105 17106 17107 17108 17109 361 17600 17601 17602 17604 17605 17606 17607 17608 17609
312 17110 17111 17112 17114 17115 17116 17117 17118 17119 362 17610 17611 17612 17614 17615 17616 17617 17618 17619
313 17120 17121 17122 17124 17125 17126 17127 17128 17129 363 17620 17621 17622 17624 17625 17626 17627 17628 17629
314 17130 17131 17132 17134 17135 17136 17137 17138 17139 364 17630 17631 17632 17634 17635 17636 17637 17638 17639
315 17140 17141 17142 17144 17145 17146 17147 17148 17149 365 17640 17641 17642 17644 17645 17646 17647 17648 17649
316 17150 17151 17152 17154 17155 17156 17157 17158 17159 366 17650 17651 17652 17654 17655 17656 17657 17658 17659
317 17160 17161 17162 17164 17165 17166 17167 17168 17169 367 17660 17661 17662 17664 17665 17666 17667 17668 17669
318 17170 17171 17172 17174 17175 17176 17177 17178 17179 368 17670 17671 17672 17674 17675 17676 17677 17678 17679
319 17180 17181 17182 17184 17185 17186 17187 17188 17189 369 17680 17681 17682 17684 17685 17686 17687 17688 17689
320 17190 17191 17192 17194 17195 17196 17197 17198 17199 370 17690 17691 17692 17694 17695 17696 17697 17698 17699
321 17200 17201 17202 17204 17205 17206 17207 17208 17209 371 17700 17701 17702 17704 17705 17706 17707 17708 17709
322 17210 17211 17212 17214 17215 17216 17217 17218 17219 372 17710 17711 17712 17714 17715 17716 17717 17718 17719
323 17220 17221 17222 17224 17225 17226 17227 17228 17229 373 17720 17721 17722 17724 17725 17726 17727 17728 17729
324 17230 17231 17232 17234 17235 17236 17237 17238 17239 374 17730 17731 17732 17734 17735 17736 17737 17738 17739
325 17240 17241 17242 17244 17245 17246 17247 17248 17249 375 17740 17741 17742 17744 17745 17746 17747 17748 17749
326 17250 17251 17252 17254 17255 17256 17257 17258 17259 376 17750 17751 17752 17754 17755 17756 17757 17758 17759
327 17260 17261 17262 17264 17265 17266 17267 17268 17269 377 17760 17761 17762 17764 17765 17766 17767 17768 17769
328 17270 17271 17272 17274 17275 17276 17277 17278 17279 378 17770 17771 17772 17774 17775 17776 17777 17778 17779
329 17280 17281 17282 17284 17285 17286 17287 17288 17289 379 17780 17781 17782 17784 17785 17786 17787 17788 17789
330 17290 17291 17292 17294 17295 17296 17297 17298 17299 380 17790 17791 17792 17794 17795 17796 17797 17798 17799
331 17300 17301 17302 17304 17305 17306 17307 17308 17309 381 17800 17801 17802 17804 17805 17806 17807 17808 17809
332 17310 17311 17312 17314 17315 17316 17317 17318 17319 382 17810 17811 17812 17814 17815 17816 17817 17818 17819
333 17320 17321 17322 17324 17325 17326 17327 17328 17329 383 17820 17821 17822 17824 17825 17826 17827 17828 17829
334 17330 17331 17332 17334 17335 17336 17337 17338 17339 384 17830 17831 17832 17834 17835 17836 17837 17838 17839
335 17340 17341 17342 17344 17345 17346 17347 17348 17349 385 17840 17841 17842 17844 17845 17846 17847 17848 17849
336 17350 17351 17352 17354 17355 17356 17357 17358 17359 386 17850 17851 17852 17854 17855 17856 17857 17858 17859
337 17360 17361 17362 17364 17365 17366 17367 17368 17369 387 17860 17861 17862 17864 17865 17866 17867 17868 17869
338 17370 17371 17372 17374 17375 17376 17377 17378 17379 388 17870 17871 17872 17874 17875 17876 17877 17878 17879
339 17380 17381 17382 17384 17385 17386 17387 17388 17389 389 17880 17881 17882 17884 17885 17886 17887 17888 17889
340 17390 17391 17392 17394 17395 17396 17397 17398 17399 390 17890 17891 17892 17894 17895 17896 17897 17898 17899
341 17400 17401 17402 17404 17405 17406 17407 17408 17409 391 17900 17901 17902 17904 17905 17906 17907 17908 17909
342 17410 17411 17412 17414 17415 17416 17417 17418 17419 392 17910 17911 17912 17914 17915 17916 17917 17918 17919
343 17420 17421 17422 17424 17425 17426 17427 17428 17429 393 17920 17921 17922 17924 17925 17926 17927 17928 17929
344 17430 17431 17432 17434 17435 17436 17437 17438 17439 394 17930 17931 17932 17934 17935 17936 17937 17938 17939
345 17440 17441 17442 17444 17445 17446 17447 17448 17449 395 17940 17941 17942 17944 17945 17946 17947 17948 17949
346 17450 17451 17452 17454 17455 17456 17457 17458 17459 396 17950 17951 17952 17954 17955 17956 17957 17958 17959
347 17460 17461 17462 17464 17465 17466 17467 17468 17469 397 17960 17961 17962 17964 17965 17966 17967 17968 17969
348 17470 17471 17472 17474 17475 17476 17477 17478 17479 398 17970 17971 17972 17974 17975 17976 17977 17978 17979
349 17480 17481 17482 17484 17485 17486 17487 17488 17489 399 17980 17981 17982 17984 17985 17986 17987 17988 17989
350 17490 17491 17492 17494 17495 17496 17497 17498 17499 400 17990 17991 17992 17994 17995 17996 17997 17998 17999

Appendix - 28
APPENDICES
MELSEC-Q

(3) For axis 3

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
401 18000 18001 18002 18004 18005 18006 18007 18008 18009 451 18500 18501 18502 18504 18505 18506 18507 18508 18509
402 18010 18011 18012 18014 18015 18016 18017 18018 18019 452 18510 18511 18512 18514 18515 18516 18517 18518 18519
403 18020 18021 18022 18024 18025 18026 18027 18028 18029 453 18520 18521 18522 18524 18525 18526 18527 18528 18529
404 18030 18031 18032 18034 18035 18036 18037 18038 18039 454 18530 18531 18532 18534 18535 18536 18537 18538 18539
405 18040 18041 18042 18044 18045 18046 18047 18048 18049 455 18540 18541 18542 18544 18545 18546 18547 18548 18549
406 18050 18051 18052 18054 18055 18056 18057 18058 18059 456 18550 18551 18552 18554 18555 18556 18557 18558 18559
407 18060 18061 18062 18064 18065 18066 18067 18068 18069 457 18560 18561 18562 18564 18565 18566 18567 18568 18569
408 18070 18071 18072 18074 18075 18076 18077 18078 18079 458 18570 18571 18572 18574 18575 18576 18577 18578 18579
409 18080 18081 18082 18084 18085 18086 18087 18088 18089 459 18580 18581 18582 18584 18585 18586 18587 18588 18589
410 18090 18091 18092 18094 18095 18096 18097 18098 18099 460 18590 18591 18592 18594 18595 18596 18597 18598 18599
411 18100 18101 18102 18104 18105 18106 18107 18108 18109 461 18600 18601 18602 18604 18605 18606 18607 18608 18609
412 18110 18111 18112 18114 18115 18116 18117 18118 18119 462 18610 18611 18612 18614 18615 18616 18617 18618 18619
413 18120 18121 18122 18124 18125 18126 18127 18128 18129 463 18620 18621 18622 18624 18625 18626 18627 18628 18629
414 18130 18131 18132 18134 18135 18136 18137 18138 18139 464 18630 18631 18632 18634 18635 18636 18637 18638 18639
415 18140 18141 18142 18144 18145 18146 18147 18148 18149 465 18640 18641 18642 18644 18645 18646 18647 18648 18649
416 18150 18151 18152 18154 18155 18156 18157 18158 18159 466 18650 18651 18652 18654 18655 18656 18657 18658 18659
417 18160 18161 18162 18164 18165 18166 18167 18168 18169 467 18660 18661 18662 18664 18665 18666 18667 18668 18669
418 18170 18171 18172 18174 18175 18176 18177 18178 18179 468 18670 18671 18672 18674 18675 18676 18677 18678 18679
419 18180 18181 18182 18184 18185 18186 18187 18188 18189 469 18680 18681 18682 18684 18685 18686 18687 18688 18689
420 18190 18191 18192 18194 18195 18196 18197 18198 18199 470 18690 18691 18692 18694 18695 18696 18697 18698 18699
421 18200 18201 18202 18204 18205 18206 18207 18208 18209 471 18700 18701 18702 18704 18705 18706 18707 18708 18709
422 18210 18211 18212 18214 18215 18216 18217 18218 18219 472 18710 18711 18712 18714 18715 18716 18717 18718 18719
423 18220 18221 18222 18224 18225 18226 18227 18228 18229 473 18720 18721 18722 18724 18725 18726 18727 18728 18729
424 18230 18231 18232 18234 18235 18236 18237 18238 18239 474 18730 18731 18732 18734 18735 18736 18737 18738 18739
425 18240 18241 18242 18244 18245 18246 18247 18248 18249 475 18740 18741 18742 18744 18745 18746 18747 18748 18749
426 18250 18251 18252 18254 18255 18256 18257 18258 18259 476 18750 18751 18752 18754 18755 18756 18757 18758 18759
427 18260 18261 18262 18264 18265 18266 18267 18268 18269 477 18760 18761 18762 18764 18765 18766 18767 18768 18769
428 18270 18271 18272 18274 18275 18276 18277 18278 18279 478 18770 18771 18772 18774 18775 18776 18777 18778 18779
429 18280 18281 18282 18284 18285 18286 18287 18288 18289 479 18780 18781 18782 18784 18785 18786 18787 18788 18789
430 18290 18291 18292 18294 18295 18296 18297 18298 18299 480 18790 18791 18792 18794 18795 18796 18797 18798 18799
431 18300 18301 18302 18304 18305 18306 18307 18308 18309 481 18800 18801 18802 18804 18805 18806 18807 18808 18809
432 18310 18311 18312 18314 18315 18316 18317 18318 18319 482 18810 18811 18812 18814 18815 18816 18817 18818 18819
433 18320 18321 18322 18324 18325 18326 18327 18328 18329 483 18820 18821 18822 18824 18825 18826 18827 18828 18829
434 18330 18331 18332 18334 18335 18336 18337 18338 18339 484 18830 18831 18832 18834 18835 18836 18837 18838 18839
435 18340 18341 18342 18344 18345 18346 18347 18348 18349 485 18840 18841 18842 18844 18845 18846 18847 18848 18849
436 18350 18351 18352 18354 18355 18356 18357 18358 18359 486 18850 18851 18852 18854 18855 18856 18857 18858 18859
437 18360 18361 18362 18364 18365 18366 18367 18368 18369 487 18860 18861 18862 18864 18865 18866 18867 18868 18869
438 18370 18371 18372 18374 18375 18376 18377 18378 18379 488 18870 18871 18872 18874 18875 18876 18877 18878 18879
439 18380 18381 18382 18384 18385 18386 18387 18388 18389 489 18880 18881 18882 18884 18885 18886 18887 18888 18889
440 18390 18391 18392 18394 18395 18396 18397 18398 18399 490 18890 18891 18892 18894 18895 18896 18897 18898 18899
441 18400 18401 18402 18404 18405 18406 18407 18408 18409 491 18900 18901 18902 18904 18905 18906 18907 18908 18909
442 18410 18411 18412 18414 18415 18416 18417 18418 18419 492 18910 18911 18912 18914 18915 18916 18917 18918 18919
443 18420 18421 18422 18424 18425 18426 18427 18428 18429 493 18920 18921 18922 18924 18925 18926 18927 18928 18929
444 18430 18431 18432 18434 18435 18436 18437 18438 18439 494 18930 18931 18932 18934 18935 18936 18937 18938 18939
445 18440 18441 18442 18444 18445 18446 18447 18448 18449 495 18940 18941 18942 18944 18945 18946 18947 18948 18949
446 18450 18451 18452 18454 18455 18456 18457 18458 18459 496 18950 18951 18952 18954 18955 18956 18957 18958 18959
447 18460 18461 18462 18464 18465 18466 18467 18468 18469 497 18960 18961 18962 18964 18965 18966 18967 18968 18969
448 18470 18471 18472 18474 18475 18476 18477 18478 18479 498 18970 18971 18972 18974 18975 18976 18977 18978 18979
449 18480 18481 18482 18484 18485 18486 18487 18488 18489 499 18980 18981 18982 18984 18985 18986 18987 18988 18989
450 18490 18491 18492 18494 18495 18496 18497 18498 18499 500 18990 18991 18992 18994 18995 18996 18997 18998 18999

Appendix - 29
APPENDICES
MELSEC-Q

(3) For axis 3

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
501 19000 19001 19002 19004 19005 19006 19007 19008 19009 551 19500 19501 19502 19504 19505 19506 19507 19508 19509
502 19010 19011 19012 19014 19015 19016 19017 19018 19019 552 19510 19511 19512 19514 19515 19516 19517 19518 19519
503 19020 19021 19022 19024 19025 19026 19027 19028 19029 553 19520 19521 19522 19524 19525 19526 19527 19528 19529
504 19030 19031 19032 19034 19035 19036 19037 19038 19039 554 19530 19531 19532 19534 19535 19536 19537 19538 19539
505 19040 19041 19042 19044 19045 19046 19047 19048 19049 555 19540 19541 19542 19544 19545 19546 19547 19548 19549
506 19050 19051 19052 19054 19055 19056 19057 19058 19059 556 19550 19551 19552 19554 19555 19556 19557 19558 19559
507 19060 19061 19062 19064 19065 19066 19067 19068 19069 557 19560 19561 19562 19564 19565 19566 19567 19568 19569
508 19070 19071 19072 19074 19075 19076 19077 19078 19079 558 19570 19571 19572 19574 19575 19576 19577 19578 19579
509 19080 19081 19082 19084 19085 19086 19087 19088 19089 559 19580 19581 19582 19584 19585 19586 19587 19588 19589
510 19090 19091 19092 19094 19095 19096 19097 19098 19099 560 19590 19591 19592 19594 19595 19596 19597 19598 19599
511 19100 19101 19102 19104 19105 19106 19107 19108 19109 561 19600 19601 19602 19604 19605 19606 19607 19608 19609
512 19110 19111 19112 19114 19115 19116 19117 19118 19119 562 19610 19611 19612 19614 19615 19616 19617 19618 19619
513 19120 19121 19122 19124 19125 19126 19127 19128 19129 563 19620 19621 19622 19624 19625 19626 19627 19628 19629
514 19130 19131 19132 19134 19135 19136 19137 19138 19139 564 19630 19631 19632 19634 19635 19636 19637 19638 19639
515 19140 19141 19142 19144 19145 19146 19147 19148 19149 565 19640 19641 19642 19644 19645 19646 19647 19648 19649
516 19150 19151 19152 19154 19155 19156 19157 19158 19159 566 19650 19651 19652 19654 19655 19656 19657 19658 19659
517 19160 19161 19162 19164 19165 19166 19167 19168 19169 567 19660 19661 19662 19664 19665 19666 19667 19668 19669
518 19170 19171 19172 19174 19175 19176 19177 19178 19179 568 19670 19671 19672 19674 19675 19676 19677 19678 19679
519 19180 19181 19182 19184 19185 19186 19187 19188 19189 569 19680 19681 19682 19684 19685 19686 19687 19688 19689
520 19190 19191 19192 19194 19195 19196 19197 19198 19199 570 19690 19691 19692 19694 19695 19696 19697 19698 19699
521 19200 19201 19202 19204 19205 19206 19207 19208 19209 571 19700 19701 19702 19704 19705 19706 19707 19708 19709
522 19210 19211 19212 19214 19215 19216 19217 19218 19219 572 19710 19711 19712 19714 19715 19716 19717 19718 19719
523 19220 19221 19222 19224 19225 19226 19227 19228 19229 573 19720 19721 19722 19724 19725 19726 19727 19728 19729
524 19230 19231 19232 19234 19235 19236 19237 19238 19239 574 19730 19731 19732 19734 19735 19736 19737 19738 19739
525 19240 19241 19242 19244 19245 19246 19247 19248 19249 575 19740 19741 19742 19744 19745 19746 19747 19748 19749
526 19250 19251 19252 19254 19255 19256 19257 19258 19259 576 19750 19751 19752 19754 19755 19756 19757 19758 19759
527 19260 19261 19262 19264 19265 19266 19267 19268 19269 577 19760 19761 19762 19764 19765 19766 19767 19768 19769
528 19270 19271 19272 19274 19275 19276 19277 19278 19279 578 19770 19771 19772 19774 19775 19776 19777 19778 19779
529 19280 19281 19282 19284 19285 19286 19287 19288 19289 579 19780 19781 19782 19784 19785 19786 19787 19788 19789
530 19290 19291 19292 19294 19295 19296 19297 19298 19299 580 19790 19791 19792 19794 19795 19796 19797 19798 19799
531 19300 19301 19302 19304 19305 19306 19307 19308 19309 581 19800 19801 19802 19804 19805 19806 19807 19808 19809
532 19310 19311 19312 19314 19315 19316 19317 19318 19319 582 19810 19811 19812 19814 19815 19816 19817 19818 19819
533 19320 19321 19322 19324 19325 19326 19327 19328 19329 583 19820 19821 19822 19824 19825 19826 19827 19828 19829
534 19330 19331 19332 19334 19335 19336 19337 19338 19339 584 19830 19831 19832 19834 19835 19836 19837 19838 19839
535 19340 19341 19342 19344 19345 19346 19347 19348 19349 585 19840 19841 19842 19844 19845 19846 19847 19848 19849
536 19350 19351 19352 19354 19355 19356 19357 19358 19359 586 19850 19851 19852 19854 19855 19856 19857 19858 19859
537 19360 19361 19362 19364 19365 19366 19367 19368 19369 587 19860 19861 19862 19864 19865 19866 19867 19868 19869
538 19370 19371 19372 19374 19375 19376 19377 19378 19379 588 19870 19871 19872 19874 19875 19876 19877 19878 19879
539 19380 19381 19382 19384 19385 19386 19387 19388 19389 589 19880 19881 19882 19884 19885 19886 19887 19888 19889
540 19390 19391 19392 19394 19395 19396 19397 19398 19399 590 19890 19891 19892 19894 19895 19896 19897 19898 19899
541 19400 19401 19402 19404 19405 19406 19407 19408 19409 591 19900 19901 19902 19904 19905 19906 19907 19908 19909
542 19410 19411 19412 19414 19415 19416 19417 19418 19419 592 19910 19911 19912 19914 19915 19916 19917 19918 19919
543 19420 19421 19422 19424 19425 19426 19427 19428 19429 593 19920 19921 19922 19924 19925 19926 19927 19928 19929
544 19430 19431 19432 19434 19435 19436 19437 19438 19439 594 19930 19931 19932 19934 19935 19936 19937 19938 19939
545 19440 19441 19442 19444 19445 19446 19447 19448 19449 595 19940 19941 19942 19944 19945 19946 19947 19948 19949
546 19450 19451 19452 19454 19455 19456 19457 19458 19459 596 19950 19951 19952 19954 19955 19956 19957 19958 19959
547 19460 19461 19462 19464 19465 19466 19467 19468 19469 597 19960 19961 19962 19964 19965 19966 19967 19968 19969
548 19470 19471 19472 19474 19475 19476 19477 19478 19479 598 19970 19971 19972 19974 19975 19976 19977 19978 19979
549 19480 19481 19482 19484 19485 19486 19487 19488 19489 599 19980 19981 19982 19984 19985 19986 19987 19988 19989
550 19490 19491 19492 19494 19495 19496 19497 19498 19499 600 19990 19991 19992 19994 19995 19996 19997 19998 19999

Appendix - 30
APPENDICES
MELSEC-Q

(4) For axis 4

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
1 20000 20001 20002 20004 20005 20006 20007 20008 20009 51 20500 20501 20502 20504 20505 20506 20507 20508 20509
2 20010 20011 20012 20014 20015 20016 20017 20018 20019 52 20510 20511 20512 20514 20515 20516 20517 20518 20519
3 20020 20021 20022 20024 20025 20026 20027 20028 20029 53 20520 20521 20522 20524 20525 20526 20527 20528 20529
4 20030 20031 20032 20034 20035 20036 20037 20038 20039 54 20530 20531 20532 20534 20535 20536 20537 20538 20539
5 20040 20041 20042 20044 20045 20046 20047 20048 20049 55 20540 20541 20542 20544 20545 20546 20547 20548 20549
6 20050 20051 20052 20054 20055 20056 20057 20058 20059 56 20550 20551 20552 20554 20555 20556 20557 20558 20559
7 20060 20061 20062 20064 20065 20066 20067 20068 20069 57 20560 20561 20562 20564 20565 20566 20567 20568 20569
8 20070 20071 20072 20074 20075 20076 20077 20078 20079 58 20570 20571 20572 20574 20575 20576 20577 20578 20579
9 20080 20081 20082 20084 20085 20086 20087 20088 20089 59 20580 20581 20582 20584 20585 20586 20587 20588 20589
10 20090 20091 20092 20094 20095 20096 20097 20098 20099 60 20590 20591 20592 20594 20595 20596 20597 20598 20599
11 20100 20101 20102 20104 20105 20106 20107 20108 20109 61 20600 20601 20602 20604 20605 20606 20607 20608 20609
12 20110 20111 20112 20114 20115 20116 20117 20118 20119 62 20610 20611 20612 20614 20615 20616 20617 20618 20619
13 20120 20121 20122 20124 20125 20126 20127 20128 20129 63 20620 20621 20622 20624 20625 20626 20627 20628 20629
14 20140 20131 20132 20134 20135 20136 20137 20138 20139 64 20630 20631 20632 20634 20635 20636 20637 20638 20639
15 20140 20141 20142 20144 20145 20146 20147 20148 20149 65 20640 20641 20642 20644 20645 20646 20647 20648 20649
16 20150 20151 20152 20154 20155 20156 20157 20158 20159 66 20650 20651 20652 20654 20655 20656 20657 20658 20659
17 20160 20161 20162 20164 20165 20166 20167 20168 20169 67 20660 20661 20662 20664 20665 20666 20667 20668 20669
18 20170 20171 20172 20174 20175 20176 20177 20178 20179 68 20670 20671 20672 20674 20675 20676 20677 20678 20679
19 20180 20181 20182 20184 20185 20186 20187 20188 20189 69 20680 20681 20682 20684 20685 20686 20687 20688 20689
20 20190 20191 20192 20194 20195 20196 20197 20198 20199 70 20690 20691 20692 20694 20695 20696 20697 20698 20699
21 20200 20201 20202 20204 20205 20206 20207 20208 20209 71 20700 20701 20702 20704 20705 20706 20707 20708 20709
22 20210 20211 20212 20214 20215 20216 20217 20218 20219 72 20710 20711 20712 20714 20715 20716 20717 20718 20719
23 20220 20221 20222 20224 20225 20226 20227 20228 20229 73 20720 20721 20722 20724 20725 20726 20727 20728 20729
24 20230 20231 20232 20234 20235 20236 20237 20238 20239 74 20730 20731 20732 20734 20735 20736 20737 20738 20739
25 20240 20241 20242 20244 20245 20246 20247 20248 20249 75 20740 20741 20742 20744 20745 20746 20747 20748 20749
26 20250 20251 20252 20254 20255 20256 20257 20258 20259 76 20750 20751 20752 20754 20755 20756 20757 20758 20759
27 20260 20261 20262 20264 20265 20266 20267 20268 20269 77 20760 20761 20762 20764 20765 20766 20767 20768 20769
28 20270 20271 20272 20274 20275 20276 20277 20278 20279 78 20770 20771 20772 20774 20775 20776 20777 20778 20779
29 20280 20281 20282 20284 20285 20286 20287 20288 20289 79 20780 20781 20782 20784 20785 20786 20787 20788 20789
30 20290 20291 20292 20294 20295 20296 20297 20298 20299 80 20790 20791 20792 20794 20795 20796 20797 20798 20799
31 20300 20301 20302 20304 20305 20306 20307 20308 20309 81 20800 20801 20802 20804 20805 20806 20807 20808 20809
32 20310 20311 20312 20314 20315 20316 20317 20318 20319 82 20810 20811 20812 20814 20815 20816 20817 20818 20819
33 20320 20321 20322 20324 20325 20326 20327 20328 20329 83 20820 20821 20822 20824 20825 20826 20827 20828 20829
34 20330 20331 20332 20334 20335 20336 20337 20338 20339 84 20830 20831 20832 20834 20835 20836 20837 20838 20839
35 20340 20341 20342 20344 20345 20346 20347 20348 20349 85 20840 20841 20842 20844 20845 20846 20847 20848 20849
36 20350 20351 20352 20354 20355 20356 20357 20358 20359 86 20850 20851 20852 20854 20855 20856 20857 20858 20859
37 20360 20361 20362 20364 20365 20366 20367 20368 20369 87 20860 20861 20862 20864 20865 20866 20867 20868 20869
38 20370 20371 20372 20374 20375 20376 20377 20378 20379 88 20870 20871 20872 20874 20875 20876 20877 20878 20879
39 20380 20381 20382 20384 20385 20386 20387 20388 20389 89 20880 20881 20882 20884 20885 20886 20887 20888 20889
40 20390 20391 20392 20394 20395 20396 20397 20398 20399 90 20890 20891 20892 20894 20895 20896 20897 20898 20899
41 20400 20401 20402 20404 20405 20406 20407 20408 20409 91 20900 20901 20902 20904 20905 20906 20907 20908 20909
42 20410 20411 20412 20414 20415 20416 20417 20418 20419 92 20910 20911 20912 20914 20915 20916 20917 20918 20919
43 20420 20421 20422 20424 20425 20426 20427 20428 20429 93 20920 20921 20922 20924 20925 20926 20927 20928 20929
44 20430 20431 20432 20434 20435 20436 20437 20438 20439 94 20930 20931 20932 20934 20935 20936 20937 20938 20939
45 20440 20441 20442 20444 20445 20446 20447 20448 20449 95 20940 20941 20942 20944 20945 20946 20947 20948 20949
46 20450 20451 20452 20454 20455 20456 20457 20458 20459 96 20950 20951 20952 20954 20955 20956 20957 20958 20959
47 20460 20461 20462 20464 20465 20466 20467 20468 20469 97 20960 20961 20962 20964 20965 20966 20967 20968 20969
48 20470 20471 20472 20474 20475 20476 20477 20478 20479 98 20970 20971 20972 20974 20975 20976 20977 20978 20979
49 20480 20481 20482 20484 20485 20486 20487 20488 20489 99 20980 20981 20982 20984 20985 20986 20987 20988 20989
50 20490 20491 20492 20494 20495 20496 20497 20498 20499 100 20990 20991 20992 20994 20995 20996 20997 20998 20999

Appendix - 31
APPENDICES
MELSEC-Q

(4) For axis 4

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
101 21000 21001 21002 21004 21005 21006 21007 21008 21009 151 21500 21501 21502 21504 21505 21506 21507 21508 21509
102 21010 21011 21012 21014 21015 21016 21017 21018 21019 152 21510 21511 21512 21514 21515 21516 21517 21518 21519
103 21020 21021 21022 21024 21025 21026 21027 21028 21029 153 21520 21521 21522 21524 21525 21526 21527 21528 21529
104 21030 21031 21032 21034 21035 21036 21037 21038 21039 154 21530 21531 21532 21534 21535 21536 21537 21538 21539
105 21040 21041 21042 21044 21045 21046 21047 21048 21049 155 21540 21541 21542 21544 21545 21546 21547 21548 21549
106 21050 21051 21052 21054 21055 21056 21057 21058 21059 156 21550 21551 21552 21554 21555 21556 21557 21558 21559
107 21060 21061 21062 21064 21065 21066 21067 21068 21069 157 21560 21561 21562 21564 21565 21566 21567 21568 21569
108 21070 21071 21072 21074 21075 21076 21077 21078 21079 158 21570 21571 21572 21574 21575 21576 21577 21578 21579
109 21080 21081 21082 21084 21085 21086 21087 21088 21089 159 21580 21581 21582 21584 21585 21586 21587 21588 21589
110 21090 21091 21092 21094 21095 21096 21097 21098 21099 160 21590 21591 21592 21594 21595 21596 21597 21598 21599
111 21100 21101 21102 21104 21105 21106 21107 21108 21109 161 21600 21601 21602 21604 21605 21606 21607 21608 21609
112 21110 21111 21112 21114 21115 21116 21117 21118 21119 162 21610 21611 21612 21614 21615 21616 21617 21618 21619
113 21120 21121 21122 21124 21125 21126 21127 21128 21129 163 21620 21621 21622 21624 21625 21626 21627 21628 21629
114 21130 21131 21132 21134 21135 21136 21137 21138 21139 164 21630 21631 21632 21634 21635 21636 21637 21638 21639
115 21140 21141 21142 21144 21145 21146 21147 21148 21149 165 21640 21641 21642 21644 21645 21646 21647 21648 21649
116 21150 21151 21152 21154 21155 21156 21157 21158 21159 166 21650 21651 21652 21654 21655 21656 21657 21658 21659
117 21160 21161 21162 21164 21165 21166 21167 21168 21169 167 21660 21661 21662 21664 21665 21666 21667 21668 21669
118 21170 21171 21172 21174 21175 21176 21177 21178 21179 168 21670 21671 21672 21674 21675 21676 21677 21678 21679
119 21180 21181 21182 21184 21185 21186 21187 21188 21189 169 21680 21681 21682 21684 21685 21686 21687 21688 21689
120 21190 21191 21192 21194 21195 21196 21197 21198 21199 170 21690 21691 21692 21694 21695 21696 21697 21698 21699
121 21200 21201 21202 21204 21205 21206 21207 21208 21209 171 21700 21701 21702 21704 21705 21706 21707 21708 21709
122 21210 21211 21212 21214 21215 21216 21217 21218 21219 172 21710 21711 21712 21714 21715 21716 21717 21718 21719
123 21220 21221 21222 21224 21225 21226 21227 21228 21229 173 21720 21721 21722 21724 21725 21726 21727 21728 21729
124 21230 21231 21232 21234 21235 21236 21237 21238 21239 174 21730 21731 21732 21734 21735 21736 21737 21738 21739
125 21240 21241 21242 21244 21245 21246 21247 21248 21249 175 21740 21741 21742 21744 21745 21746 21747 21748 21749
126 21250 21251 21252 21254 21255 21256 21257 21258 21259 176 21750 21751 21752 21754 21755 21756 21757 21758 21759
127 21260 21261 21262 21264 21265 21266 21267 21268 21269 177 21760 21761 21762 21764 21765 21766 21767 21768 21769
128 21270 21271 21272 21274 21275 21276 21277 21278 21279 178 21770 21771 21772 21774 21775 21776 21777 21778 21779
129 21280 21281 21282 21284 21285 21286 21287 21288 21289 179 21780 21781 21782 21784 21785 21786 21787 21788 21789
130 21290 21291 21292 21294 21295 21296 21297 21298 21299 180 21790 21791 21792 21794 21795 21796 21797 21798 21799
131 21300 21301 21302 21304 21305 21306 21307 21308 21309 181 21800 21801 21802 21804 21805 21806 21807 21808 21809
132 21310 21311 21312 21314 21315 21316 21317 21318 21319 182 21810 21811 21812 21814 21815 21816 21817 21818 21819
133 21320 21321 21322 21324 21325 21326 21327 21328 21329 183 21820 21821 21822 21824 21825 21826 21827 21828 21829
134 21330 21331 21332 21334 21335 21336 21337 21338 21339 184 21830 21831 21832 21834 21835 21836 21837 21838 21839
135 21340 21341 21342 21344 21345 21346 21347 21348 21349 185 21840 21841 21842 21844 21845 21846 21847 21848 21849
136 21350 21351 21352 21354 21355 21356 21357 21358 21359 186 21850 21851 21852 21854 21855 21856 21857 21858 21859
137 21360 21361 21362 21364 21365 21366 21367 21368 21369 187 21860 21861 21862 21864 21865 21866 21867 21868 21869
138 21370 21371 21372 21374 21375 21376 21377 21378 21379 188 21870 21871 21872 21874 21875 21876 21877 21878 21879
139 21380 21381 21382 21384 21385 21386 21387 21388 21389 189 21880 21881 21882 21884 21885 21886 21887 21888 21889
140 21390 21391 21392 21394 21395 21396 21397 21398 21399 190 21890 21891 21892 21894 21895 21896 21897 21898 21899
141 21400 21401 21402 21404 21405 21406 21407 21408 21409 191 21900 21901 21902 21904 21905 21906 21907 21908 21909
142 21410 21411 21412 21414 21415 21416 21417 21418 21419 192 21910 21911 21912 21914 21915 21916 21917 21918 21919
143 21420 21421 21422 21424 21425 21426 21427 21428 21429 193 21920 21921 21922 21924 21925 21926 21927 21928 21929
144 21430 21431 21432 21434 21435 21436 21437 21438 21439 194 21930 21931 21932 21934 21935 21936 21937 21938 21939
145 21440 21441 21442 21444 21445 21446 21447 21448 21449 195 21940 21941 21942 21944 21945 21946 21947 21948 21949
146 21450 21451 21452 21454 21455 21456 21457 21458 21459 196 21950 21951 21952 21954 21955 21956 21957 21958 21959
147 21460 21461 21462 21464 21465 21466 21467 21468 21469 197 21960 21961 21962 21964 21965 21966 21967 21968 21969
148 21470 21471 21472 21474 21475 21476 21477 21478 21479 198 21970 21971 21972 21974 21975 21976 21977 21978 21979
149 21480 21481 21482 21484 21485 21486 21487 21488 21489 199 21980 21981 21982 21984 21985 21986 21987 21988 21989
150 21490 21491 21492 21494 21495 21496 21497 21498 21499 200 21990 21991 21992 21994 21995 21996 21997 21998 21999

Appendix - 32
APPENDICES
MELSEC-Q

(4) For axis 4

Posi- Command Positioning Posi- Command Positioning

Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
201 22000 22001 22002 22004 22005 22006 22007 22008 22009 251 22500 22501 22502 22504 22505 22506 22507 22508 22509
202 22010 22011 22012 22014 22015 22016 22017 22018 22019 252 22510 22511 22512 22514 22515 22516 22517 22518 22519
203 22020 22021 22022 22024 22025 22026 22027 22028 22029 253 22520 22521 22522 22524 22525 22526 22527 22528 22529
204 22030 22031 22032 22034 22035 22036 22037 22038 22039 254 22530 22531 22532 22534 22535 22536 22537 22538 22539
205 22040 22041 22042 22044 22045 22046 22047 22048 22049 255 22540 22541 22542 22544 22545 22546 22547 22548 22549
206 22050 22051 22052 22054 22055 22056 22057 22058 22059 256 22550 22551 22552 22554 22555 22556 22557 22558 22559
207 22060 22061 22062 22064 22065 22066 22067 22068 22069 257 22560 22561 22562 22564 22565 22566 22567 22568 22569
208 22070 22071 22072 22074 22075 22076 22077 22078 22079 258 22570 22571 22572 22574 22575 22576 22577 22578 22579
209 22080 22081 22082 22084 22085 22086 22087 22088 22089 259 22580 22581 22582 22584 22585 22586 22587 22588 22589
210 22090 22091 22092 22094 22095 22096 22097 22098 22099 260 22590 22591 22592 22594 22595 22596 22597 22598 22599
211 22100 22101 22102 22104 22105 22106 22107 22108 22109 261 22600 22601 22602 22604 22605 22606 22607 22608 22609
212 22110 22111 22112 22114 22115 22116 22117 22118 22119 262 22610 22611 22612 22614 22615 22616 22617 22618 22619
213 22120 22121 22122 22124 22125 22126 22127 22128 22129 263 22620 22621 22622 22624 22625 22626 22627 22628 22629
214 22130 22131 22132 22134 22135 22136 22137 22138 22139 264 22630 22631 22632 22634 22635 22636 22637 22638 22639
215 22140 22141 22142 22144 22145 22146 22147 22148 22149 265 22640 22641 22642 22644 22645 22646 22647 22648 22649
216 22150 22151 22152 22154 22155 22156 22157 22158 22159 266 22650 22651 22652 22654 22655 22656 22657 22658 22659
217 22160 22161 22162 22164 22165 22166 22167 22168 22169 267 22660 22661 22662 22664 22665 22666 22667 22668 22669
218 22170 22171 22172 22174 22175 22176 22177 22178 22179 268 22670 22671 22672 22674 22675 22676 22677 22678 22679
219 22180 22181 22182 22184 22185 22186 22187 22188 22189 269 22680 22681 22682 22684 22685 22686 22687 22688 22689
220 22190 22191 22192 22194 22195 22196 22197 22198 22199 270 22690 22691 22692 22694 22695 22696 22697 22698 22699
221 22200 22201 22202 22204 22205 22206 22207 22208 22209 271 22700 22701 22702 22704 22705 22706 22707 22708 22709
222 22210 22211 22212 22214 22215 22216 22217 22218 22219 272 22710 22711 22712 22714 22715 22716 22717 22718 22719
223 22220 22221 22222 22224 22225 22226 22227 22228 22229 273 22720 22721 22722 22724 22725 22726 22727 22728 22729
224 22230 22231 22232 22234 22235 22236 22237 22238 22239 274 22730 22731 22732 22734 22735 22736 22737 22738 22739
225 22240 22241 22242 22244 22245 22246 22247 22248 22249 275 22740 22741 22742 22744 22745 22746 22747 22748 22749
226 22250 22251 22252 22254 22255 22256 22257 22258 22259 276 22750 22751 22752 22754 22755 22756 22757 22758 22759
227 22260 22261 22262 22264 22265 22266 22267 22268 22269 277 22760 22761 22762 22764 22765 22766 22767 22768 22769
228 22270 22271 22272 22274 22275 22276 22277 22278 22279 278 22770 22771 22772 22774 22775 22776 22777 22778 22779
229 22280 22281 22282 22284 22285 22286 22287 22288 22289 279 22780 22781 22782 22784 22785 22786 22787 22788 22789
230 22290 22291 22292 22294 22295 22296 22297 22298 22299 280 22790 22791 22792 22794 22795 22796 22797 22798 22799
231 22300 22301 22302 22304 22305 22306 22307 22308 22309 281 22800 22801 22802 22804 22805 22806 22807 22808 22809
232 22310 22311 22312 22314 22315 22316 22317 22318 22319 282 22810 22811 22812 22814 22815 22816 22817 22818 22819
233 22320 22321 22322 22324 22325 22326 22327 22328 22329 283 22820 22821 22822 22824 22825 22826 22827 22828 22829
234 22330 22331 22332 22334 22335 22336 22337 22338 22339 284 22830 22831 22832 22834 22835 22836 22837 22838 22839
235 22340 22341 22342 22344 22345 22346 22347 22348 22349 285 22840 22841 22842 22844 22845 22846 22847 22848 22849
236 22350 22351 22352 22354 22355 22356 22357 22358 22359 286 22850 22851 22852 22854 22855 22856 22857 22858 22859
237 22360 22361 22362 22364 22365 22366 22367 22368 22369 287 22860 22861 22862 22864 22865 22866 22867 22868 22869
238 22370 22371 22372 22374 22375 22376 22377 22378 22379 288 22870 22871 22872 22874 22875 22876 22877 22878 22879
239 22380 22381 22382 22384 22385 22386 22387 22388 22389 289 22880 22881 22882 22884 22885 22886 22887 22888 22889
240 22390 22391 22392 22394 22395 22396 22397 22398 22399 290 22890 22891 22892 22894 22895 22896 22897 22898 22899
241 22400 22401 22402 22404 22405 22406 22407 22408 22409 291 22900 22901 22902 22904 22905 22906 22907 22908 22909
242 22410 22411 22412 22414 22415 22416 22417 22418 22419 292 22910 22911 22912 22914 22915 22916 22917 22918 22919
243 22420 22421 22422 22424 22425 22426 22427 22428 22429 293 22920 22921 22922 22924 22925 22926 22927 22928 22929
244 22430 22431 22432 22434 22435 22436 22437 22438 22439 294 22930 22931 22932 22934 22935 22936 22937 22938 22939
245 22440 22441 22442 22444 22445 22446 22447 22448 22449 295 22940 22941 22942 22944 22945 22946 22947 22948 22949
246 22450 22451 22452 22454 22455 22456 22457 22458 22459 296 22950 22951 22952 22954 22955 22956 22957 22958 22959
247 22460 22461 22462 22464 22465 22466 22467 22468 22469 297 22960 22961 22962 22964 22965 22966 22967 22968 22969
248 22470 22471 22472 22474 22475 22476 22477 22478 22479 298 22970 22971 22972 22974 22975 22976 22977 22978 22979
249 22480 22481 22482 22484 22485 22486 22487 22488 22489 299 22980 22981 22982 22984 22985 22986 22987 22988 22989
250 22490 22491 22492 22494 22495 22496 22497 22498 22499 300 22990 22991 22992 22994 22995 22996 22997 22998 22999

Appendix - 33
APPENDICES
MELSEC-Q

(4) For axis 4

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
301 23000 23001 23002 23004 23005 23006 23007 23008 23009 351 23500 23501 23502 23504 23505 23506 23507 23508 23509
302 23010 23011 23012 23014 23015 23016 23017 23018 23019 352 23510 23511 23512 23514 23515 23516 23517 23518 23519
303 23020 23021 23022 23024 23025 23026 23027 23028 23029 353 23520 23521 23522 23524 23525 23526 23527 23528 23529
304 23030 23031 23032 23034 23035 23036 23037 23038 23039 354 23530 23531 23532 23534 23535 23536 23537 23538 23539
305 23040 23041 23042 23044 23045 23046 23047 23048 23049 355 23540 23541 23542 23544 23545 23546 23547 23548 23549
306 23050 23051 23052 23054 23055 23056 23057 23058 23059 356 23550 23551 23552 23554 23555 23556 23557 23558 23559
307 23060 23061 23062 23064 23065 23066 23067 23068 23069 357 23560 23561 23562 23564 23565 23566 23567 23568 23569
308 23070 23071 23072 23074 23075 23076 23077 23078 23079 358 23570 23571 23572 23574 23575 23576 23577 23578 23579
309 23080 23081 23082 23084 23085 23086 23087 23088 23089 359 23580 23581 23582 23584 23585 23586 23587 23588 23589
310 23090 23091 23092 23094 23095 23096 23097 23098 23099 360 23590 23591 23592 23594 23595 23596 23597 23598 23599
311 23100 23101 23102 23104 23105 23106 23107 23108 23109 361 23600 23601 23602 23604 23605 23606 23607 23608 23609
312 23110 23111 23112 23114 23115 23116 23117 23118 23119 362 23610 23611 23612 23614 23615 23616 23617 23618 23619
313 23120 23121 23122 23124 23125 23126 23127 23128 23129 363 23620 23621 23622 23624 23625 23626 23627 23628 23629
314 23130 23131 23132 23134 23135 23136 23137 23138 23139 364 23630 23631 23632 23634 23635 23636 23637 23638 23639
315 23140 23141 23142 23144 23145 23146 23147 23148 23149 365 23640 23641 23642 23644 23645 23646 23647 23648 23649
316 23150 23151 23152 23154 23155 23156 23157 23158 23159 366 23650 23651 23652 23654 23655 23656 23657 23658 23659
317 23160 23161 23162 23164 23165 23166 23167 23168 23169 367 23660 23661 23662 23664 23665 23666 23667 23668 23669
318 23170 23171 23172 23174 23175 23176 23177 23178 23179 368 23670 23671 23672 23674 23675 23676 23677 23678 23679
319 23180 23181 23182 23184 23185 23186 23187 23188 23189 369 23680 23681 23682 23684 23685 23686 23687 23688 23689
320 23190 23191 23192 23194 23195 23196 23197 23198 23199 370 23690 23691 23692 23694 23695 23696 23697 23698 23699
321 23200 23201 23202 23204 23205 23206 23207 23208 23209 371 23700 23701 23702 23704 23705 23706 23707 23708 23709
322 23210 23211 23212 23214 23215 23216 23217 23218 23219 372 23710 23711 23712 23714 23715 23716 23717 23718 23719
323 23220 23221 23222 23224 23225 23226 23227 23228 23229 373 23720 23721 23722 23724 23725 23726 23727 23728 23729
324 23230 23231 23232 23234 23235 23236 23237 23238 23239 374 23730 23731 23732 23734 23735 23736 23737 23738 23739
325 23240 23241 23242 23244 23245 23246 23247 23248 23249 375 23740 23741 23742 23744 23745 23746 23747 23748 23749
326 23250 23251 23252 23254 23255 23256 23257 23258 23259 376 23750 23751 23752 23754 23755 23756 23757 23758 23759
327 23260 23261 23262 23264 23265 23266 23267 23268 23269 377 23760 23761 23762 23764 23765 23766 23767 23768 23769
328 23270 23271 23272 23274 23275 23276 23277 23278 23279 378 23770 23771 23772 23774 23775 23776 23777 23778 23779
329 23280 23281 23282 23284 23285 23286 23287 23288 23289 379 23780 23781 23782 23784 23785 23786 23787 23788 23789
330 23290 23291 23292 23294 23295 23296 23297 23298 23299 380 23790 23791 23792 23794 23795 23796 23797 23798 23799
331 23300 23301 23302 23304 23305 23306 23307 23308 23309 381 23800 23801 23802 23804 23805 23806 23807 23808 23809
332 23310 23311 23312 23314 23315 23316 23317 23318 23319 382 23810 23811 23812 23814 23815 23816 23817 23818 23819
333 23320 23321 23322 23324 23325 23326 23327 23328 23329 383 23820 23821 23822 23824 23825 23826 23827 23828 23829
334 23330 23331 23332 23334 23335 23336 23337 23338 23339 384 23830 23831 23832 23834 23835 23836 23837 23838 23839
335 23340 23341 23342 23344 23345 23346 23347 23348 23349 385 23840 23841 23842 23844 23845 23846 23847 23848 23849
336 23350 23351 23352 23354 23355 23356 23357 23358 23359 386 23850 23851 23852 23854 23855 23856 23857 23858 23859
337 23360 23361 23362 23364 23365 23366 23367 23368 23369 387 23860 23861 23862 23864 23865 23866 23867 23868 23869
338 23370 23371 23372 23374 23375 23376 23377 23378 23379 388 23870 23871 23872 23874 23875 23876 23877 23878 23879
339 23380 23381 23382 23384 23385 23386 23387 23388 23389 389 23880 23881 23882 23884 23885 23886 23887 23888 23889
340 23390 23391 23392 23394 23395 23396 23397 23398 23399 390 23890 23891 23892 23894 23895 23896 23897 23898 23899
341 23400 23401 23402 23404 23405 23406 23407 23408 23409 391 23900 23901 23902 23904 23905 23906 23907 23908 23909
342 23410 23411 23412 23414 23415 23416 23417 23418 23419 392 23910 23911 23912 23914 23915 23916 23917 23918 23919
343 23420 23421 23422 23424 23425 23426 23427 23428 23429 393 23920 23921 23922 23924 23925 23926 23927 23928 23929
344 23430 23431 23432 23434 23435 23436 23437 23438 23439 394 23930 23931 23932 23934 23935 23936 23937 23938 23939
345 23440 23441 23442 23444 23445 23446 23447 23448 23449 395 23940 23941 23942 23944 23945 23946 23947 23948 23949
346 23450 23451 23452 23454 23455 23456 23457 23458 23459 396 23950 23951 23952 23954 23955 23956 23957 23958 23959
347 23460 23461 23462 23464 23465 23466 23467 23468 23469 397 23960 23961 23962 23964 23965 23966 23967 23968 23969
348 23470 23471 23472 23474 23475 23476 23477 23478 23479 398 23970 23971 23972 23974 23975 23976 23977 23978 23979
349 23480 23481 23482 23484 23485 23486 23487 23488 23489 399 23980 23981 23982 23984 23985 23986 23987 23988 23989
350 23490 23491 23492 23494 23495 23496 23497 23498 23499 400 23990 23991 23992 23994 23995 23996 23997 23998 23999

Appendix - 34
APPENDICES
MELSEC-Q

(4) For axis 4

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
401 24000 24001 24002 24004 24005 24006 24007 24008 24009 451 24500 24501 24502 24504 24505 24506 24507 24508 24509
402 24010 24011 24012 24014 24015 24016 24017 24018 24019 452 24510 24511 24512 24514 24515 24516 24517 24518 24519
403 24020 24021 24022 24024 24025 24026 24027 24028 24029 453 24520 24521 24522 24524 24525 24526 24527 24528 24529
404 24030 24031 24032 24034 24035 24036 24037 24038 24039 454 24530 24531 24532 24534 24535 24536 24537 24538 24539
405 24040 24041 24042 24044 24045 24046 24047 24048 24049 455 24540 24541 24542 24544 24545 24546 24547 24548 24549
406 24050 24051 24052 24054 24055 24056 24057 24058 24059 456 24550 24551 24552 24554 24555 24556 24557 24558 24559
407 24060 24061 24062 24064 24065 24066 24067 24068 24069 457 24560 24561 24562 24564 24565 24566 24567 24568 24569
408 24070 24071 24072 24074 24075 24076 24077 24078 24079 458 24570 24571 24572 24574 24575 24576 24577 24578 24579
409 24080 24081 24082 24084 24085 24086 24087 24088 24089 459 24580 24581 24582 24584 24585 24586 24587 24588 24589
410 24090 24091 24092 24094 24095 24096 24097 24098 24099 460 24590 24591 24592 24594 24595 24596 24597 24598 24599
411 24100 24101 24102 24104 24105 24106 24107 24108 24109 461 24600 24601 24602 24604 24605 24606 24607 24608 24609
412 24110 24111 24112 24114 24115 24116 24117 24118 24119 462 24610 24611 24612 24614 24615 24616 24617 24618 24619
413 24120 24121 24122 24124 24125 24126 24127 24128 24129 463 24620 24621 24622 24624 24625 24626 24627 24628 24629
414 24130 24131 24132 24134 24135 24136 24137 24138 24139 464 24630 24631 24632 24634 24635 24636 24637 24638 24639
415 24140 24141 24142 24144 24145 24146 24147 24148 24149 465 24640 24641 24642 24644 24645 24646 24647 24648 24649
416 24150 24151 24152 24154 24155 24156 24157 24158 24159 466 24650 24651 24652 24654 24655 24656 24657 24658 24659
417 24160 24161 24162 24164 24165 24166 24167 24168 24169 467 24660 24661 24662 24664 24665 24666 24667 24668 24669
418 24170 24171 24172 24174 24175 24176 24177 24178 24179 468 24670 24671 24672 24674 24675 24676 24677 24678 24679
419 24180 24181 24182 24184 24185 24186 24187 24188 24189 469 24680 24681 24682 24684 24685 24686 24687 24688 24689
420 24190 24191 24192 24194 24195 24196 24197 24198 24199 470 24690 24691 24692 24694 24695 24696 24697 24698 24699
421 24200 24201 24202 24204 24205 24206 24207 24208 24209 471 24700 24701 24702 24704 24705 24706 24707 24708 24709
422 24210 24211 24212 24214 24215 24216 24217 24218 24219 472 24710 24711 24712 24714 24715 24716 24717 24718 24719
423 24220 24221 24222 24224 24225 24226 24227 24228 24229 473 24720 24721 24722 24724 24725 24726 24727 24728 24729
424 24230 24231 24232 24234 24235 24236 24237 24238 24239 474 24730 24731 24732 24734 24735 24736 24737 24738 24739
425 24240 24241 24242 24244 24245 24246 24247 24248 24249 475 24740 24741 24742 24744 24745 24746 24747 24748 24749
426 24250 24251 24252 24254 24255 24256 24257 24258 24259 476 24750 24751 24752 24754 24755 24756 24757 24758 24759
427 24260 24261 24262 24264 24265 24266 24267 24268 24269 477 24760 24761 24762 24764 24765 24766 24767 24768 24769
428 24270 24271 24272 24274 24275 24276 24277 24278 24279 478 24770 24771 24772 24774 24775 24776 24777 24778 24779
429 24280 24281 24282 24284 24285 24286 24287 24288 24289 479 24780 24781 24782 24784 24785 24786 24787 24788 24789
430 24290 24291 24292 24294 24295 24296 24297 24298 24299 480 24790 24791 24792 24794 24795 24796 24797 24798 24799
431 24300 24301 24302 24304 24305 24306 24307 24308 24309 481 24800 24801 24802 24804 24805 24806 24807 24808 24809
432 24310 24311 24312 24314 24315 24316 24317 24318 24319 482 24810 24811 24812 24814 24815 24816 24817 24818 24819
433 24320 24321 24322 24324 24325 24326 24327 24328 24329 483 24820 24821 24822 24824 24825 24826 24827 24828 24829
434 24330 24331 24332 24334 24335 24336 24337 24338 24339 484 24830 24831 24832 24834 24835 24836 24837 24838 24839
435 24340 24341 24342 24344 24345 24346 24347 24348 24349 485 24840 24841 24842 24844 24845 24846 24847 24848 24849
436 24350 24351 24352 24354 24355 24356 24357 24358 24359 486 24850 24851 24852 24854 24855 24856 24857 24858 24859
437 24360 24361 24362 24364 24365 24366 24367 24368 24369 487 24860 24861 24862 24864 24865 24866 24867 24868 24869
438 24370 24371 24372 24374 24375 24376 24377 24378 24379 488 24870 24871 24872 24874 24875 24876 24877 24878 24879
439 24380 24381 24382 24384 24385 24386 24387 24388 24389 489 24880 24881 24882 24884 24885 24886 24887 24888 24889
440 24390 24391 24392 24394 24395 24396 24397 24398 24399 490 24890 24891 24892 24894 24895 24896 24897 24898 24899
441 24400 24401 24402 24404 24405 24406 24407 24408 24409 491 24900 24901 24902 24904 24905 24906 24907 24908 24909
442 24410 24411 24412 24414 24415 24416 24417 24418 24419 492 24910 24911 24912 24914 24915 24916 24917 24918 24919
443 24420 24421 24422 24424 24425 24426 24427 24428 24429 493 24920 24921 24922 24924 24925 24926 24927 24928 24929
444 24430 24431 24432 24434 24435 24436 24437 24438 24439 494 24930 24931 24932 24934 24935 24936 24937 24938 24939
445 24440 24441 24442 24444 24445 24446 24447 24448 24449 495 24940 24941 24942 24944 24945 24946 24947 24948 24949
446 24450 24451 24452 24454 24455 24456 24457 24458 24459 496 24950 24951 24952 24954 24955 24956 24957 24958 24959
447 24460 24461 24462 24464 24465 24466 24467 24468 24469 497 24960 24961 24962 24964 24965 24966 24967 24968 24969
448 24470 24471 24472 24474 24475 24476 24477 24478 24479 498 24970 24971 24972 24974 24975 24976 24977 24978 24979
449 24480 24481 24482 24484 24485 24486 24487 24488 24489 499 24980 24981 24982 24984 24985 24986 24987 24988 24989
450 24490 24491 24492 24494 24495 24496 24497 24498 24499 500 24990 24991 24992 24994 24995 24996 24997 24998 24999

Appendix - 35
APPENDICES
MELSEC-Q

(4) For axis 4

Posi- Command Positioning Posi- Command Positioning
Arc data Arc data
Data tioning M Dwell speed address Data tioning M Dwell speed address
No. identi- code time Low- High- Low- High- Low- High- No. identi- code time Low- High- Low- High- Low- High-
fier order order order order order order fier order order order order order order
501 25000 25001 25002 25004 25005 25006 25007 25008 25009 551 25500 25501 25502 25504 25505 25506 25507 25508 25509
502 25010 25011 25012 25014 25015 25016 25017 25018 25019 552 25510 25511 25512 25514 25515 25516 25517 25518 25519
503 25020 25021 25022 25024 25025 25026 25027 25028 25029 553 25520 25521 25522 25524 25525 25526 25527 25528 25529
504 25030 25031 25032 25034 25035 25036 25037 25038 25039 554 25530 25531 25532 25534 25535 25536 25537 25538 25539
505 25040 25041 25042 25044 25045 25046 25047 25048 25049 555 25540 25541 25542 25544 25545 25546 25547 25548 25549
506 25050 25051 25052 25054 25055 25056 25057 25058 25059 556 25550 25551 25552 25554 25555 25556 25557 25558 25559
507 25060 25061 25062 25064 25065 25066 25067 25068 25069 557 25560 25561 25562 25564 25565 25566 25567 25568 25569
508 25070 25071 25072 25074 25075 25076 25077 25078 25079 558 25570 25571 25572 25574 25575 25576 25577 25578 25579
509 25080 25081 25082 25084 25085 25086 25087 25088 25089 559 25580 25581 25582 25584 25585 25586 25587 25588 25589
510 25090 25091 25092 25094 25095 25096 25097 25098 25099 560 25590 25591 25592 25594 25595 25596 25597 25598 25599
511 25100 25101 25102 25104 25105 25106 25107 25108 25109 561 25600 25601 25602 25604 25605 19606 19607 19608 19609
512 25110 25111 25112 25114 25115 25116 25117 25118 25119 562 25610 25611 25612 25614 25615 19616 19617 19618 19619
513 25120 25121 25122 25124 25125 25126 25127 25128 25129 563 25620 25621 25622 25624 25625 19626 19627 19628 25629
514 25130 25131 25132 25134 25135 25136 25137 25138 25139 564 25630 25631 25632 25634 25635 19636 19637 19638 25639
515 25140 25141 25142 25144 25145 25146 25147 25148 25149 565 25640 25641 25642 25644 25645 19646 19647 19648 25649
516 25150 25151 25152 25154 25155 25156 25157 25158 25159 566 25650 25651 25652 25654 25655 25656 25657 25658 25659
517 25160 25161 25162 25164 25165 25166 25167 25168 25169 567 25660 25661 25662 25664 25665 25666 25667 25668 25669
518 25170 25171 25172 25174 25175 25176 25177 25178 25179 568 25670 25671 25672 25674 25675 25676 25677 25678 25679
519 25180 25181 25182 25184 25185 25186 25187 25188 25189 569 25680 25681 25682 25684 25685 25686 25687 25688 25689
520 25190 25191 25192 25194 25195 25196 25197 25198 25199 570 25690 25691 25692 25694 25695 25696 25697 25698 25699
521 25200 25201 25202 25204 25205 25206 25207 25208 25209 571 25700 25701 25702 25704 25705 25706 25707 25708 25709
522 25210 25211 25212 25214 25215 25216 25217 25218 25219 572 25710 25711 25712 25714 25715 25716 25717 25718 25719
523 25220 25221 25222 25224 25225 25226 25227 25228 25229 573 25720 25721 25722 25724 25725 25726 25727 25728 25729
524 25230 25231 25232 25234 25235 25236 25237 25238 25239 574 25730 25731 25732 25734 25735 25736 25737 25738 25739
525 25240 25241 25242 25244 25245 25246 25247 25248 25249 575 25740 25741 25742 25744 25745 25746 25747 25748 25749
526 25250 25251 25252 25254 25255 25256 25257 25258 25259 576 25750 25751 25752 25754 25755 25756 25757 25758 25759
527 25260 25261 25262 25264 25265 25266 25267 25268 25269 577 25760 25761 25762 25764 25765 25766 25767 25768 25769
528 25270 25271 25272 25274 25275 25276 25277 25278 25279 578 25770 25771 25772 25774 25775 25776 25777 25778 25779
529 25280 25281 25282 25284 25285 25286 25287 25288 25289 579 25780 25781 25782 25784 25785 25786 25787 25788 25789
530 25290 25291 25292 25294 25295 25296 25297 25298 25299 580 25790 25791 25792 25794 25795 25796 25797 25798 25799
531 25300 25301 25302 25304 25305 25306 25307 25308 25309 581 25800 25801 25802 25804 25805 25806 25807 25808 25809
532 25310 25311 25312 25314 25315 25316 25317 25318 25319 582 25810 25811 25812 25814 25815 25816 25817 25818 25819
533 25320 25321 25322 25324 25325 25326 25327 25328 25329 583 25820 25821 25822 25824 25825 25826 25827 25828 25829
534 25330 25331 25332 25334 25335 25336 25337 25338 25339 584 25830 25831 25832 25834 25835 25836 25837 25838 25839
535 25340 25341 25342 25344 25345 25346 25347 25348 25349 585 25840 25841 25842 25844 25845 25846 25847 25848 25849
536 25350 25351 25352 25354 25355 25356 25357 25358 25359 586 25850 25851 25852 25854 25855 25856 25857 25858 25859
537 25360 25361 25362 25364 25365 25366 25367 25368 25369 587 25860 25861 25862 25864 25865 25866 25867 25868 25869
538 25370 25371 25372 25374 25375 25376 25377 25378 25379 588 25870 25871 25872 25874 25875 25876 25877 25878 25879
539 25380 25381 25382 25384 25385 25386 25387 25388 25389 589 25880 25881 25882 25884 25885 25886 25887 25888 25889
540 25390 25391 25392 25394 25395 25396 25397 25398 25399 590 25890 25891 25892 25894 25895 25896 25897 25898 25899
541 25400 25401 25402 25404 25405 25406 25407 25408 25409 591 25900 25901 25902 25904 25905 25906 25907 25908 25909
542 25410 25411 25412 25414 25415 25416 25417 25418 25419 592 25910 25911 25912 25914 25915 25916 25917 25918 25919
543 25420 25421 25422 25424 25425 25426 25427 25428 25429 593 25920 25921 25922 25924 25925 25926 25927 25928 25929
544 25430 25431 25432 25434 25435 25436 25437 25438 25439 594 25930 25931 25932 25934 25935 25936 25937 25938 25939
545 25440 25441 25442 25444 25445 25446 25447 25448 25449 595 25940 25941 25942 25944 25945 25946 25947 25948 25949
546 25450 25451 25452 25454 25455 25456 25457 25458 25459 596 25950 25951 25952 25954 25955 25956 25957 25958 25959
547 25460 25461 25462 25464 25465 25466 25467 25468 25469 597 25960 25961 25962 25964 25965 25966 25967 25968 25969
548 25470 25471 25472 25474 25475 25476 25477 25478 25479 598 25970 25971 25972 25974 25975 25976 25977 25978 25979
549 25480 25481 25482 25484 25485 25486 25487 25488 25489 599 25980 25981 25982 25984 25985 25986 25987 25988 25989
550 25490 25491 25492 25494 25495 25496 25497 25498 25499 600 25990 25991 25992 25994 25995 25996 25997 25998 25999

Appendix - 36
APPENDICES
MELSEC-Q

Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI

Electric Corporation
6
Appendix 4.1 Connection example of QD75D and MR-H A (Differential driver)
Configure a sequence to turn OFF the Regeneration option
4 Servomotor
MC at alarms and emergency stops. N C P
NF MC
R MR-H A U U
Power supply
S V V SM
3-phase 200VAC
T W W
E
R1
S1

Within 10m 5
CN1 Detector
External emergency stop
4 CN2
QD75D SG 16
1 SG 40
Near-point dog EMG 46
DOG 3
FLS 1 Upper limit 2 Servo ON SON 12
2 Lower limit 2 Reset
RLS RES 15
4 Stop Torque limit
STOP TL 13
5 External command 3 Forward run stroke end LSP
CHG 38 Within 50m
3 Reverse run stroke end
LSN 39
COM 6 VIN 20
24VDC
COM 7 VDD 22
CLEAR 13 CR 37
CLEAR COM 14 SG 17
CN3 Monitor output 10k
PULSE F+ 15 PP 10 Max. 1mA total
4 MO1 A
PULSE F- 16 PPR 11 Two-way deviation
3 MO2 A
PULSE R+ 17 NP 35
1 MOG
PULSE R- 18 NPR 36 Within 2m
READY 11 RD 49
RDY COM 12

PGO5 9 LZ 8
PGO COM 10 LZR 9

5V +5V
PULSER A+ A19 Zero speed RA1 VDD 21
A detection
PULSER A- B19 ZSP 23
B Fault
PULSER B+ A20 ALM 48
PULSER B- B20 0V RA2
5G
Manual pulse generator LG 3
MR-HDP01
Analog torque limit command (+) P15R 1
Differential driver When connecting an open collector,
+10V/max. current TLAP 27
common terminal make connection as shown below.
LG 28
N15R 26 QD75P CN1
Analog torque limit command (-)
TLAN 29 PULSE F 15 PPO 18
-10V/max. current
LG 30 PULSE COM 16 SG 47
SD 50 PULSE R 17 NPO 19
Within 2m PULSE COM 18

REMARK
(1) It is recommended to make differential driver connection since differential driver connection is more excellent than
open collector connection in max. output pulse and max. connection distance between servos. (Refer to Section
3.1 "Performance specifications".)
(2) 1: The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output
signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(3) 2: The QD75D upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals
inside the servo amplifier limit switches.
(4) 3: These are limit switches for the servo (for stop).
(5) 4: Refer to the specification and handling instruction manual of the servo amplifier MR-H for details on
connection.
(6) 5: This indicates the distance between the QD75D and servo amplifier.
(7) 6: Use the same logic (positive logic/negative logic) for the QD75D and servo amplifier. The QD75D is
initially set to negative logic.

Appendix - 37
APPENDICES
MELSEC-Q

5
Appendix 4.2 Connection example of QD75D and MR-J2/J2S- A (Differential driver)
Configure a sequence to turn OFF the HC-MF, HA-FF
MC at alarms and emergency stops. series motor
NF MC MR-J2/MR-J2S- A
TE1 U
L1 U
Power supply V
L2 V SM
3-phase 200VAC W
L3 W
E
L11 PE
EMG B1
L21 PE
C TE2
D 24VDC B2 Electromagnetic
P Cutoff by servo ON signal brake
CN1A OFF alarm signal.
Detector
Within 10m 4
CN2
QD75D
1 OPC 11
PULSE F+ 15 PP 3
PULSE F- 16 PG 13
PULSE R+ 17 NP 2
PULSE R- 18 NG 12
CLEAR 13 CR 8
CLEAR COM 14 SG 10
READY 11 RD 19
RDY COM 12 COM 9

CN3
PG05 9 LZ 5
12 TxD RD
PG0 COM 10 RA4 LZR 15
Positioning 2 RxD SD
COM 6 complete INP 18
24VDC 1 LG GND
COM 7
11 LG GND Commercially
LG 1 available
5 LG RS personal computer
Near-point dog External SD Plate
15 LG CS
DOG 3 emergency stop CN1B
Upper limit 2 DR
FLS 1 EMG 15
Lower limit 2 Servo ON ER
RLS 2 SON 5
Stop Reset Monitor output
STOP 4 RES 14
External command Proportional control 4 MO1 A Max. 1mA total
CHG 5 5V PC 8
5V Torque limit
TL 9
3 LG 10k Two-way deviation
PULSER A+ A19 A
A 3 Forward run stroke end 14 MO2
PULSER A- B19 LSP 16
3 Reverse run stroke end 13 LG 10k
PULSER B+ A20 B LSN 17
Plate SD
PULSER B- B20 SG 10
0V Within 2m
5G SG 20
Manual pulse generator VDD 3
MR-HDP01 COM 13
RA1
Fault ALM 18
RA2
Zero speed detection ZSP 19
RA3
During torque limiting TLC 6 When connecting an open collector,
make connection as shown below.
P15R 11
Analog torque limit QD75P CN1
TLA 12
+10V/max. current PULSE F 15 PP 3
LG 1 PULSE COM SG
16 10
Within 2m SD Plate PULSE R 17 NP 2
PULSE COM 18

REMARK
(1) It is recommended to make differential driver connection since differential driver connection is more excellent than
open collector connection in max. output pulse and max. connection distance between servos. (Refer to Section
3.1 "Performance specifications".)
(2) 1: The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output
signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(3) 2: The QD75D upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals
inside the servo amplifier limit switches.
(4) 3: These are limit switches for the servo amplifier (for stop).
(5) 4: This indicates the distance between the QD75D and servo amplifier.
(6) 5: Use the same logic (positive logic/negative logic) for the QD75D and servo amplifier. The QD75D is
initially set to negative logic.

Appendix - 38
APPENDICES
MELSEC-Q

5
Appendix 4.3 Connection example of QD75D and MR-C A (Differential driver)
Regenerative resistor is an external option.
Configure a sequence to turn OFF the HC-PQ
MC at alarms and emergency stops. series motor
NF MC C P
U
Power supply L1 TE1 U
V
V SM
Single-phase 200VAC (A type) or W
L2 W
single-phase 100VAC (A1 type) E

MR-C A or MR-C A1 EMG

24VDC Electromagnetic
brake
Cutoff by servo ON signal
OFF alarm signal.
Detector
Within 10m 4 CN2
QD75D
1 CN1
PULSE F+ 15 PP 9
PULSE F- 16 PG 10
PULSE R+ 17 NP 7
PULSE R- 18 NG 8
CLEAR 13 CR 13
CLEAR COM 14 SG 12
PG024 8 V+ 1
PG0 COM 10 OP 4
READY 11 SD 11
3 Servo READY Servo ON
DOG SON 17
Near-point dog 2 Forward run stroke end 3
FLS 1 LSP 15
RLS 2 Upper limit 2 Reverse run stroke end 3
LSN 14
Lower limit Fault RA1
STOP 4 ALM 2
CHG 5 Stop
V24 20
External command
COM 6
COM 7
RDY COM 12 +5V
5V
PULSER A+ A19
PULSER A- B19 A
PULSER B+ A20 B
PULSER B- B20 When connecting an open collector,
0V 5G make connection as shown below.
Manual pulse generator
QD75P CN1
MR-HDP01
PULSE F 15 PP 9
PULSE COM 16 SG 12
24V, 0.2 A or higher PULSE R 17 NP 7
PULSE COM 18
24V power +
supply -

REMARK
(1) It is recommended to make differential driver connection since differential driver connection is more excellent than
open collector connection in max. output pulse and max. connection distance between servos. (Refer to Section
3.1 "Performance specifications".)
(2) 1: The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output
signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(3) 2: The QD75D upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals
inside the servo amplifier limit switches.
(4) 3: These are limit switches for the servo amplifier (for stop).
(5) 4: This indicates the distance between the QD75D and servo amplifier.
(6) 5: Use the same logic (positive logic/negative logic) for the QD75D and servo amplifier. The QD75D is
initially set to negative logic.

Appendix - 39
APPENDICES
MELSEC-Q

Appendix 5 Connection examples with stepping motors manufactured by

ORIENTALMOTOR Co., Ltd.
4
Appendix 5.1 Connection example of QD75P and VEXTA UPD (Open collector)
2m max 5

QD75P VEXTA UPD 3

1
PULSE F 15 CW-
PULSE COM 16 CW+
PULSE R 17 CCW-
PULSE COM 18 CCW+
PGO24 8 P5V H.OFF+
PGO COM 10 5G H.OFF-
READY 11 TIMING
COM
RDY COM 12 O.H
5V +5V Connect when required
PULSER A+ A19
A Manual pulse
PULSER A- B19 generator
B
PULSER B+ A20 MR-HDP01
0V
PULSER B- B20 5G
Near-point dog
DOG 3
Upper limit 2 2
FLS 1
Lower limit 2 2
RLS 2
Stop
STOP 4
External command
CHG 5
24G
COM 6
COM 7 P24V

REMARK
(1) 1: The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output
signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(2) 2: The QD75P upper limit (FLS) and lower limit (RLS) are used in the OPR retry function.
(3) 3: Refer to the manual of the stepping motor drive for information on the stepping motor drive side wiring and
various signal wire shields not shown above.
(4) 4: Use the same logic (positive logic/negative logic) for the QD75P and stepping motor. The QD75P is
initially set to negative logic.
(5) 5: This indicates the distance between the QD75P and VEXTA UPD.

Appendix - 40
APPENDICES
MELSEC-Q

Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric

Industrial Co., Ltd.
4
Appendix 6.1 Connection example of QD75D and MINAS-A series (Differential driver)

2m max 5
QD75D MINAS-A 3
1
PULSE F+ 15 4 PULSE2
PULSE F- 16 3 PULSE1
PULSE R+ 17 6 SIGN2
PULSE R- 18 5 SIGN1
CLEAR 13 30 CL
CLEAR COM 14
PGO5 9 23 OZ+
PGO COM 10 24 OZ-
READY 11 35 S-RDY+
RDY COM 12 34 S-RDY-
29 SRV-QN
5V +5V
PULSER A+ A19 9 CCWL
A Manual pulse
PULSER A- B19 generator 8 CWL
B
PULSER B+ A20 MR-HDP01 7 COM+
0V
PULSER B- B20 5G
Near-point dog
DOG 3
Upper limit 2 2
FLS 1
Lower limit 2 2
RLS 2
Stop
STOP 4
External command
CHG 5
24G
COM 6
COM 7 P24V

REMARK
(1) 1: The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output
signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(2) 2: The QD75D upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals
inside the servo amplifier limit switches.
(3) 3: Refer to the manual of the servo amplifier for information on the servo amplifier side wiring and various signal
wire shields not shown above.
(4) 4: Use the same logic (positive logic/negative logic) for the QD75D and servo amplifier. The QD75D is
initially set to negative logic.
(5) 5: This indicates the distance between the QD75D and MINAS-A.

Appendix - 41
APPENDICES
MELSEC-Q

Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI

Co., Ltd.
4
Appendix 7.1 Connection example of QD75D and PYO series (Differential driver)

2m max 5
QD75D PYO 3
1
PULSE F+ 15 26 PPC
PULSE F- 16 27 PPC
PULSE R+ 17 28 NPC
PULSE R- 18 29 NPC
CLEAR 13 34 CLE
CLEAR COM 14 24 SG
PGO24 8 25 SG
PGO COM 10 11 COP
READY 11 41 SRDY
RDY COM 12 49 DOR-24V
37 SON
5V +5V
PULSER A+ A19 32 PROT
A Manual pulse
PULSER A- B19 33 NROT
B generator
PULSER B+ A20 MR-HDP01 13 SG
0V 50 DC5-24V
PULSER B- B20 5G
Near-point dog
DOG 3 48 SG
Upper limit 2 2
FLS 1
Lower limit 2 2
RLS 2
Stop
STOP 4
External command
CHG 5
24G
COM 6
COM 7 P24V

Differential driver
common terminal

REMARK
(1) 1: The logic for each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output
signal logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(2) 2: The QD75D upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals
inside the servo amplifier limit switches.
(3) 3: Refer to the manual of the servo amplifier for information on the servo amplifier side wiring and various signal
wire shields not shown above.
(4) 4: Use the same logic (positive logic/negative logic) for the QD75D and servo amplifier. The QD75D is
initially set to negative logic.
(5) 5: This indicates the distance between the QD75D and PYO.

Appendix - 42
APPENDICES
MELSEC-Q

Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric

Corporation

Appendix 8.1 Connection example of QD75D and ∑- series (Differential driver) 4

2m max 5
QD75D 3
1
PULSE F+ 15 7 PULS
PULSE F- 16 8 /PULS
PULSE R+ 17 11 SIGN
PULSE R- 18 12 /SIGN
CLEAR 13 14 /CLR
CLEAR COM 14 1 SG
PGO5 9 19 PCO
PGO COM 10 20 /PCO
READY 11 29 S-RDY+
RDY COM 12 30 S-RDY-
+5V 15 CLR
5V 18 PL3
PULSER A+ A19 Manual pulse
PULSER A- A 40 S-ON
B19 B generator
PULSER B+ A20 MR-HDP01 42 P-OT
PULSER B- B20 Near-point0V
dog 5G 43 N-OT
DOG 3 Upper limit 2 47 +24VIN
FLS 2
1 Lower limit 2 2
RLS 2 Stop
STOP 4 External command
CHG 5
24G
COM 6
COM 7 P24V

REMARK
(1) 1: The logic of each I/O terminal can be changed with " Pr.22 Input signal logic selection" and " Pr.23 Output signal
logic selection" in detailed parameters 1. (Negative logic is used for all terminals in the example above.)
(2) 2: The QD75D upper limit (FLS) and lower limit (RLS) are used in the OPR retry function. Set these signals
inside the servo amplifier limit switches.
(3) 3: Refer to the manual of the servo amplifier for information on the servo amplifier side wiring and various signal
wire shields not shown above.
(4) 4: Use the same logic (positive logic/negative logic) for the QD75D and servo amplifier. The QD75D is
initially set to negative logic.
(5) 5: This indicates the distance between the QD75D and ∑- .

Appendix - 43
APPENDICES
MELSEC-Q

Appendix 9 Comparisons with conventional positioning modules

Appendix 9.1 Comparisons with A1SD71S2 model

The following shows comparisons with the conventional positioning module

A1SD71S2, centered on the QD75 specifications.
Model QD75P1 QD75P2 QD75P4
A1SD71S2
Item QD75D1 QD75D2 QD75D4
No. of control axes 1 2 4 2
No. of positioning data items 600/axis 400/axis
2-axis linear interpolation
Interpolation 3-axis linear interpolation
functions 4-axis linear interpolation
2-axis circular interpolation
Position control
Speed control
Positioning Speed-position switching
systems (INC/ABS mode) (Only INC mode)
control
Position-speed switching
control
Machine OPR function (OPR method) (6 types) (3 types)
JOG operation
Inching operation
Manual pulse generator function
Automatic trapezoidal
Acceleration/ acceleration/deceleration
deceleration
processing S-curve
acceleration/deceleration
Acceleration time and deceleration time setting Acceleration/deceleration time
Acceleration/deceleration time
possible (4 patterns each) same
Compensation Electronic gears, backlash compensation Backlash compensation
Error display Error LED Error LED
History data storage
Provided (3 types, 16 items/axis) None
(Start, error, warning)
Flash ROM Buffer memory
Data storage destination
(battery-less backup) (battery backup)
No. of occupied I/O points 32 48
No. of module occupied slots 1 2
AD71TU
Peripheral
devices AD75TU
(data setting, A6GPP, A6PHP
etc.)
DOS/V personal computer
: Possible, : Not possible

Appendix - 44
APPENDICES
MELSEC-Q

Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models

The following shows the comparisons between the QD75 and the conventional
positioning modules A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3.

(1) Comparisons of performance specifications

Model QD75P1 QD75P2 QD75P4 A1SD75P1 A1SD75P2 A1SD75P3
Item QD75D1 QD75D2 QD75D4 -S3 -S3 -S3
No. of control axes 1 2 4 1 2 3
No. of positioning data items 600/axis 600/axis 1
2-axis linear
interpolation
3-axis linear
Position control
interpolation
interpolation
functions 4-axis linear
interpolation
2-axis circular
interpolation
Position control
1-axis
2-axis linear

interpolation
Speed
3-axis linear
control
interpolation
Positioning systems
4-axis linear

interpolation

Speed-position
switching control
Position-speed
switching control
<Absolute system> <Absolute system >
-214748364.8 to 214748364.7 ( m) -214748364.8 to 214748364.7 ( m)
-21474.83648 to 21474.83647 (inch) /-13421772.8 to 13421772.7 ( m)
0 to 359.99999 (degree) -21474.83648 to 21474.83647 (inch)
-2147483648 to 2147483647 (pulse) /-1342.17728 to 1342.17727 (inch)
<Incremental system > 0 to 359.99999 (degree)
-214748364.8 to 214748364.7 ( m) /0 to 359.99999 (degree)
-21474.83648 to 21474.83647 (inch) -2147483648 to 2147483647 (pulse)
-21474.83648 to 21474.83647 (degree) /-134217728 to 134217727 (pulse)
-2147483648 to 2147483647 (pulse) <Incremental system >
-214748364.8 to 214748364.7 ( m)
<Speed-position or position-speed switching
controls> /-13421772.8 to 13421772.7 ( m)
0 to 214748364.7 ( m) -21474.83648 to 21474.83647 (inch)
Positioning range 2 0 to 21474.83647 (inch) /-1342.17728 to 1342.17727 (inch)
0 to 21474.83647 (degree)/ -21474.83648 to 21474.83647 (degree)
0 to 359.99999 (degree) 3 /-1342.17728 to 1342.17727 (degree)
0 to 2147483647 (pulse) -2147483648 to 2147483647 (pulse)
/-134217728 to 134217727 (pulse)
<Speed-position switching control>
0 to 214748364.7 ( m)
/0 to 13421772.7 ( m)
0 to 21474.83647 (inch)
/0 to 1342.17727 (inch)
0 to 21474.83647 (degree)
/0 to 1342.17727 (degree)
0 to 2147483647 (pulse)
/0 to 134217727 (pulse)

Appendix - 45
APPENDICES
MELSEC-Q

Model QD75P1 QD75P2 QD75P4 A1SD75P1 A1SD75P2 A1SD75P3

Item QD75D1 QD75D2 QD75D4 -S3 -S3 -S3
0.01 to 20000000.00 (mm/min) 0.01 to 6000000.00 (mm/min)
0.001 to 2000000.000 (inch/min) /0.01 to 375000.00 (mm/min)
0.001 to 2000000.000 (degree/min) 0.001 to 600000.000 (inch/min)
1 to 1000000 (pulse/s) /0.001 to 37500.000 (inch/min)
Speed command range 2
0.001 to 600000.000 (degree/min)
/0.001 to 37500.000 (degree/min)
1 to 1000000 (pulse/s)
/1 to 62500 (pulse/s)
Machine OPR function (OPR method) (6 types) 4 (6 types)
JOG operation
Inching operation
Manual pulse generator function 1 generator/module 5 1 generator/axis 6
Automatic
trapezoidal
Acceleration
acceleration
/deceleration
/deceleration
processing
S-curve acceleration
/deceleration
Acceleration time and deceleration time can Acceleration time and deceleration time can
Acceleration/deceler No. of patterns
be set independently. (4 patterns each) be set independently. (4 patterns each)
ation time
Setting range 1 to 8388608ms 1 to 65535ms/1 to 8388608ms selectable
Electronic gears, backlash compensation, Electronic gears, backlash compensation,
Compensation
near pass 6 near pass 6
Error display Error LED 17-segment LED
History data storage (Start, error, warning) Provided (3 types, 16 items/axis) Provided (4 types, 16 items/axis)
Data storage destination Flash ROM (battery-less backup) Flash ROM (battery-less backup)
A6CON1 (Soldering type, sold separately) 10136-3000VE (Soldering type, supplied)
A6CON2 (Crimp type, sold separately) 10136-6000EL (Crimp type, sold separately)
Connection connector
A6CON4 (Soldering type, usable for straight
out and diagonal out, sold separately)
10136-3000VE: AWG#24 to #30
A6CON1, A6CON4: 0.3mm2
(Approx. 0.05 to 0.2 SQ)
Applicable wire size
10136-6000EL: AWG#28
A6CON2: AWG#24
(Approx. 0.08 SQ)
QD75P : Open collector Both differential driver and open collector
Command pulse output system
QD75D : Differential driver available
When connected with open collector: When connected with open collector:
200kpps 200kpps
Max. output pulse
When connected with differential driver: When connected with differential driver:
1Mpps 400kpps
When connected with open collector: 2m When connected with open collector: 2m
(6.56ft) (6.56ft)
Max. connection distance between servos
When connected with differential driver: 10m When connected with differential driver: 10m
(32.79ft) (32.79ft)
QD75P1: QD75P2: QD75P4:
0.4A 0.46A 0.58A
Internal current consumption (A) [5VDC] 0.7A or less
QD75D1: QD75D2: QD75D4:
0.52A 0.56A 0.82A
Flash ROM write count Max. 100000 times Max. 100000 times
No. of occupied I/O points 32 32
No. of module occupied slots 1 1
Outline dimensions (mm (inch)) 98(3.86)(H)×27.4(1.08)(W)×90(3.55)(D) 130(5.12)(H)×34.5(1.36)(W)×93.6(3.69)(D)
Weight (kg (lb)) 0.15 (0.33) 0.15 (0.33) 0.16 (0.35) 0.35 (0.77)

Appendix - 46
APPENDICES
MELSEC-Q

Model QD75P1 QD75P2 QD75P4 A1SD75P1 A1SD75P2 A1SD75P3

Item QD75D1 QD75D2 QD75D4 -S3 -S3 -S3
STRT signal (integrated into "CHG") (External start signal)
External command signal (External start or
I/O signal for CHG signal speed-position switching selectable with Speed-position switching signal
external devices parameters)
In-position (INP) (for monitor)
Signal logic switching Command pulse output signal only
Connection via PLC CPU,
Connection with peripheral Q Corresponding Serial Communication
Direct connection
devices Module, Q Corresponding MELSEC/H
Remote I/O Module
Peripheral devices
AD71TU
(data setting, etc.)
AD75TU
A6GPP, A6PHP
DOS/V personal computer

: Possible, : Not possible

1: Up to 100 data items/axis of positioning data (No. 1 to 100) can be set using the buffer memory. The positioning data in the buffer
memory is not backed up.
2: Indicates the standard mode/stepping motor mode about A1SD75P -S3.
3: Indicates the INC mode/ABS mode in speed-position switching control.
4: The deviation counter clear signal output time can be set with parameters.
5: The movement amount against the number of pulses input from manual pulsar is as follows:
• QD75: Movement amount = "Number of pulses" ×"Unit setting" ×"Manual pulse generator 1 pulse input magnification" (refer to
Section 11.4.1.)
• A1SD75: Movement amount = "Number of pulses" ×"Manual pulse generator 1 pulse input magnification"
6: The near pass function is valid only during the continuous path control. (A1SD75: Selected with parameters, QD75: Standard function)

(2) Function comparisons

Functions added to those of A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3
Added functions Remarks
External I/O signal logic switching function Refer to Section 13.4.
Inching operation Refer to Section 11.3.
Target position change function Refer to Section 12.7.5.
Multiple axes simultaneous start control Refer to Section 10.5.
3-axis linear interpolation control
4-axis linear interpolation control
3-axis fixed-feed control
4-axis fixed-feed control
2-axis speed control
Control systems Refer to Chapter 9.
3-axis speed control
4-axis speed control
Position-speed switching control
NOP instruction
LOOP instruction, LEND instruction
Absolute position restoration
Positioning start
Dedicated
Teaching Refer to Chapter 14.
instructions
Flash ROM writing
Parameter initialization
Automatic refresh of intelligent function modules Refer to GX Configurator-QP Operating Manual.
Refer to QCPU User's Manual
Output hold/clear parameter setting during PLC CPU error stop
(Function Explanation, Program Fundamentals).
Flash ROM write limit Refer to Section 13.3.
Speed-position switching control (ABS mode) Refer to Section 9.2.7.
Pre-reading start function Refer to Section 12.7.8.
External I/O signal monitor function Refer to Section 13.5.
Multiple PLC compatible function Refer to QCPU User's Manual (Multiple CPU System).
Deceleration start flag function Refer to Section 12.7.9
Stop command processing for deceleration stop function Refer to Section 12.7.10

Appendix - 47
APPENDICES
MELSEC-Q

Functions deleted from those of A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3

Deleted functions Remarks

Stepping motor mode –
OPR operation error (Error code: 208) –
Fast machine OPR –
Special start (stop) –
In the QD75, the start block area on the buffer memory is
Indirect designation expanded to five blocks (0 to 4). Each start block can be directly
designated with positioning start No. (7000 to 7004).
Block transfer With the A1SD75, this interface is used to set positioning data
Nos. 101 to 600 that do not exist on the buffer memory.
Positioning data I/F Since all positioning data can be set in the buffer memory with the
QD75, this function is deleted.
The contents are the same as those of the start history. Therefore,
Start history storage during error
the QD75 stores only the start history.
These data were deleted because they can be displayed in system
System monitor data (module type, OS information) monitor "Module's detailed information" of GX Developer.
(Refer to GX Developer Operating Manual.)

Functions changed from those of A1SD75P1-S3/A1SD75P2-S3/A1SD75P3-S3

Changed functions Descriptions

1. The limit check of arc address is carried out only when a sub
point is designated. It is not carried out when a center point is
designated.
2. The software stroke limit check during speed control is carried
out in the following cases:
• When the software stroke limit is applied to the current feed
value with Pr.14 and the current feed value is updated with
Pr.21 .

• When the software stroke limit is applied to the machine feed

Software stroke limit function value.
3. If an attempt is made to change the current value but the
designated address is out of the software stroke limit range, the
attempt is considered as an error and the current value is not
changed.
4. The conventional models feature three types of software stroke
limit error codes for upper limit and lower limit respectively. With
the QD75, errors for the software stroke upper limit are
integrated into error code 507, and errors for the lower limit are
integrated into error code 508. Error codes 509 to 512 are
deleted.
1. An error occurs when the designated new current value is out of
Current value changing the software stroke limit range.
M code function 2. The M code setting value is valid during the positioning data
current value changing instruction.
1. An error occurs when the command frequency value calculated
from the speed limit value is out of the maximum command
frequency of the positioning module being used.
Acceleration/deceleration control
2. Only two-word type (1 to 8388608ms) can be used as the
setting value for the acceleration/deceleration time. (The switch
between 1-word type and 2-word type is eliminated.)

Appendix - 48
APPENDICES
MELSEC-Q

Changed functions Descriptions

1. "Peripheral side (emergency) stop" is deleted from the stop
causes of Stop group 2 sudden stop selection. "Test mode fault"
in the stop causes of Stop group 3 sudden stop selection is
changed to be in the stop causes of Stop group 2 sudden stop
selection.
Stop process and restart after stop
2. "Stop (QD75 peripheral)" is added to the stop causes of Stop
Positioning operation stop
group 3 sudden stop selection.
3. Error code 100 (Peripheral device stop during operation) is
deleted.
4. "PLC CPU error occurrence" is added to the stop causes of
Stop group 2 sudden stop selection.
A1SD75 QD75
Normal Not READY
OFF
READY signal (X0) (READY) /WDT error
Not READY Normal
ON
/WDT error (READY)
The No. of connectable manual pulse generator is changed from 1
Manual pulse generator operation
generator/1 axis to 1 generator/1 module.
"Step stopped" is changed to "Stopped" and "Step error occurring"
is changed to "Error occurring".
Axis operation status "In position control for position-speed switching control", "In speed
control for position-speed switching control", and "In absolute
position restoration" are added.
A1SD75: If the reference axis operates in reverse direction, the
control is internally changed into the continuous
positioning control (restart after deceleration stop).
Continuous path control QD75: Even if the reference axis operates in reverse direction with
interpolation, the control remains as the continuous path
control. (In single-axis operation, the operation is the same
as that of the A1SD75.)
For the continuous path control, only the near pass function is
Near pass
available.
2-axis interpolation
• 2-axis linear interpolation
The interpolation target axis can be randomly set with a positioning
• 2-axis fixed-feed
identifier.
• Circular interpolation
• 2-axis speed control
1. "Step stopped" is changed to "Stopped" and "Step error
occurring" is changed to "Error occurring" in the axis operation
Step function status parameters.
2. The restart command for step start information (02H) is deleted.
3. The step operation is restarted with the restart command.
The command in-position width is expanded.
Command in-position function • A1SD75: 1 to 32767000
• QD75: 1 to 2147483647
The operating direction can be designated even for the ABS
Control unit "degree" handling
control in the unit of "degree".

Appendix - 49
APPENDICES
MELSEC-Q

Changed functions Descriptions

No. 9004 (Multiple axes simultaneous start control) is added.
Positioning start No. Nos. 7004 to 7010 (block start designation) and 8000 to 8049 (indirect
designation) are deleted.
With the QD75, the number of blocks is changed to 5 (7000 to 7004). (With the
Block start data
A1SD75, this data is called "positioning start information".)
Special start data "Simultaneous start" The simultaneous start is possible up to 4 axes.
Refer to the following "Error code comparisons" and "Warning code
List of errors/warnings
comparisons".
The configuration of "start information" and "start No." is changed so that the start
Start history
No. can be directly checked.
When the PLC CPU starting method is set to asynchronous, interlock is
Synchronization flag (X1)
established with the synchronization flag (X1) signal.

Basic parameter 1 " Pr.5 Pulse output mode" When the PLC is turned ON or the PLC CPU module is reset, the valid value is
only the first value after the PLC READY signal (Y0) turns from OFF to ON.
A1SD75 QD75

Detailed parameters 0 (Factory Software stroke limits invalid for Software stroke limits valid for
" Pr.15 Software stroke limit valid/invalid setting" setting) manual operation manual operation
Software stroke limits valid for Software stroke limits invalid for
1
manual operation manual operation

Error code comparisons

Error code
Error name
A1SD75 QD75
Outside bias speed range 913 906
Illegal sudden stop deceleration time 962 961
Stop group 1 sudden stop selection error 963 962
Stop group 2 sudden stop selection error 964 963
Stop group 3 sudden stop selection error 965 964
OPR torque limit value error 991 995
Setting for the movement amount after near-point
992 991
dog ON error
OPR acceleration time selection error 993 992
OPR deceleration time selection error 994 993

Error type Added Deleted

Fatal error 002 51, 52
Common – 100, 108
OPR, Absolute position restoration 213, 214 208
JOG/Inching operation 301 –
Manual pulse generator operation – –
Positioning operation 523, 535, 545, 546 509 to 512
I/F 800 to 806 –
Parameter 920, 935, 990, 996 931, 933, 938, 971, 999
Error whose name is changed: Error code 967
A1SD75: External start selection error
QD75: External command function selection error

Appendix - 50
APPENDICES
MELSEC-Q

Warning code comparisons

Warning type Added Deleted
Fatal warning – 51, 52
Common 110 101, 105 to 108, 115
OPR, Absolute position restoration – –
JOG operation/Inching operation – –
Manual pulse generator operation – 402
Positioning operation 516, 517, 518 –
I/F – –
Parameter – 900
Warning whose name is changed: Warning code 512
A1SD75: Illegal external start function
QD75: Illegal external command function
: Refer to "Section 15.2 List of errors" and "Section 15.3 List of warnings" for details on error codes and warning codes.

(3) Input/output (X/Y) comparisons

Input (X) Output (Y)
Name A1SD75 QD75 Name A1SD75 QD75
(QD75/A1SD75) READY X00 X00 Axis 1 Positioning start Y10 Y10
Axis 1 Start complete X01 X10 Axis 2 Positioning start Y11 Y11
Axis 2 Start complete X02 X11 Axis 3 Positioning start Y12 Y12
Axis 3 Start complete X03 X12 Axis 4 Positioning start – Y13
Axis 4 Start complete – X13 Axis 1 Stop Y13 Y04
Axis 1 BUSY X04 X0C Axis 2 Stop Y14 Y05
Axis 2 BUSY X05 X0D Axis 3 Stop Y1C Y06
Axis 3 BUSY X06 X0E Axis 4 Stop – Y07
Axis 1 Forward run JOG
Axis 4 BUSY – X0F Y16 Y08
start
Axis 1 Positioning Axis 1 Reverse run JOG
X07 X14 Y17 Y09
complete start
Axis 2 Positioning Axis 2 Forward run JOG
X08 X15 Y18 Y0A
complete start
Axis 3 Positioning Axis 2 Reverse run JOG
X09 X16 Y19 Y0B
complete start
Axis 4 Positioning Axis 3 Forward run JOG
– X17 Y1A Y0C
complete start
Axis 3 Reverse run JOG
Axis 1 Error detection X0A X08 Y1B Y0D
start
Axis 4 Forward run JOG
Axis 2 Error detection X0B X09 – Y0E
start
Axis 4 Reverse run JOG
Axis 3 Error detection X0C X0A – Y0F
start
Axis 4 Error detection – X0B PLC READY Y1D Y00
Axis 1 Execution
Axis 1 M code ON X0D X04 – Y14
prohibition flag
Axis 2 Execution
Axis 2 M code ON X0E X05 – Y15
prohibition flag
Axis 3 Execution
Axis 3 M code ON X0F X06 – Y16
prohibition flag
Axis 4 Execution
Axis 4 M code ON – X07 – Y13
prohibition flag
Y00 to Y0F Y01 to Y03
Synchronization flag – X01 Use prohibited
Y1E to Y1F Y18 to Y1F
X02, X03
Use prohibited X10 to X1F
X18 to X1F
: The ON/OFF statuses for READY are different between the QD75 and A1SD75.

Not READY/WDT error READY

QD75 OFF ON
A1SD75 ON OFF

Appendix - 51
APPENDICES
MELSEC-Q

(4) Buffer memory address comparisons

The following table shows the buffer memory addresses of the QD75 (Axes 1 to
3) corresponding to the items of the A1SD75.
The shaded area shows the differences between the A1SD75 and QD75.

Buffer memory address

Items of A1SD75 A1SD75 QD75
Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3
Pr.1 Unit setting 0 150 300 0 150 300
Pr.2 No. of pulses per rotation (Ap) 1 151 301 1 151 301
Pr.3 Movement amount per rotation (Al) 2 152 302 2 152 302
Pr.4 Unit magnification (Am) 3 153 303 3 153 303
Pr.5 Pulse output mode 4 154 304 4 154 304
Pr.6 Rotation direction setting 5 155 305 5 155 305

Pr.7 Speed limit value 6 156 306 10 160 310

7 157 307 11 161 311

Pr.8 Acceleration time 0 8 158 308 12 162 312

9 159 309 13 163 313

Pr.9 Deceleration time 0 10 160 310 14 164 314

11 161 311 15 165 315

Pr.10 Bias speed at start 12 162 312 6 156 306

13 163 313 7 157 307
Pr.11 Stepping motor mode selection amount 14 164 314 – – –
Pr.12 Backlash compensation amount 15 165 315 17 167 317

Pr.13 Software stroke limit upper limit value 16 166 316 18 168 318
17 167 317 19 169 319

Pr.14 Software stroke limit lower limit value 18 168 318 20 170 320
19 169 319 21 171 321
Pr.15 Software stroke limit selection 20 170 320 22 172 322
Pr.16 Software stroke limit valid/invalid setting 21 171 321 23 173 323

Pr.17 Command in-position width 22 172 322 24 174 324

23 173 323 25 175 325
Pr.18 Torque limit setting value 24 174 324 26 176 326
Pr.19 M code ON signal output timing 25 175 325 27 177 327
Pr.20 Speed switching mode 26 176 326 28 178 328
Pr.21 Interpolation speed designation method 27 177 327 29 179 329
Pr.22 Current feed value during speed control 28 178 328 30 180 330
Pr.23 Manual pulse generator selection 29 179 329 – – –
Pr.24 Logic selection for pulse output to the drive unit 30 180 330 – – –
Pr.25 Size selection for acceleration/deceleration time 31 181 331 – – –

Pr.26 Acceleration time 1 36 186 336 36 186 336

37 187 337 37 187 337

Pr.27 Acceleration time 2 38 188 338 38 188 338

39 189 339 39 189 339

Appendix - 52
APPENDICES
MELSEC-Q

Buffer memory address

Items of A1SD75 A1SD75 QD75
Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3

Pr.28 Acceleration time 3 40 190 340 40 190 340

41 191 341 41 191 341

Pr.29 Deceleration time 1 42 192 342 42 192 342

43 193 343 43 193 343

Pr.30 Deceleration time 2 44 194 344 44 194 344

45 195 345 45 195 345

Pr.31 Deceleration time 3 46 196 346 46 196 346

47 197 347 47 197 347

Pr.32 JOG speed limit value 48 198 348 48 198 348

49 199 349 49 199 349
Pr.33 JOG operation acceleration time selection 50 200 350 50 200 350
Pr.34 JOG operation deceleration time selection 51 201 351 51 201 351
Pr.35 Acceleration/deceleration process selection 52 202 352 52 202 352
Pr.36 S-curve ratio 53 203 353 53 203 353

Pr.37 Sudden stop deceleration time 54 204 354 54 204 354

55 205 355 55 205 355
Pr.38 Stop group 1 sudden stop selection 56 206 356 56 206 356
Pr.39 Stop group 2 sudden stop selection 57 207 357 57 207 357
Pr.40 Stop group 3 sudden stop selection 58 208 358 58 208 358
Pr.41 Positioning complete signal output time 59 209 359 59 209 359

Pr.42 Allowable circular interpolation error width 60 210 360 60 210 360
61 211 361 61 211 361
Pr.43 External start function selection
62 212 362 62 212 362
(QD75: Pr.42 External command function selection)
Pr.44 Near pass mode selection for path control 66 216 366 – – –
Pr.45 OPR method 70 220 370 70 220 370
Pr.46 OPR direction 71 221 371 71 221 371

Pr.47 OP address 72 222 372 72 222 372

73 223 373 73 223 373

Pr.48 OPR speed 74 224 374 74 224 374

75 225 375 75 225 375

Pr.49 Creep speed 76 226 376 76 226 376

77 227 377 77 227 377
Pr.50 OPR retry 78 228 378 78 228 378
Pr.51 OPR dwell time 79 229 379 79 229 379
Pr.52 Setting for the movement amount after near- 80 230 380 80 230 380
point dog ON 81 231 381 81 231 381
Pr.53 OPR acceleration time selection 82 232 382 82 232 382
Pr.54 OPR deceleration time selection 83 233 383 83 233 383

Pr.55 OP shift amount 84 234 384 84 234 384

85 235 385 85 235 385
Pr.56 OPR torque limit value 86 236 386 86 236 386
Pr.57 Speed designation during OP shift 88 238 388 88 238 388
Pr.58 Dwell time during OPR retry 89 239 389 89 239 389

Appendix - 53
APPENDICES
MELSEC-Q

Buffer memory address

Items of A1SD75 A1SD75 QD75
Common for axis 1, 2, 3 Common for axis 1, 2, 3, 4
Md.1 In test mode flag 450 1200
Md.2 Module name 451 –

Md.3 OS type 452 453

–
454 455

Md.4 OS version 456

–
457
Md.5 Clock data (hour: minute) 460 –
Md.6 Clock data (second: 100 ms) 461 –
(Pointer number) (0) to (15)
Md.7 Start axis
462 to 537 1212 to 1287
(QD75: Md. 3 Start information)
Md.8 Operation type
463 to 538 1213 to 1288
(QD75: Md. 4 Start No.)
Md.9 Start Hour: minute Start
history 464 to 539 1214 to 1289
(QD75: Md. 5 Start Hour)
Md.10 Start Second: 100 ms
465 to 540 1215 to 1290
(QD75: Md. 6 Start Minute: second)
Md.11 Error judgment 466 to 541 1216 to 1291
Md.12 Start history pointer 542 1292
(Pointer number) (0) to (15) –
Md.13 Start axis 543 to 618 –
Md.14 Operation type Start 544 to 619 –
Md.15 Start Hour: minute history
545 to 620 –
during
Md.16 Start Second: 100 ms 546 to 621 –
errors
Md.17 Error judgment 547 to 622 –
Md.18 Start history storage during error 623 –
(Pointer number) (0) to (15)
Md.19 Axis in which the error occurred 624 to 684 1293 to 1353
Md.20 Axis error No. 625 to 685 1294 to 1354
Md.21 Axis error occurrence Hour: minute
626 to 686 1295 to 1355
(QD75: Md. 11 Axis error occurrence (Hour)) Error
Md.22 Axis error occurrence Second: history

100 ms
627 to 687 1296 to 1356
(QD75: Md. 12 Axis error occurrence
(Minute: second))
Md.23 Error history pointer 688 1357

Appendix - 54
APPENDICES
MELSEC-Q

Buffer memory address

Items of A1SD75 A1SD75 QD75
Common for axis 1, 2, 3 Common for axis 1, 2, 3, 4
(Pointer number) (0) to (15)
Md.24 Axis in which the warning occurred 689 to 749 1358 to 1418
Md.25 Axis warning No. 690 to 750 1359 to 1419
Md.26 Axis warning occurrence Hour:

minute
691 to 751 1360 to 1420
(QD75: Md. 16 Axis warning occurrence Warning
(Hour)) history
Md.27 Axis warning occurrence Second:

100 ms
692 to 752 1361 to 1421
(QD75: Md. 17 Axis warning occurrence
(Minute: second))
Md.28 Warning history pointer 753 1422

Appendix - 55
APPENDICES
MELSEC-Q

Buffer memory address

Items of A1SD75 A1SD75 QD75
Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3

Md.29 Current feed value 800 900 1000 800 900 1000
801 901 1001 801 901 1001

Md.30 Machine feed value 802 902 1002 802 902 1002
803 903 1003 803 903 1003

Md.31 Feedrate 804 904 1004 804 904 1004

805 905 1005 805 905 1005
Md.32 Valid M code 806 906 1006 808 908 1008
Md.33 Axis error No. 807 907 1007 806 906 1006
Md.34 Axis warning No. 808 908 1008 807 907 1007
Md.35 Axis operation status 809 909 1009 809 909 1009

Md.36 Current speed 810 910 1010 810 910 1010

811 911 1011 811 911 1011

Md.37 Axis feedrate 812 912 1012 812 912 1012

813 913 1013 813 913 1013
Md.38 Speed-position switching control positioning 814 914 1014 814 914 1014
amount 815 915 1015 815 915 1015
Md.39 External input/output signal 816 916 1016 816 916 1016
Md.40 Status 817 917 1017 817 917 1017

Md.41 Target value 818 918 1018 818 918 1018

819 919 1019 819 919 1019

Md.42 Target speed 820 920 1020 820 920 1020

821 921 1021 821 921 1021

Md.43 OP absolute position 822 922 1022

– – –
823 923 1023

Md.44 Movement amount after near-point dog ON 824 924 1024 824 924 1024
825 925 1025 825 925 1025
Md.45 Torque limit stored value 826 926 1026 826 926 1026
Md.46 Special start data instruction code setting value 827 927 1027 827 927 1027
Md.47 Special start data instruction parameter setting
828 928 1028 828 928 1028
value
Md.48 Start positioning data No. setting value 829 929 1029 829 929 1029
Md.49 In speed control flag 830 930 1030 830 930 1030
Md.50 In speed change processing flag 831 931 1031 831 931 1031
Md.51 Start data pointer being executed 832 932 1032 834 934 1034
Md.52 Last executed positioning data No. 833 933 1033 837 937 1037
Md.53 Repetition counter
834 934 1034 832 932 1032
(QD75: Md. 41 Special start repetition counter)
Md.54 Positioning data No. being executed 835 935 1035 835 935 1035
Md.55 Block No. being executed 836 936 1036 836 936 1036

Md.56 Positioning data being executed 1038 to 1038 to

838 to 847 938 to 947 838 to 847 938 to 947
1047 1047

Appendix - 56
APPENDICES
MELSEC-Q

Buffer memory address

Items of A1SD75 A1SD75 QD75
Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3
Cd.1 Clock data setting (hour) 1100 –
Cd.2 Clock data setting (minute, second) 1101 –
Cd.3 Clock data writing 1102 –
Cd.4 Target axis 1103 –
Cd.5 Positioning data No. 1104 –
Cd.6 Write pattern 1105 –
Cd.7 Read/write request 1106 –
Cd.8 Read/write positioning data I/F 1108 to 1137 –
Cd.9 Flash ROM write request 1138 1900
Cd.10 Parameter initialization request 1139 1901
Cd.11 Positioning start No. 1150 1200 1250 1500 1600 1700
Cd.12 Axis error reset 1151 1201 1251 1502 1602 1702
Cd.13 Restart command 1152 1202 1252 1503 1603 1703
Cd.14 M code OFF request 1153 1203 1253 1504 1604 1704

Cd.15 New current value 1154 1204 1254 1506 1606 1706
1155 1205 1255 1507 1607 1707

Cd.16 New speed value 1156 1206 1256 1514 1614 1714
1157 1207 1257 1515 1615 1715
Cd.17 Speed change request 1158 1208 1258 1516 1616 1716
Cd.18 Positioning operation speed override 1159 1209 1259 1513 1613 1713

Cd.19 JOG speed 1160 1210 1260 1518 1618 1718

1161 1211 1261 1519 1619 1719
Cd.20 Speed-position switching enable flag 1163 1213 1263 1528 1628 1728
Cd.21 Speed-position switching control movement 1164 1214 1264 1526 1626 1726
amount change register 1165 1215 1265 1527 1627 1727
Cd.22 Manual pulse generator enable flag 1167 1217 1267 1524 1624 1724
Cd.23 Manual pulse generator 1 pulse input 1168 1218 1268 1522 1622 1722
magnification 1169 1219 1269 1523 1623 1723
Cd.24 OPR return request flag OFF request 1170 1220 1270 1521 1621 1721
Cd.25 External start valid
1171 1221 1271 1505 1605 1705
(QD75: Cd. 8 External command valid)
Cd.26 Step valid flag 1172 1222 1272 1545 1645 1745
Cd.27 Step mode 1173 1223 1273 1544 1644 1744
Cd.28 Step start information 1174 1224 1274 1546 1646 1746
Cd.29 Skip command 1175 1225 1275 1547 1647 1747
Cd.30 New torque value 1176 1226 1276 1525 1625 1725
Cd.31 Positioning starting point No. 1178 1228 1278 1501 1601 1701
Cd.32 Interrupt request during continuous operation 1181 1231 1281 1520 1620 1720

Cd.33 New acceleration time value 1184 1234 1284 1508 1608 1708
1185 1235 1285 1509 1609 1709

Appendix - 57
APPENDICES
MELSEC-Q

Buffer memory address

Items of A1SD75 A1SD75 QD75
Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3

Cd.34 New deceleration time value 1186 1236 1286 1510 1610 1710
1187 1237 1287 1511 1611 1711
Cd.35 Acceleration/deceleration time change during
1188 1238 1288 1512 1612 1712
speed change, enable/disable selection
Da.1 Operation pattern

Da.2 Control system

1300 2300 3300 2000 8000 14000
Da.3 Acceleration time No.

Da.4 Deceleration time No.

Da.9 M code/condition data 1301 2301 3301 2001 8001 14001

Da.8 Dwell time/JUMP destination
No.1 1302 2302 3302 2002 8002 14002
positioning data No.
1

1304 2304 3306 2004 8004 14004

Positioning data

Da.7 Command speed

1305 2305 3307 2005 8005 14005
Da.5 Positioning address/movement 1306 2306 3306 2006 8006 14006
amount 1307 2307 3307 2007 8007 14007

Da.6 Arc address 1308 2308 3308 2008 8008 14008

1309 2309 3309 2009 8009 14009
1310 to 2320 to 3310 to 2010 to 8010 to 14010 to
No.2
1319 2329 3319 2019 8019 14019
1320 to 2330 to 3320 to 2020 to 8020 to 14020 to
No.3
1329 2339 3329 2029 8029 14029
to to to to to to to
2290 to 3290 to 4290 to 2990 to 8990 to 14990 to
No.100
2299 3299 4299 2999 8999 14999

1: With the QD75, the positioning data buffer memory addresses are Nos. 1 to 600.

Refer to Appendix 12 "List of buffer memory addresses" for details.

Appendix - 58
APPENDICES
MELSEC-Q

Buffer memory address

Items of A1SD75 A1SD75 QD75
Axis 1 Axis 2 Axis 3 Axis 1 Axis 2 Axis 3
Da.10 Shape

Da.11 Start data No.

1st
2

Da.12 Special start 4300 4350 4550 4600 4800 4850 26000 26050 27000 27050 28000 28050
point
Start block data

instruction
Da.13 Parameter

2nd point 4301 4351 4551 4601 4801 4851 26001 26051 27001 27051 28001 28051

3rd point 4302 4352 4552 4602 4802 4852 26002 26052 27002 27052 28002 28052

to to to to to to to
2

50th point 4349 4399 4599 4649 4849 4899 26049 26099 27049 27099 28049 28099
Positioning start information

Da.14 Condition target

4400 4650 4900 26100 27100 28100
Da.15 Condition operator

Da.16 Address 4402 4652 4902 26102 27102 28102

No. 1 4403 4653 4903 26103 27103 28103

Da.17 Parameter 1 4404 4654 4904 26104 27104 28104

Condition data

4405 4655 4905 26105 27105 28105

Da.18 Parameter 2 4406 4656 4906 26106 27106 28106

4407 4657 4907 26107 27107 28107
4410 to 4660 to 4910 to 26110 to 27110 to 28110 to
No. 2
4419 4669 4919 26119 27119 28119
4420 to 4670 to 4920 to 26120 to 27120 to 28120 to
No. 3
4429 4679 4929 26129 27129 28129
to to to to to to to
4490 to 4740 to 4990 to 26190 to 27190 to 28190 to
No. 10
4499 4749 4999 26199 27199 28199
Start No. 8001 4500 4750 5000 – – –
information
Positioning

Start No. 8002 4501 4751 5001 – – –

start

Indirect

specification to to to to to to to
Start No. 8050 4549 4799 5049 – – –
5050 30000
PLC CPU Condition judgment target data of
the condition data to to
memo area
5099 30099
Target axis 5100 –
Head positioning block No. 5101 –
No. of read/write data items 5102 –
Read/write request 5103 –
Read/write block 5110 to 6109 –

2: With the QD75, it is called "block start data".

3: With the QD75, the "block start data" and "condition data" in the shaded area are called "start block 0". There are five start blocks: 0 to
4.

Refer to Appendix 12 "List of buffer memory addresses" for details.

Appendix - 59
APPENDICES
MELSEC-Q

(5) Data indication No. comparisons

The following table shows the comparisons of numbers for each symbols (Pr.,
Md., Cd., and Da.) indicating parameters or positioning data items.
The shaded sections indicate the added or changed items with the QD75.
Parameters
Item A1SD75 QD75
Unit setting Pr.1

No. of pulses per rotation (Ap) Pr.2

Movement amount per rotation (Al) Pr.3

Unit magnification (Am) Pr.4

Pulse output mode Pr.5

Rotation direction setting Pr.6

Speed limit value Pr.7 Pr.8

Acceleration time 0 Pr.8 Pr.9

Deceleration time 0 Pr.9 Pr.10

Bias speed at start Pr.10 Pr.7

Stepping motor mode selection Pr.11 –

Backlash compensation amount Pr.12 Pr.11

Software stroke limit upper limit value Pr.13 Pr.12

Software stroke limit lower limit value Pr.14 Pr.13

Software stroke limit selection Pr.15 Pr.14

Software stroke limit valid/invalid setting Pr.16 Pr.15

Command in-position width Pr.17 Pr.16

Torque limit setting value Pr.18 Pr.17

M code ON signal output timing Pr.19 Pr.18

Speed switching mode Pr.20 Pr.19

Interpolation speed designation method Pr.21 Pr.20

Current feed value during speed control Pr.22 Pr.21

Manual pulse generator selection Pr.23 –

Logic selection for pulse output to the drive unit Pr.24 –

Input signal logic selection – Pr.22

Output signal logic selection – Pr.23

Manual pulse generator input selection – Pr.24

Size selection for acceleration/deceleration time Pr.25 –

Acceleration time 1 Pr.26 Pr.25

Acceleration time 2 Pr.27 Pr.26

Appendix - 60
APPENDICES
MELSEC-Q

Item A1SD75 QD75

Acceleration time 3 Pr.28 Pr.27

Deceleration time 1 Pr.29 Pr.28

Deceleration time 2 Pr.30 Pr.29

Deceleration time 3 Pr.31 Pr.30

JOG speed limit value Pr.32 Pr.31

JOG operation acceleration time selection Pr.33 Pr.32

JOG operation deceleration time selection Pr.34 Pr.33

Acceleration/deceleration process selection Pr.35 Pr.34

S-curve ratio Pr.36 Pr.35

Sudden stop deceleration time Pr.37 Pr.36

Stop group 1 sudden stop selection Pr.38 Pr.37

Stop group 2 sudden stop selection Pr.39 Pr.38

Stop group 3 sudden stop selection Pr.40 Pr.39

Positioning complete signal output time Pr.41 Pr.40

Allowable circular interpolation error width Pr.42 Pr.41

External start function selection

Pr.43 Pr.42
(QD75: Pr.42 External command function selection)
Near pass mode selection for path control Pr.44 –
OPR method Pr.45 Pr.43

OPR direction Pr.46 Pr.44

OP address Pr.47 Pr.45

OPR speed Pr.48 Pr.46

Creep speed Pr.49 Pr.47

OPR retry Pr.50 Pr.48

OPR dwell time Pr.51 Pr.49

Setting for the movement amount after near-point dog ON Pr.52 Pr.50

OPR acceleration time selection Pr.53 Pr.51

OPR deceleration time selection Pr.54 Pr.52

OP shift amount Pr.55 Pr.53

OPR torque limit value Pr.56 Pr.54

Deviation counter clear signal output time – Pr.55

Speed designation during OP shift Pr.57 Pr.56

Dwell time during OPR retry Pr.58 Pr.57

Speed-position function selection – Pr.150

Appendix - 61
APPENDICES
MELSEC-Q

Monitor data

Item A1SD75 QD75

In test mode flag Md.1

Module name Md.2 –

OS type Md.3 –

OS version Md.4 –

Clock data (hour: minute) Md.5 –

Clock data (second: 100 ms) Md.6 –

Start axis (QD75: Md. 3 Start information) Md.7 Md.3

Operation type (QD75: Md. 4 Start No.) Md.8 Md.4

Start Hour: minute (QD75: Md. 5 Start Hour) Md.9 Md.5

Start history
Start Second: 100 ms (QD75: Md. 6 Start Minute: second) Md.10 Md.6

Error judgment Md.11 Md.7

Start history pointer Md.12 Md.8

Start axis Md.13 –

Operation type Md.14 –

Start Hour: minute Md.15 –

Start history during
errors Md.16
Start Second: 100 ms –

Error judgment Md.17 –

Start history storage during error Md.18 –

Axis in which the error occurred Md.19 Md.9

Axis error No. Md.20 Md.10

Axis error occurrence Hour: minute

Md.21 Md.11
(QD75: Md. 11 Axis error occurrence (Hour)) Error history
Axis error occurrence Second: 100ms
Md.22 Md.12
(QD75: Md. 12 Axis error occurrence (Minute: second))

Pointer Md.23 Md.13

Axis in which the warning occurred Md.24 Md.14

Axis warning No. Md.25 Md.15

Axis warning occurrence Hour: minute

Md.26 Md.16
(QD75: Md. 16 Axis warning occurrence (Hour)) Warning history
Axis warning occurrence Second: 100ms
Md.27 Md.17
(QD75: Md. 17 Axis warning occurrence (Minute: second))

Pointer Md.28 Md.18

Appendix - 62
APPENDICES
MELSEC-Q

Item A1SD75 QD75

No. of write accesses to flash ROM – Md.19

Current feed value Md.29 Md.20

Machine feed value Md.30 Md.21

Feedrate Md.31 Md.22

Valid M code Md.32 Md.25

Axis error No. Md.33 Md.23

Axis warning No. Md.34 Md.24

Axis operation status Md.35 Md.26

Current speed Md.36 Md.27

Axis feedrate Md.37 Md.28

Speed-position switching control positioning amount Md.38 Md.29

External input/output signal Md.39 Md.30

Status Md.40 Md.31

Target value Md.41 Md.32

Target speed Md.42 Md.33

OP absolute position Md.43 –

Movement amount after near-point dog ON Md.44 Md.34

Torque limit stored value Md.45 Md.35

Special start data instruction code setting value Md.46 Md.36

Special start data instruction parameter setting value Md.47 Md.37

Start positioning data No. setting value Md.48 Md.38

In speed control flag Md.49 Md.39

In speed change processing flag Md.50 Md.40

Start data pointer being executed Md.51 Md.43

Last executed positioning data No. Md.52 Md.46

Repetition counter (QD75: Md. 41 Special start repetition counter) Md.53 Md.41

Control system repetition counter – Md.42

Positioning data No. being executed Md.54 Md.44

Block No. being executed Md.55 Md.45

Positioning data being executed Md.56 Md.47

Deceleration start flag – Md.48

Appendix - 63
APPENDICES
MELSEC-Q

Control data

Item A1SD75 QD75

Clock data setting (hour) Cd.1 –

Clock data setting (minute, second) Cd.2 –

Clock data writing Cd.3 –

Target axis Cd.4 –

Positioning data No. Cd.5 –

Write pattern Cd.6 –

Read/write request Cd.7 –

Read/write positioning data I/F Cd.8 –

Flash ROM write request Cd.9 Cd.1

Parameter initialization request Cd.10 Cd.2

Positioning start No. Cd.11 Cd.3

Axis error reset Cd.12 Cd.5

Restart command Cd.13 Cd.6

M code OFF request Cd.14 Cd.7

New current value Cd.15 Cd.9

New speed value Cd.16 Cd.14

Speed change request Cd.17 Cd.15

Positioning operation speed override Cd.18 Cd.13

JOG speed Cd.19 Cd.17

Inching movement amount – Cd.16

Speed-position switching enable flag Cd.20 Cd.24

Speed-position switching control movement amount change register Cd.21 Cd.23

Position-speed switching enable flag – Cd.26

Position-speed switching control speed change register – Cd.25

Target position change request flag – Cd.29

Target position change value (new address) – Cd.27

Target position change value (new speed) – Cd.28

ABS direction in degrees – Cd.40

Manual pulse generator enable flag Cd.22 Cd.21

Manual pulse generator 1 pulse input magnification Cd.23 Cd.20

OPR request flag OFF request Cd.24 Cd.19

External start valid (QD75: Cd. 8 External command valid) Cd.25 Cd.8

Appendix - 64
APPENDICES
MELSEC-Q

Item A1SD75 QD75

Step valid flag Cd.26 Cd.35

Step mode Cd.27 Cd.34

Step start information Cd.28 Cd.36

Skip command Cd.29 Cd.37

New torque value Cd.30 Cd.22

Positioning starting point No. Cd.31 Cd.4

Interrupt request during continuous operation Cd.32 Cd.18

Simultaneous starting axis start data No. (Axis 1 start data No.) – Cd.30

Simultaneous starting axis start data No. (Axis 2 start data No.) – Cd.31

Simultaneous starting axis start data No. (Axis 3 start data No.) – Cd.32

Simultaneous starting axis start data No. (Axis 4 start data No.) – Cd.33

Teaching data selection – Cd.38

Teaching positioning data No. – Cd.39

New acceleration time value Cd.33 Cd.10

New deceleration time value Cd.34 Cd.11

Acceleration/deceleration time change during speed change, enable/disable selection Cd.35 Cd.12

Stop command processing for deceleration stop selection – Cd.42

Deceleration start flag valid – Cd.41

Appendix - 65
APPENDICES
MELSEC-Q

Positioning data, block start data, condition data

Item A1SD75 QD75

Operation pattern Da.1

Control system Da.2

Acceleration time No. Da.3

Deceleration time No. Da.4

Axis to be interpolated – Da.5

Positioning data
Positioning address/movement amount Da.5 Da.6

Arc address Da.6 Da.7

Command speed Da.7 Da.8

Dwell time/JUMP destination positioning data No. Da.8 Da.9

M code/condition data Da.9 Da.10

Shape Da.10 Da.11

Start data No. Da.11 Da.12

Start block data
Special start instruction Da.12 Da.13

Parameter Da.13 Da.14

Positioning start Da.14 Da.15

Condition target
information
Condition operator Da.15 Da.16

Condition data Address Da.16 Da.17

Parameter 1 Da.17 Da.18

Parameter 2 Da.18 Da. 19

: Called "block start data" with the QD75.

Appendix - 66
APPENDICES
MELSEC-Q

(6) Input/output signal comparisons

Input signal comparisons

A1SD75 QD75
Name Logic switch with Logic switch with
Logic (initial status) Logic (initial status)
parameters parameters
Drive unit READY Negative logic Not possible Negative logic Possible
In-position signal Negative logic Not possible – –
Zero signal Negative logic Not possible Negative logic Possible
Manual pulse generator A phase Negative logic Negative logic
Not possible Possible
Manual pulse generator B phase 1 (multiple of 4) (multiple of 4)
Near-point signal Negative logic Not possible Negative logic Possible
Stop signal Negative logic Not possible Negative logic Possible
Upper limit Negative logic Not possible Negative logic Possible
Lower limit Negative logic Not possible Negative logic Possible
External start 2 Negative logic Not possible Negative logic Possible
Speed-position switching signal 2 Negative logic Not possible Negative logic Possible

Output signal comparisons

A1SD75 QD75
Name Logic switch with Logic switch with
Logic (initial status) Logic (initial status)
parameters parameters
Positive logic Negative logic
Command pulse 3 Possible Possible
CW/CCW mode CW/CCW mode
Deviation counter clear Negative logic Not possible Negative logic Possible

1: Comparisons about manual pulse generator A phase/B phase

A1SD75 QD75
No. of connectable manual pulse
1 generator/1 axis 1 generator/1 module
generators
Possible
Mode selection (with parameter) Not possible Multiple of 1 mode, multiple of 4 mode,
PULSE/SIGN mode

2: With the QD75, the "external start signal" and "speed-position switching signal" are combined into the "external command signal".

3: Comparisons about command pulse

A1SD75 QD75
PULSE/SIGN mode, A phase/B phase (multiple of 4) mode,
Mode selection (with parameter)
A phase/B phase (multiple of 1) mode, CW/CCW mode
Open collector: 200kpps Open collector: 200kpps
Max. command frequency
Differential driver: 400kpps Differential driver: 1Mpps

Appendix - 67
APPENDICES
MELSEC-Q

Appendix 10 MELSEC Explanation of positioning terms

1-2 PHASE EXCITATION SYSTEM

This is one system for exciting each stepping A phase
motor coil in a determined order. In this
90°
system, one phase and two phases are
alternately excited.
B phase
Pulse input
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
A phase Forward run Reverse run Pulse count
(addition) (subtraction)

B phase 2-SPEED TRAPEZOIDAL CONTROL

In this positioning control method, the
A phase positioning pattern, positioning addresses (P1,
B phase
P2), and positioning speeds (V1, V2) are set in
the sequence program. Positioning is carried
out to positioning address P1 by issuing the 1st
positioning start command. When P1 is
2-PHASE EXCITATION SYSTEM reached, the positioning then automatically
This is one system for exciting each stepping changes to positioning at the V2 speed.
motor coil in a determined order. In this
system, a current constantly flows to 2 phases Positioning speed V1
to carry out step feed.
Speed

Positioning speed V2

Pulse input Positioning address P2

A phase Time
Positioning address P1
B phase

A phase

B phase

2-PHASE PULSE
An A phase and B phase double pulse. There
is a phase difference between the two phases,
so that difference can be automatically added
and subtracted in the pulse count. The
standard phase difference is a 90ø electrical
angle.
If the B phase were to lag behind the A phase
in a forward run (B phase turns ON after the A
phase), the A phase would lag behind the B
phase in a reverse run (A phase turns ON after
the B phase). In this way the forward and
reverse run (addition and subtraction) can be
automatically carried out.

Appendix - 68
APPENDICES
MELSEC-Q

ABSOLUTE ENCODER 0 No.1 No.2 No.3

This is a detector that enables the angle data
within 1 motor rotation to be output to an
external destination. Absolute encoders are
generally able to output 360° in 8 to 12 bits.
Incremental encoders have a disadvantage in
that the axis position is lost when a power
failure occurs. However, with absolute ACCELERATION TIME
encoders, the axis position is not lost even The parameter acceleration time refers to the
when a power failure occurs. time from a stopped state to the time the speed
Various codes such as a binary code and BCD limit value is reached, so it becomes
code can be output. proportionally shorter as the setting speed
Absolute encoders are more expensive, more decreases. The acceleration time is determined
accurate, and larger than incremental by factors such as machine inertia, motor
encoders. Refer to "ENCODER". torque, and load resistance torque.
Fixed slit Speed limit value
2 0 Light-emitting diode
21
Slit disk 2 34
Setting speed
2

Phototransistor

24 Speed 0 Time
23
22
Rotating 2 1 Acceleration time
axis 20
Binary code

ADDRESS
ABSOLUTE POSITION DETECTION 1) This is a numerical value to express the
SYSTEM positioning position, designated in mm,
In the absolute position detection system, once inch, angle, or No. of pulse units.
an OPR is carried out at the system startup, 2) The memory address. Many addresses are
the system stores the machine position in the stored in the memory. An address is read
memory and retains the current position even or written after it is designated.
when the power is turned OFF. Mechanical
deviation will be compensated, so that the
OPR is not required after the power is turned AFTER mode
ON next time. Configuring this system requires This is the mode that outputs the M code after
a motor with an absolute position detector and positioning is complete (after stopping).
a servo amplifier and positioning module Clamping can be commanded, drilling
compatible with an absolute position detection dimensions can be selected, etc., with this
system. mode.

No.10 Positioning No.11

ABSOLUTE SYSTEM M code (8)

This is one system for expressing a positioning ON OFF

address. Clamp command
Absolute address system.
This system uses 0 as a reference, and
expresses the address as the distance from 0.
The direction is automatically determined, even
when it is not designated. The other address
system is the increment system.

Appendix - 69
APPENDICES
MELSEC-Q

AUTO TUNING (Automatic Tuning) BACKUP FUNCTION

Properties such as responsiveness and Backup functions consist of the following.
stability of machines driven with a servomotor 1) Functions for storing the sequence program
are affected by changes in the inertia moment and device statuses stored in the RAM
and rigidity due to changes in the machine memory of the PLC CPU, so that they are
load, etc. not lost during power failures, etc.
This function automatically adjusts the speed 2) Functions for storing the current value in
loop gain and position loop gain to match the absolute position compatible systems so
machine state, so the machine's performance that it is not lost during power failures, etc.
can be maintained at its optimum state. 3) Functions for reading the PLC CPU data
A real time automatic tuning function should be (PLC programs, parameters, positioning
used for machines having large load data, etc.) by a peripheral device when the
fluctuations. old PLC CPU is replaced, and then write it
to the new PLC CPU after the replacement
is completed.
AUTOMATIC TRAPEZOIDAL
ACCELERATION/DECELERATION
An operation in which a graph of the time and BALL SCREW
speed takes a trapezoidal shape. This is a type of screw, with balls lined up in
the threads like ball bearings. This reduces
Acceleration backlash, and enables rotation with little force.
Deceleration
Female thread
Speed Male thread
Time

BACKLASH COMPENSATION
When a forward run operation changes to a
reverse run operation, there is sometimes play
(backlash) in the mesh of the toothed gears.
This also occurs when using a worm gear.
Because of this backlash, a left feed of 1m
(3.28feet) carried out after a right feed of 1m
(3.28feet) will not be sufficient to return the
machine to its original position. The machine
cannot be positioned to its original position
without an extra feed equivalent to the
backlash amount. This function compensates
for that backlash amount.

Forward run

Backlash
Machine
1m (3.28feet) (right feed) does not
move.
1m (3.28feet) (left feed)
Backlash
(Left feed amount)

Appendix - 70
APPENDICES
MELSEC-Q

BCD (Binary Coded Decimal) BIN (Binary)

1) This is the abbreviation for "binary coded 1) A binary number, more accurately called a
decimal", more accurately called a BCD binary code.
code. Computers, PLCs, etc., use binary All values are expressed as a binary
numbers made up of 1 (ON) and 0 (OFF). number in which 1 turns the PLC, etc.,
Because this is difficult for humans to electricity ON, and 0 turns it OFF. The
understand, decimal digits are expressed significance of the bits is shown in the
by a pattern of binary digits. Many of the drawing below. In the MELSEC PLC, the
digital switches and digital displays used by highest order bit (B15) is used to indicate
humans use a BCD code. The significance handling as a positive No. (0), or negative
of the bits is shown in the drawing below. No. (1), so the 15 bits from B0 to B14 are
Numbers from 0 to 9,999 can be handled valid.
by 16 bits, and numbers from 0 to
128+32+4+2+1=167
99,999,999 can be handled by 32 bits.
B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0

4000+1000+800+40+20+10+2 = 5.872 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 1 167

B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 215 214 213 212 211 210 29 28 27 26 25 24 23 22 21 20

512=
256=
128=
16384=
8192=
4096=
2048=
1024=
Positive/
negative

64=
32=
16=
8=
4=
2=
1=
0 1 0 1 1 0 0 0 0 1 1 1 0 0 1 0 5.872
8000
4000
2000
1000
800
400
200
100
80
40
20
10
8
4
2
1

2) BCD commands are commands in which a 2) BIN commands are commands in which a
binary number (BIN) is converted to a binary coded decimal (BCD) is converted to
binary coded decimal (BCD). a binary number (BIN).
They are used to output data from the PLC They are used to input the data shown on
and display it on the digital display. the digital switch to the PLC.
The following drawing shows a 16-bit The following drawing shows a 16-bit
example. example.

BCD code 0 0 0 0 0 0 0 1 0 1 1 0 0 1 1 1
BIN code 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 1 167
167 80
40
20
10
8000
4000
2000
1000
800
400
200
100

8
4
2
1
negative
Positive/

512
256
128
16384
8192
4096
2048
1024

64
32
16
8
4
2
1

BIN code 0 0 0 0 0 0 0 0 1 0 1 0 0 1 1 1
BCD code 0 0 0 0 0 0 0 1 0 1 1 0 0 1 1 1 167
167
8192
4096
2048
1024
512
256
128
16384
Positive/
negative

64
32
16
8
4
2
1
800
400
200
100
8000
4000
2000
1000

80
40
20
10
8
4
2
1

BIAS SPEED AT START

A large amount of torque is required when the
machine starts moving, but the torque may be
unstable at speed 0 with stepping motors.
Therefore, movement can be smoothly carried
out by starting the movement at a given speed
from the beginning. The bias speed at start is
the speed set at that start.

Full speed

Bias speed
Speed 0

Appendix - 71
APPENDICES
MELSEC-Q

BIPOLAR DRIVE CONSTANT-CURRENT CHANGE signal

SYSTEM The CHANGE signal is an external signal used
This is one system for driving a stepping to switch the speed-position control from the
motor. In this method, the orientation of the speed control being executed to position
excitation current flowing to the stator coil is control.
reversed, and the excitation current direction is
in both the positive and negative direction.
This enables the motor coil to be used CIRCULAR INTERPOLATION
effectively, and a large output torque can be Automatic operation in which the machine path
obtained at low speeds. makes a circle when positioning is carried out
by simultaneously operating both the
longitudinal feed and latitudinal feed motors.
The normal unit is 90ø. Round shapes can be
created with this type of interpolation, and
A phase
obstacles in the machine path can also be
avoided. Refer to the terms "INTERPOLATION
OPERATION" and "LINEAR
INTERPOLATION"

Bipolar drive basic circuit (bridge method)

Obstacle
BUFFER MEMORY A B C D
Memory used to temporarily store data. Before Collision
writing external data to the PLC CPU data
memory, it is first temporarily stored in the
buffer memory to be used for operation by the COMMAND PULSE
program. The buffer memory is used by the Refer to term "FEEDBACK PULSE".
positioning module because the latest data
can be read and written.
COMPOSITE SPEED
PLC CPU Positioning module
The movement speed for the target control
Bus during interpolation operations.
External
data
Data Data is written/read Buffer
memory using the following memory
commands: Y axis
Write : TO Composite speed
speed
Read : FROM

X axis speed

BUSY
The device is doing some other work. It is in a
positioning operation or in dwell time. CONTROL UNIT
This is one type of positioning reference data.
The unit to be used is designated as mm, inch,
CCW (Counterclockwise) degree, or pulse.
Rotation in the counterclockwise direction. In
the motor, this is determined looking from the
shaft end side. Also refer to "CW".

Appendix - 72
APPENDICES
MELSEC-Q

CP CONTROL (Continuous Path Control) CW (Clockwise)

Continuous path is a control method in which a Rotation in the clockwise direction. Rotation in
path is followed without interrupting such as in the clockwise direction looking from the motor
uniform speed control. shaft end side.

CREEP SPEED D/A CONVERTER (Digital-to-Analog

A speed at which the machine moves very converter)
slowly. A device having a function to convert the
It is difficult for the machine to stop accurately digital value expressing the No. of pulses to an
when running at high speed, so the movement analog value expressing the voltage (or
must first be changed to the creep speed current).
before stopping.
Refer to the term "NEAR-POINT DOG".

No. of pulses D/A Voltage 0 to ±10V.

CURRENT FEED VALUE 0 to 80,000
pulses/second
The OP address at the completion of the
machine OPR is stored.
The position currently being executed is
stored. DATA NO.
This value changes when the current value is
changed. To carry out positioning to 2 or more
addresses, each position is assigned a
sequence No. such as No. 1, No. 2, No. 3, etc.
CURRENT LOOP MODE The positioning is then carried out following
this sequence. The QD75 is capable of
One of the servo control modes in positioning. positioning up to No. 600.
Mode which uses current for torque control.
Also called the torque loop mode. No.4
Refer to the section of "position loop mode". No.2
No.6

CURRENT VALUE No.1 No.5

No.3
This is the current address (position) when
stopped or during positioning.
DECELERATION RATIO
A ratio used when the machine is decelerated
using a toothed gear. This ratio is a numeral
larger than 1.

Deceleration Input gear speed

ratio =
Output gear speed

Appendix - 73
APPENDICES
MELSEC-Q

DECELERATION TIME Command Servo amplifier

device
The parameter deceleration time is the same
value as the acceleration time. Deceleration
time refers to the time from the speed limit
value to a stopped state, so it becomes
proportionally shorter as the setting speed Driver Receiver
decreases.

Speed limit value

Setting speed
DIGITAL BUS CONNECTION
Commands are generally output from the
positioning module to the servo amplifier as a
Speed 0 Time pulse train. Recently, however, devices are
being digitalized. Accompanying that, a
connection method has appeared in which the
Deceleration time
bus lines of both the positioning module and
the servo amplifier CPUs are connected. This
has enabled the construction of higher-
DEVIATION COUNTER accuracy, higher-speed systems.
Deviation counters have the following two The MELSEC A70D, AD774M, A171SCPU,
functions. A273UCPU etc., models employ this digital
1) To count the command pulses issued from bus connection.
the QD75, and transmit the count value to
the D/A converter.
2) To subtract the feedback pulses from the DOG SIGNAL
command pulses, and run the motor by the
The near-point dog of the OPR.
deviation value (droop pulse) of the
command pulses and feedback pulses until
the command pulses reaches 0.
DRIVE UNIT
Command The commands output from the positioning
pulses Deviation D/A module are low-voltage, low-current
Motor
counter convertor
commands with insufficient energy to run the
motor.
Feedback pulses The drive unit increases the width of these
PLG Encoder
commands so the motor can be run. It is an
accessory on servomotors and stepping
motors. Also called a servo amplifier.
DIFFERENTIAL OUTPUT TYPE
This is one type of encoder feedback pulse Positioning Drive Motor
output. When one signal is output with this module unit
method, a companion signal having the
reverse polarity is simultaneously output. This Power supply
method enables high-frequency transfer, and
is resistant to noise, etc., so it is also used in
high-speed signal transfer such as inputting
DRIVE UNIT READY
and outputting of pulse trains. In general, the
transmission side is called the driver, the This signal is output when the drive unit for the
reception side is called the receiver, and a motor is in a READY state.
dedicated IC is used. This signal remains OFF when the drive unit
power is OFF, or during faults, etc.

Appendix - 74
APPENDICES
MELSEC-Q

DROOP PULSE ELECTRONIC GEAR

2
Because of inertia (GD ) in the machine, it will This function electrically increases/decreases
lag behind and not be able to track if the the command pulses from the pulse command
positioning module speed commands are module by 1/50 to 50-fold. Thus, the
issued in their normal state. positioning speed and movement amount can
Thus, for a servomotor, a method is used in be controlled by the electronic gear ratio
which the speed command pulses are delayed magnification.
by accumulation in a deviation counter. These
accumulated pulses are called the droop
pulse. EMERGENCY STOP
The deviation counter emits all pulses and Emergency stops cannot be carried out by the
returns to 0 when the machine stops. QD75, so a method of shutting OFF the servo
side power supply from outside the PLC, etc.,
1,000 200 pulses 800 must be considered.
pulses accumulate pulses
in the
D/A Voltage
counter
ENCODER
This device turns the input data into a binary
DWELL TIME code of 1 (ON) and 0 (OFF). A type of pulse
generator.
This is the time taken immediately after the
positioning is completed to adjust for the droop For the main For the zero
pulses in the deviation counter. The signal point signal
positioning will not be accurate if this time is Ball bearing
too short. Code disk

DYNAMIC BRAKE Z

When protection circuits operate due to power Input axis

failures, emergency stops (EMG signal) etc., A B
this function is used to short-circuit between Photoreceptor Light source
Index
servomotor terminals via a resistor, thermally (phototransistor) scale (light-emitting diode)
consume the rotation energy, and cause a
sudden stop without allowing coasting of the Rotary encoder
motor.
Light source
Braking power is generated by (LED) Collimator lens
electromagnetic brakes only when running
motors with which a large brake torque can be
obtained. Because electromagnetic brakes
b
have no holding power, they are used in Main scale
combination with mechanical brakes to prevent Photoreceptor
(photodiode)
dropping of the vertical axis. a
a
Reference b z
zero point Index
ELECTROMAGNETIC BRAKE scale
This function is supplied on motors with Linear encoder
electromagnetic brakes. Electromagnetic
brakes are used to prevent slipping during
power failures and faults when driving a
vertical axis, or as a protective function when
the machine is stopped.
These brakes are activated when not excited.

Appendix - 75
APPENDICES
MELSEC-Q

ERROR CORRECTION FAST OPR

If a dimension error occurs in the machine, The axis returns to the machine OP at the
and that error is actually smaller or larger than OPR speed without detecting the near-point
1m (3.28feet) in spite of a 1m (3.28feet) dog.
command being issued from the QD75, that (This is not validated unless a machine OPR
error amount will be compensated. For has been carried out first.)
example, when the error is actually smaller
than 1m (3.28feet), the remaining distance to OPR speed
1m (3.28feet) is fed, and the correct 1m
(3.28feet) of positioning is carried out.

OP
ERROR RESET
This resets error of axis. Note that if the cause
of the error is not eliminated at that time, the Dog switch
error will occur again.

FEED PULSE
EXTERNAL REGENERATIVE BRAKE This is a pulse issued from the positioning
RESISTOR module to a servomotor or stepping motor.
This is also called the regenerative brake. Also called a command pulse.
When a machine is moved with a motor, power
is normally supplied to the motor from an
amplifier. However, the rotation energy in the FEED SCREW
motor and machine counterflows (regenerates) This is the basic screw in mechanisms that
to the amplifier when the motor is decelerating position using screw rotation. Ball screws are
or when driving a descending load. often used to reduce backlash and dimension
The external regenerative resistor consumes error.
this regeneration energy with resistance,
obtains the regenerative brake torque, and Positioning
feed screw
enables the full capacity of the regeneration
system during stopping. 1 rotation
It is used when carrying out highly repetitive by the motor
acceleration/deceleration. Lead (feedrate per screw rotation)

F FEEDBACK PULSE
In the QD75, F is a status where the module This is a method of using a returning pulse
itself has a fault. train to confirm whether the machine faithfully
[HOLD] operated according to the commands issued in
automatic control. If the machine did not
faithfully operate according to the commands,
a correction command is issued. For example,
if a command is issued for 10,000 pulses, and
a feedback pulse of 10,000 pulses is returned,
then the balance becomes 0 and it can be
judged that the command was faithfully
followed.
Refer to the term "DEVIATION COUNTER".

Appendix - 76
APPENDICES
MELSEC-Q

FIXED-FEED G CODE
This is the feeding of a set dimension for These are standardized (coded) 2-digit
cutting sheet and bar workpieces into the numerical values (00 to 99) designating
designated dimensions. Incremental system various control functions of the NC module.
positioning is often used. The current value is Also called G functions.
not incremented, even when the feed Example :
operation is repeated. G01 Linear interpolation
G02 Circular interpolation CW (clockwise)
G04 Dwell
FLASH MEMORY G28 OPR
This battery-less memory can be used to store G50 Max. spindle speed setting
parameters and positioning data for backup.
Because it is battery-less, battery maintenance
is not required GAIN
The changing of the ratio between two values
having a proportional relation. Seen on a
FLAT TYPE MOTOR (PANCAKE MOTOR) graph, the changing of the incline of the
About 100mm shorter in axial dimension than characteristics.
the standard motor. Used when the
servomotor is installed in a small space.
Raising
the gain
13
FLS SIGNAL (forward limit signal)
10
This is the input signal that notifies the user
that the limit switch (b contact configuration,
normally ON) installed at the upper limit of the Output Lowering
positioning control enabled range has been the gain
2
activated.
The positioning operation stops when the FLS 10
Input
signal turns OFF (non-continuity).
For example, when 10 is output for an input of
10, the output can be changed to 12, 5, etc.,
by changing the gain.

2
GD
The inertia moment. The sum total of the mass
(dm) of each small area configuring an object
multiplied by the square of the distance (r) of
each of those areas from a given straight line.
The relation with I = r2dmGD2 is given by 4gI,
with "g" being gravitational acceleration.

Appendix - 77
APPENDICES
MELSEC-Q

INCREMENTAL ENCODER INCREMENTAL SYSTEM

A device that simply outputs ON/OFF pulses The current value is 0 in this system. Positions
by the rotation of the axis. 1-phase types are expressed by the designated direction and
output only A pulses, and do not indicate the distance of travel. Also called the relative
axis rotation direction. 2-phase types output address system. This system is used in fixed-
both A and B pulse trains, and can judge the feed, etc. Compare ABSOLUTE SYSTEM.
rotation direction. The direction is judged to be
forward if the B pulse train turns ON when A is Stop
No.1 No.2 No.3
ON, and judged to be reverse if A turns ON
when B is ON. There is also another type of 0
incremental encoder with a zero signal. The
Left
most commonly used incremental encoders
output between 100 and 10,000 pulses per 0 0
Right Right No. 2 is several millimeters
axis rotation. Refer to "ENCODER".
to the right of No. 1.
B signal slit
A signal slit
Light-emitting diode
Slit disk A

Z
B INERTIA
Phototransistor Zero signal slit
The property of an object, when not being
Rotating axis 1 pitch affected by external forces, where it tries to
maintain its current condition. The inertia
1
A moment.
pitch
4
B
1 pulse per axis rotation
Zero signal
Output waveform 2-phase + OP output

Appendix - 78
APPENDICES
MELSEC-Q

INPUT TERMINAL JOG

This is a pin connector wired by the user for Jog. This refers to moving the tool little by
inputting data to the QD75 from an external little. Inching.
source. It is connected to the motor drive unit Parameter setting is required to carry out JOG
or machine side. operation.
This terminal is used to output the following.
• DRIVE UNIT READY signal
• START signal kPPS
• STOP signal
This is the abbreviation for "kilopulses per
, etc. second". 80kPPS equals 80,000 pulses per
The input No. Xn is not directly related to the second.
program, so it is not used.

LIMIT SWITCH
INTERLOCK This is a switch set to stop a moving object at
In this condition, the machine is blocked from both ends, etc., of a movement device for
moving to the next operation until the safety reasons.
operation in progress is complete. This A circuit is created in which the moving body
function is used to prevent damage to devices itself presses against the switch to activate the
and malfunctioning. contact and forcibly shut the power OFF. For
example, pressing on the actuator in the
Y1 drawing below activates the internal
Y0 Forward run
microswitch. There are various other types.
Y0
Y1 Reverse run

Actuator

Push plunger
INTERPOLATION OPERATION
Rubber cap
The simultaneous operation of multiple motors
Lead Case
to carry out a composite operation. Each motor
can be freely set with the positioning distance,
acceleration/deceleration time, speed, and Microswitch
NC NO COM
other factors, which are combined to move a
target in a straight line, circle, etc. Linear
interpolation and circular interpolation are
available. (The circular interpolation uses two
motors.)

INVERTER
This refers to a device to change a direct
current (DC) to an alternating current (AC).
The device actually changes the motor speed
by changing 50Hz or 60Hz of commercial
frequency to direct current once, then
changing it again to a 5 to 120Hz alternating
current and controlling the motor speed.

Appendix - 79
APPENDICES
MELSEC-Q

LINEAR INTERPOLATION M CODE (Machine Code)

This automatic operation simultaneously These are sub functions that interlock with the
operates two motors for the latitudinal (X) feed positioning operation to replace drills, tighten
and longitudinal (Y) feed to move a target in a and loosen clamps, raise and lower welding
diagonal line for positioning. Three or four electrodes, display various data, etc.
motors can also be operated simultaneously. Either of two modes can be entered when the
The QD75 combines the operation of axis 1 machine code turns ON: AFTER or WITH.
through 4 for the linear interpolation. The same The machine does not move to the next
positioning data No. must be used for the positioning when the machine code is ON. M
setting. Refer to the term "INTERPOLATION codes are turned OFF by the PLC program.
Code Nos. from 1 to 65535 assigned by the
OPERATION".
user and used (1: Clamp, 2: Loosen, etc.).
No.9 Comments can be written after 50 of the M
codes, and they can be monitored using a
peripheral device or displayed on an external
display. Refer to "AFTER MODE" and "WITH
Longitudinal 4 MODE".
feed 5
3
6
2
MACHINE FEED VALUE
No.8 7
No.1 The OP address at the completion of the
Latitudinal feed
machine OPR is stored.
The current position of the machine
LOAD INERTIA RATIO coordinates determined by a machine having
the OP address as a reference.
GDL2/GDM2 Even if the current value is changed, this value
Refer to "GD2". will not change.

LOW-INERTIA MOTOR MANUAL PULSE GENERATOR

This is a motor used when frequent The handle of this device is manually rotated
acceleration/deceleration is repeated. Low- to generate pulses. This device is used when
inertia motors are longitudinally longer, to manually carrying out accurate positioning.
decrease the rotor diameter and cover the
torque. This enables their inertia moment to be
reduced up to 1/3 that of standard motors. The
ideal load inertia ratio is 1 or less.

Made by Mitsubishi Electric Corp.

(model: MR-HDP01)

MASTER AXIS
When carrying out interpolation operations,
this is the side on which the positioning data is
executed in priority. For example, when
positioning with the X axis and Y axis, the side
with the largest movement distance will
become the master axis, and the speed will
follow that axis. The slave axis speed will be
ignored.

Appendix - 80
APPENDICES
MELSEC-Q

MOVEMENT AMOUNT PER PULSE NEAR-POINT DOG

When using mm, inch, or degree units, the This is a switch placed before the OP. When
movement amount is calculated and output this switch turns ON, the feedrate is changed
from the machine side showing how much the to the creep speed. Because of that, the time
motor shaft moves per pulse. Positioning that this switch is ON must be long enough to
accuracy in smaller units is not possible. allow for the time required for deceleration
On the motor side, the movement amount per from the feedrate to the creep speed.
axis rotation is normally designed as a
reference, so it is calculated as follows. Feedrate

Movement amount per pulse =

P rate
Movement amount Creep speed
No. of pulses per ×
per rotation
encoder rotation
ON OFF
Time
Near-point dog

Amount the motor moves (travel) per pulse.

NEW CURRENT VALUE (CURRENT VALUE
CHANGING)
The QD75 has no way of knowing the current
MULTI-PHASE PULSE
value when the machine is assembled and the
A combination of pulses in which 2 or more positioning module is connected, so this
phases differ. function is used to teach it a temporary
2-phase pulses, etc. approximate value as the current value. This
function can also be used to write a temporary
current value when the current value has been
A phase
lost due to accidents, etc. If an OPR is carried
out after that, the positioning module will
B phase
recognize the zero point.
Phase difference To prevent the accumulated value from
Z phase
exceeding the stroke limit in fixed-feed, etc.,
(ZERO signal)
rewrite the current value to 0 after the fixed-
feed. The current value can be changed during
a positioning stop.
MULTIPLYING RATE SETTING
The P rate. Refer to the term "P RATE".

NC LANGUAGE (Numerical Control

Language)
This is the language punched into the paper
tape that instructs the machining to the NC
module.
The NC language consists of EIA codes (EIA
language), ISO codes (ISO standards), and
JIS codes (JIS standards).

Appendix - 81
APPENDICES
MELSEC-Q

OP OPR METHOD
This is the reference position for positioning. The OPR methods are shown below. The
Positioning cannot start without a reference method used depends on the machine
point. structure, stopping accuracy, etc.
The OP is normally set to the upper or lower OPR can be carried out when the OPR
stroke limit. parameters are written.
1) Near-point dog method
This point is the reference. 2) Stopper method
3) Count method
OP

OPR PARAMETER
OP SHIFT FUNCTION This parameter is required when returning to
the OP. It is determined by the machine side
The OP position can be shifted in the positive
design, so subsequent changes of this
or negative direction by executing a machine
parameter must be accompanied by changes
OPR and determining the shift amount from
in the machine design.
the machine OPR complete position.
The OP is the reference for positioning
An OP can be set at a position besides the OP
operations, so if the OP is lost due to a power
position, or outside the dog switch.
failure during positioning, or because the
power is turned OFF and the machine is
moved manually, etc., it can be restored by
OPERATION PATTERN carrying out an OPR. When a machine OPR
The kind of operation to be carried out after command is issued, the machine will move in
executing the positioning data is determined. search of the near-point dog regardless of the
1) If "POSITIONING COMPLETE" is selected, current value, and will stop at the OP. At this
the operation will stop after the positioning time, the current value will be rewritten to the
is complete. OP address. Data cannot be written during
2) If "CONTINUOUS POSITIONING positioning. With the QD75, data is always
CONTROL" is selected, the next data No. written for all axes (from 1 to 4 axes).
will be automatically executed after the Refer to the term "NEAR-POINT DOG".
positioning is complete.
3) If "CONTINUOUS PATH CONTROL" is
selected, the positioning will not be
completed. Only the speed will be
automatically changed, and the next data
No. will be executed.

Appendix - 82
APPENDICES
MELSEC-Q

OPR REQUEST P RATE (Pulse Rate)

This signal turns ON when there is an error A coefficient that magnifies the feedback
with the QD75. It will turn ON in the following pulses per motor shaft rotation by 2-fold, 3-
situations. fold, 1/2 or 1/3.
1) When the power is turned ON. It is the ratio of the feed pulses and feedback
2) When the PLC READY signal turns from pulses.
OFF to ON. For example, when the No. of pulses per
3) When the machine OPR starts. motor shaft rotation is set to 2400 pulses, and
4) When the drive unit READY signal turns the P rate is set to 2, the result will be
from ON to OFF. equivalent to 1200 pulses.
The user judges whether to carry out a The rotation per pulse is 0.15° when 2400
machine OPR in the above situations. pulses per rotation are set, but this becomes
0.3° when 1200 pulses. The positioning
accuracy drops as the P rate is increased.
OUTPUT TERMINAL
This is a pin connector for outputting data from
the QD75 to an external source. It is PARAMETER
connected to the motor drive unit. This is the basic data used in positioning.
This terminal is used to output the following. Parameters are determined by the machine
• Feedback pulses for both forward run and side design, so subsequent changes of
reverse run parameters must be accompanied by changes
• Start in the machine design.
• Deviation counter clear Data cannot be written during positioning. The
The terminal Nos. are determined for each initial parameter values are written by the
axis. maker.
The output No. Yn is not directly related to the
program, so it is not used.
PG0 (Pulse Generator Zero)
Pronounced "pee-jee-zero". Refer to the term
OVERRIDE FUNCTION "ZERO SIGNAL".
With this function, the speed during positioning Feedback
operations (current speed) can be varied pulses
between 1 and 300%.
The speed can also be changed by the same PG0
variable rate for continuous positioning with 1 axis rotation
differing designated speeds.

Appendix - 83
APPENDICES
MELSEC-Q

POSITION CONTROL POSITION LOOP MODE

This is mainly the control of position and This is one servo control mode used in
dimension, such as in fixed-feed, positioning, positioning. It is a mode for carrying out
numerical control, etc. This is always position control. The other servo control
controlled with feed pulses. There is also modes are the speed loop mode for carrying
speed control. out speed control, and the torque loop mode
Drive units may differ, even when the same for carrying out torque control (current control).
motor is used.
Servo amplifier Servomotor

POSITION DETECTION MODULE Droop pulses

Pulse train
This is an abridged version of positioning. Posi- Speed Cur-
There are two types on MELSEC, the tion
control
control rent
control
Inverter M

A1S62LS. This module has positioning and Current feedback

limit switch functions, and can use a total of 16 Speed feedback
channels. The following drawing shows an Position feedback Interface PLG
example for 5 channels. A resolver is used in
the positioning detection.
0 4095

ON POSITIONING
Positioning High speed
ON Accurately moving the machine from a point to
Positioning Low speed
a determined point. The distance, direction,
ON ON
Limit switch LS1 speed, etc., for that movement are designated
Limit switch LS2
ON by the user. Positioning is used in operations
ON such as cutting sheets, drilling holes in plates,
Limit switch LS3
mounting parts on a PCB, and welding.
Positioning is also used with robots.

POSITION LOOP GAIN

This is the ratio of the deviation counter droop POSITIONING COMPLETE
pulses to the command pulse frequency. Refer to the term "OPERATION PATTERN".
Position Command pulse frequency
= (1/s)
loop gain Droop pulses
The position loop gain can be set with the
drive unit. Raise the gain to improve the POSITIONING COMPLETE SIGNAL
stopping accuracy. However, overshooting will This is a signal that occurs when the
occur if the position loop gain is raised too far, positioning is complete. A timer set beforehand
and the operation will become unstable. starts when this signal is output, and the
If the position loop gain is lowered too far, the machine movement stops for that time.
machine will stop more smoothly but the When this signal turns ON, the positioning
stopping error will increase. start signal turns OFF.

Dwell time
Positioning complete
signal

Positioning Different type of work

Time

Appendix - 84
APPENDICES
MELSEC-Q

POSITIONING CONTINUED PULSE

Refer to the section of term "operation The turning ON and OFF of the current
pattern". (voltage) for short periods. A pulse train is a
series of pulses. The QD75 is the module that
generates the pulses.
POSITIONING DATA
This is data for the user to carry out
positioning. The No. of points to which
positioning is carried out (the No. of
addresses) is designated by the user. In the
QD75, these are 600 points.
PULSE GENERATOR
As a principle, positioning is executed in the
order of the data Nos. This is a device that generates pulses.
Examples include devices installed on the
motor shaft that create pulses when the shaft
POSITIONING PARAMETER rotates, and digital devices.
1-phase types output one pulse train. 2-phase
This is basic data for carrying out positioning types output two pulse trains with a phase
control. Types of data include control unit, difference. From 600 to 1,000,000 pulses can
movement amount per pulse, speed limit be output per shaft rotation. Generators with a
value, upper and lower stroke limit values, ZERO signal function to output 1 or 2 pulses
acceleration/deceleration time, positioning per shaft rotation. Abbreviated as PLG.
system, etc. Refer to the term "ENCODER".
Parameters have an initial value, so that value
is changed to match the control conditions.
PULSE OUTPUT MODE
POSITIONING START There are two methods used to issue forward
run and reverse run commands to the
This refers the act of designating a target data
servomotor. The type used differs according to
No. and starting the positioning.
the machine maker. In type A, the forward run
The operation after the positioning is complete
pulses and reverse run pulses are output from
for that data No. is determined by the data
separate terminals.
No.'s positioning pattern.
In type B, the forward run pulses and reverse
run pulses are output from the same terminal,
and a forward/reverse run identification signal
PTP Control (Point To Point Control) is output from another terminal.
This is a type of positioning control. With this
control method, the points to be passed are Forward
designated at random locations on the path.
Movement only to a given target positioning is
requested. Path control is not required during
Reverse
movement from a given point to the next value. Forward Reverse
A type B type
Terminal

Appendix - 85
APPENDICES
MELSEC-Q

READY RLS SIGNAL (reverse limit signal)

This means that preparation is complete. This is the input signal that notifies the user
that the limit switch (b contact configuration,
normally ON) installed at the lower limit of the
REAL-TIME AUTO TUNING (Real-time positioning control enabled range is activated.
Automatic Tuning) The positioning operation stops when the RLS
Refer to "AUTO TUNING". signal turns OFF (non-continuity).

REFERENCE AXIS SPEED ROTARY TABLE

This is the speed of the reference axis during A round table on which the workpiece is
interpolation operations. placed. Positioning control is carried out while
rotating the workpiece in a 360° range.

Y axis speed S-CURVE

(interpolation ACCELERATION/DECELERATION
axis)
X axis speed In this pattern, the acceleration and
(reference axis)
deceleration follow a sine curve, and the
movement is smooth. The S-curve ratio can be
Reference axis speed set from 1 to 100%.

REGENERATIVE BRAKE OPTION

This function is an option. It is used when
Acceleration Deceleration
carrying out highly repetitive
acceleration/deceleration.
Refer to "EXTERNAL REGENERATIVE
RESISTOR". SERVO AMPLIFIER
Refer to the term "DRIVE UNIT".

RESOLVER
This device detects the angle by resolving the
two voltages of the analog input. Also called a
2-phase synchro. For a 1-phase voltage input,
the axis rotation angle is converted into a
perpendicular 2-phase voltage (analog
voltage) and output.

Movement distance
for one resolver rotation

Toothed gear

Position detection value

Resolver
Motor (addresses 0 to 4095, converted to digital)

Appendix - 86
APPENDICES
MELSEC-Q

SERVO LOCK SFC (Sequential Function Chart)

In positioning using a servomotor, stepping A sequential function chart is a programming
motor, etc., working power is required to hold method optimally structured for running a
the machine at the stop position. machine's automatic control in sequence with
(The position will be lost if the machine is the PLC.
moved by external power.)
This kind of state is called servo lock or servo Start preparation
lock torque. Start preparations OK
Execution of advance
operation servo program
Positioning complete
Table
Execution of extrusion
operation servo program
Positioning complete
Execution of retract
M operation servo program
Positioning complete

Motor holds the position

at the stop position.
SKIP FUNCTION
When a SKIP signal is input, the positioning
SERVO ON being executed is interrupted, the motor is
deceleration stopped, and the next positioning
The servo amplifier will not operate if the servo is automatically carried out.
amplifier is in a normal state and this servo ON
signal is OFF.
SLAVE AXIS
READY Servo
During interpolation operation, the positioning
QD75 Servo ON data is partially ignored on this side. This axis
amplifier
is moved by the master axis data.

Motor PLG Encoder

SERVOMOTOR
A motor that rotates true to the command.
Servomotors are highly responsive, and can
carry out frequent high-speed and high-
accuracy starts and stops.
DC and AC types are available, as well as
large-capacity motors. A pulse generator
accessory for speed detection is common, and
feedback control is often carried out.

SETTING UNIT
This is one setting item of the positioning
reference parameters. The unit to be used is
designated as mm, inch, degree, or pulse.

Appendix - 87
APPENDICES
MELSEC-Q

SPEED CONTROL SPEED-POSITION SWITCHING CONTROL

Speed control is mainly carried out with the With this control, positioning is carried out to
servomotor. It is an application for grindstone the end point of the movement amount while
rotation, welding speed, feedrate, etc. Speed changing the speed at the speed switching
control differs from position control in that the point during positioning control.
current position (address) is not controlled.
Drive units may differ, even when the same
motor is used. SPEED-POSITION SWITCHING CONTROL
MODE
This is one method used for positioning. It is
SPEED INTEGRAL COMPENSATION an application for operations such as high-
This is one item in the parameters of the servo speed movement to a point unrelated to
amplifier, and is used to raise the frequency positioning, then set dimension movement
response during speed control to improve from the switching signal activation point.
transient characteristics.
When adjusting the speed loop gain, raising Start Switching signal
this value is effective if the overshooting during
acceleration/deceleration remains large. High speed Incremental positioning
This compensation is set in ms units.

START COMPLETE
SPEED LIMIT VALUE This signal gives an immediate response
This is the max. speed for positioning. Even if notifying the user that the QD75 that was
other data is mistakenly set to a higher speed started is now in a normal state and can start
than this, the positioning will be carried out at positioning.
this speed limit value when it is set in the
parameters. The acceleration time becomes
the time to accelerate from a stopped state to STARTING AXIS
the speed limit value, and the deceleration One of the QD75 axis system axes (axis 1,
time becomes the time to decelerate from the axis 2, axis 3, or axis 4) or the reference axis
speed limit value to a stopped state. for the interpolation operation is designated as
the starting axis.

SPEED LOOP GAIN

This is one item in the parameters of the servo STATUS
amplifier, and expresses the speed of the Data showing the state of the machine.
control response during speed control. When Collectively refers to signals that turn ON when
the load inertia moment ratio increases, the the battery voltage drops, during OPR
control system speed response decreases and requests, during dwell time, etc.
the operation may become unstable. If this
happens, the operation can be improved by
raising this setting value. STEP FUNCTION
The overshoot will become larger if the speed
loop gain is raised too far, and motor vibration When the operation is designed so that
noise will occur during operation and when several positioning data Nos. are
stopped. consecutively run, this function can be used to
carry out a test operation for 1 data item at a
time.
SPEED LOOP MODE
This is one servo control mode used in
positioning. It is a mode for carrying out speed
control. Refer to "POSITION LOOP MODE".

Appendix - 88
APPENDICES
MELSEC-Q

STEP OUT STOP SIGNAL

Stepping motors rotate in proportion to the No. In positioning control, this is the input signal
of pulses (frequency), but the motor's rotation that directly stops the operation from an
will deviate if the load is too large for the external source.
motor. This is called step out. If step out The operation stops when the external stop
occurs, the motor must be replaced by one signal (a-contact) turns ON (continuity).
with a larger torque. Step out causes the
positioning error to increase.
STOP WITH STOPPER
Motor
torque This is one machine OPR method. With this
method, a stopper is established at the OP,
Motor Load and the operation is stopped when the
machine presses against it.
Motor burning would occur or the stopper
would be damaged if the machine were left in
that state. There are two methods to prevent
STEPPING MOTOR this; a timer can be used to shut OFF the
A motor that rotates a given angle (example: motor after a fixed time, or the motor can be
0.15ø) when 1 pulse is generated. stopped by limiting sudden increase in the
For that reason, a rotation proportional to the motor torque when the machine presses
No. of pulses can be obtained. 2-phase to 5- against the stopper.
phase stepping motors are available. In the 3-
phase type, the rotor rotates in order from A to OP
Machine OPR
C when a voltage is applied. Often found in
Stopper
compact motors, stepping motors rotate
accurately without feedback. Be careful of step
out when overloaded.
N
C B C
STROKE
N A A S A A The stroke is the variation in the operation by
the distance from a stopped state to the next
B C C stopped state after a movement.
S
1) First, the A phase is excited 2) When the B phase is then excited,
by a pulse. the force works in the direction
shown by the arrows.

N
C B C B

A A A A

B C B C

3) The nearest tooth to the 4) As the excitation phase is

B phase is attracted, and the continuously changed, the rotor
rotation stops. rotates in a clockwise direction.

STOP SETTLING TIME

Refer to the term "DWELL TIME".

Appendix - 89
APPENDICES
MELSEC-Q

STROKE LIMIT TORQUE CONTROL

This is the range in which a positioning In this function, a limit is established for the
operation is possible, or the range in which the resistance torque applied to the motor used for
machine can be moved without damage positioning. The power is turned OFF if torque
occurring. exceeding that value is applied to the motor.
(Movement outside this range is possible in When excessive torque is applied to a motor, it
the manual operation.) For operations using a causes the current to suddenly increase. Motor
worm gear, the stroke limit is determined by burning and other stress on the motor occurs,
the length of the screw. For operations using a and the life of the motor is shortened.
fixed-feed, it is determined by the max. This function utilizes the sudden increase in
dimension to be cut. the torque when the machine OPR to issue a
The upper and lower limits are set in the command to stop the motor.
parameters, but a separate limit switch should
be established and an emergency stop circuit
outside the PLC should be created. Refer to TORQUE LOOP MODE
the term "LIMIT SWITCH". Also called the current loop mode.
Refer to "POSITIONING LOOP MODE".
Limit switch
for emergency
stop
Lower limit Upper limit
0 3m (9.84feet)
TORQUE RIPPLE
Torque width variations, deviations in the
torque.
Positioning possible in a 3m (9.84feet) range

SUDDEN STOP TRACKING FUNCTION

A stop carried out in a shorter time than the In this function, positioning is carried out at a
deceleration time designated in the speed relative to a moving target object by
parameters. inputting the movement amount from an
external encoder and adding it to the servo
Full speed command value.

Sudden stop

Time

Deceleration time

TEACHING
When the positioning address is uncertain, or
gauging is required, this function is used by
the user to search for and teach the position to
the machine.
For example, complex addresses such as
drawings can be taught by tracing a model,
and the positioning operation can be
reproduced.

Appendix - 90
APPENDICES
MELSEC-Q

TURNTABLE XY TABLE
A rotating table, which is turned using power. This is a device that moves a table in the X
The table is used divided from one 360° (latitudinal) and Y (longitudinal) directions so
rotation into the required locations for work. that positioning can be carried out easily.
The positioning control unit is "degree". There are also commercially available
products.

Y table Ball screw

X table
X table

30° Base table Y axis

Rotated by the motor

X axis

UNIT SETTING
This is the setting of the unit for the actual Z PHASE
address to which positioning is required, or for Also called "PG zero". Refer to "ZERO
the movement amount. SIGNAL".
The following units can be set: mm, inch,
degree and pulse. The initial value in the
parameters is a pulse unit.
ZERO SIGNAL
This refers to PG0 of the pulse generator
WARNING (encoder) (one detection per shaft rotation). It
also called "Z phase". Refer to the term
A warning is output as a warning code in when "PULSE GENERATOR".
an abnormality is detected that is not serious
enough to require cancellation or stoppage of
the positioning operation. Warnings are
handled differently than errors.

WINDOW
These are the selection menus that appear on
the screen when the QD75 is started.
• Menu selection window
• Mode function selection window
• Sub-function selection window
• Execution/setting selection window

WITH MODE
This is the mode that outputs the M code
before the start of the positioning. This mode
turns ON at the positioning start, enabling
voltage to be applied to the welding
electrodes, display of positioning speeds, etc.
Refer to the term "AFTER MODE".

Appendix - 91
APPENDICES
MELSEC-Q

Appendix 11 Positioning control troubleshooting

Trouble type Questions/Trouble Remedy No.

The PLC CPU power was turned OFF or the PLC CPU
was reset, etc., during flash ROM writing, which deleted
Display reads "FFFFH" when a the data in the flash ROM.
parameter is read with GX Initialize the parameters, and reset the required 1
Configurator-QP. parameters.
(Refer to Section 13.2 "Parameter initialization function"
for details.)
Parameter
How can the parameters be Set the " Cd.2 Parameter initialization request" to "1".
returned to their initial values (Refer to Section 13.2 "Parameter initialization function" 2
(default values)? for details.)
A parameter error occurred The parameter may have been overwritten in the
although the parameter was set sequence program. 3
correctly by GX Configurator-QP. Review the sequence program.
In the QD75, deceleration stops are executed after the
machine exceeds hardware stroke limit range. Because of
The machine overruns if operating
this, more time is required for the deceleration stop as the
at high speeds when the hardware 4
speed increases, and the overrun becomes larger.
stroke limit range is exceeded.
(The deceleration time becomes shorter at lower speeds,
so the overrun becomes smaller.)
Use a "JOG operation", " Inching operation" or "Manual
Hardware stroke limit pulse generator operation" to return the machine to inside
When the machine exceeded the the hardware stroke limit range.
hardware stroke limit range, (When the hardware stroke limit range is exceeded,
positioning toward inside the range positioning will not start toward inside the range even 5
was started, but the machine did when so commanded. Once the range is exceeded, a
not start. return to inside the range can only be executed using a
"JOG operation", "Inching operation" or "Manual pulse
generator operation".)
Exactly one rotation is required,
but the setting range for a "degree"
Designate "360.000" in the INC control.
Degree unit setting is "0 to 359.999...". 6
The motor will make exactly one rotation.
Won't the rotation deviate by
"0.00...1"?
If the "movement amount per Set "movement amount per pulse" in the QD75 using the
pulse" is calculated as written in
Movement amount three parameter values of Pr.2 to Pr.4 .
the manual, settings smaller than 7
per pulse Try setting the values following the explanations for each
the basic parameter setting range
cannot be carried out. parameter.
Will an override setting value
It will be valid. 8
written before starting be valid?
During path control, will the
Override override still be valid after the point It will still be valid. 9
is passed?
How can the override be Set the " Cd.13 Positioning operation speed override" to
10
canceled? "100".

Appendix - 92
APPENDICES
MELSEC-Q

Trouble type Questions/Trouble Remedy No.

How can the deceleration stop Set "1: Sudden stop" in the " Pr.37 Stop group 1
time during stopping be shortened sudden stop selection", and reduce the setting value of 11
using the hardware stroke limit? " Pr.36 Sudden stop deceleration time".
The value set for the acceleration/deceleration time is the
time required for the machine to accelerate from speed
The motor does not operate at "0" to the value set in " Pr.8 Speed limit value". Because
"60000ms" although the of that, the acceleration/deceleration time will also be 12
acceleration/deceleration time is shorter than "60000ms" if the command speed value is
set to "60000ms".
smaller than the " Pr.8 Speed limit value". (Refer to the
Acceleration/decelerat explanation for Pr.9 and Pr.10 for details.)
ion time
The trapezoidal and S-curve acceleration/deceleration
Can each acceleration/ processing is a common setting for all
deceleration time be individually acceleration/deceleration times, so individual setting is not
13
set to trapezoidal or S-curve possible.
acceleration/deceleration? (Refer to Section 12.7.7 "Acceleration/deceleration
process function".)
The machine starts and stops
suddenly when carrying out JOG
Review the parameter settings for acceleration/
operations and positioning
deceleration time, speed limit value, JOG speed limit 14
operations.
value, JOG acceleration/deceleration time, etc.
(Using an MR-J2S servo
amplifier.)
Are simplified absolute position
Simplified absolute They are possible if the models are used in combination
detection system possible in the
position detection with a Mitsubishi "AC Servo". 15
QD75P and QD75D Positional
system (Refer to "AC servo User's Manual" for details.)
deviation models?
The physical position position
detection system from the
If the deviation counter value is not "0", the servo side is
commanded position, although the
Positional deviation still moving. 16
positioning is complete (and the
Increase the torque.
monitored current position is
correct).
In this case, the following values will result.
• No. of pulses per rotation 8192
A setting of "1μm 1pulse" is • Movement amount per rotation 10000
required in the following system. • Unit magnification 10
Electronic gear • Ball screw pitch 10mm Therefore, the "Movement amount per pulse" will become 17
• No. of feedback pulses "1.2207μm".
8192pulse This value is fixed by the machine system, so it cannot be
changed.
Thus, the setting "1μm 1pulse" cannot be achieved.

Appendix - 93
APPENDICES
MELSEC-Q

Trouble type Questions/Trouble Remedy No.

The machine only moves to
"10081230", although positioning
with a command value of
"10081234" carried out. Reset Pr.3 and Pr.2 in the following order.
How can the error be 1) Calculate "8192/8000 × 10081230/10081234".
compensated?
Error compensation The following values are currently 2) Obtain the reduced value. 18
set. 3) Set the numerator in " Pr.3 Movement amount per
• Pr.2 No. of pulses per rotation", and the denominator in " Pr.2 No. of pulses
rotation 8192 per rotation".
• Pr.3 Movement amount per
rotation 8000
The near-point dog must be set to turn OFF at a position
after the OP is passed.
When carrying out a count method (When the machine OPR is started on the near-point dog
machine OPR, the message on in a count-method machine OPR, the machine enters
"Leave Sufficient Distance From a normal machine OPR operation after returning to the
The OP Position To The Near- near-point dog OFF region.)
19
Point Dog OFF." appears. Is there (If the near-point dog is turned OFF before the OP, and
a problem the machine OPR is started between the near-point dog
OFF position and the OP, the machine will mistakenly
if the distance is short? interpret that its current position is before the near-point
dog ON position, and it will pass over the OP and
continue moving.)
Carry out the following measures.
1) Separate the near-point dog signal and zero signal
detection positions.

In the near-point dog method 2) Lower the values in " Pr.46 OPR speed" and
machine OPR, the stop positions " Pr.47 Creep speed". 20
are not uniform.
3) Confirm whether the zero signal and near-point dog
signal turn ON normally.
4) Check that there is no play (backlash) in the machine
OPR system.
Can the machine OPR be carried A "Hardware stroke limit error" will occur and the
out with the OPR retry function operation will not be carried out.
when it is started with the near- (The machine will interpret any position where the near- 21
point dog ON and the upper/lower point dog is ON as being within the working range, and
limit OFF? that the upper/lower limit is ON.)
Are ABS and INC positioning They are possible.
possible without carrying out an In this case, the position where the power is turned ON is 22
OPR? handled as the current feed value "0".
The OPR request flag turns ON in the following cases.
1) When the power is turned ON.
2) When the PLC READY signal [YO] turns from OFF to
After an OPR, the OPR request ON.
flag sometimes turns ON for no 3) When an OPR is carried out. 23
apparent reason. 4) When the servo amplifier power is turned OFF.
If no problem is found when the above are checked, then
it is possible that the communication is being interrupted
by "a fault in the bus cable", "noise influence", etc.
The OPR complete flag
Check whether the drive unit READY signal is weak or the
( Md.31 Status: b4) sometimes 24
power supply is unstable.
turns ON when it shouldn't be ON.

Appendix - 94
APPENDICES
MELSEC-Q

Trouble type Questions/Trouble Remedy No.

The positioning start signal [Y10] is
After the BUSY signal turns ON, there is no problem with
kept ON until the BUSY signal is
turning [Y10] OFF before the BUSY signal turns OFF.
OFF, but is there any problem with 25
(The QD75 detects the rising edge (OFF ON) of the
turning it OFF before the BUSY
Start positioning start signal [Y10].)
signal turns OFF?

The operation will not start even Check the " Md.26 axis operation status" and
26
when the start signal is turned ON. " Md.23 axis error No".

The signal should be turned ON at 4ms or more.

How many milliseconds should the
(If possible, set the signal so it does not turn ON only
axis stop signal [Y4] be turned ON 27
momentarily, but instead stays ON until the BUSY signal
for?
turns OFF. This will keep the stop signal from skipping.)
Set "1: Sudden stop" in the parameter from Pr.37 to
How can a sudden stop be
Pr.39 corresponding to the stop group, and reduce the 28
selected?
setting value of " Pr.36 Sudden stop deceleration time".
Stop "Normal deceleration stop" was
selected in " Pr.39 Stop group 3
The operation will not change.
sudden stop", and Y stop was Even if the same stop factor is input again during the
turned ON. If the Pr.39 setting is deceleration stop, it will be ignored. The same
29
changed to "sudden stop" during a deceleration stop process used when the stop signal was
deceleration stop, and the Y stop first input will be continued.
signal turns from OFF to ON, will (This also applies for Pr.37 and Pr.38 .)
the operation change to a sudden
stop from that point?
ABS system circular interpolation
The address designation may be incorrect. When carrying
operates normally, but a vertically
out INC system circular interpolation, designate the
Circular interpolation oblong circle results when INC 30
relative addresses from the starting point of both the
system circular interpolation is
center point and end point.
carried out.
Can the speed be changed during
Speed-position speed control and position control No. The speed for the speed control and position control
31
switching control by speed-position switching cannot be set differently.
control?
Either of the following is possible.
1) The sequence program may be incorrect. Check by
creating a test program in which the JOG start signal
is turned ON only.
Even if the JOG start signal is 2) If the machine is hitting something when the torque
turned ON, the response until it setting is low, it may be trying to move by JOG 32
turns ON is sometimes slow. operation in the opposite direction. In this case, the
machine will start moving only after the internal droop
pulses have been reached 0 in the counter, even if the
JOG operation JOG start signal has been turned ON. This makes it
seem that the response is slow.
Either of the following is possible.
1) The JOG start signal may be chattering. Monitor the
JOG start signal to confirm whether it is chattering.
The operation is not carried out at
(When using the "BUSY signal" in the JOG operation
the set JOG speed, although the
start circuit, check the position of the BUSY signal.) 33
speed limit value has not been
reached. 2) The " Pr.31 JOG speed limit value" may not be
appropriate. Review the setting value and carry out
the JOG operation again.

Appendix - 95
APPENDICES
MELSEC-Q

Trouble type Questions/Trouble Remedy No.

The " Pr.31 JOG speed limit value" may be larger than
When a JOG operation is
Pr.8 Speed limit value".
attempted, an error results and the the " 34
machine does not move. Review the parameters and carry out the JOG operation
again.
JOG operation
If a value other than "0" is set for " Cd.16 Inching
Why does the positioning complete movement amount", the inching operation is carried out
signal turns ON during the JOG and the positioning complete signal turns ON. 35
operation? Confirm that the " Cd.16 Inching movement amount" is
set to "0".
Is it possible to count the pulses
Not possible.
when the B phase is set to "1", and 36
(The QD75 counts 1, 0, 1, 0.)
only A phase pulses are input?
Can a manual pulse generator Other manual pulse generators can be used if they
Manual pulse
other than the Mitsubishi MR- conform to Section 3.4 "Specifications for input/output 37
generator operation
HDP01 be used? interfaces with external devices."
Can one manual pulse generator
This is possible if the system conforms to the electrical
be operated connected to several 38
specifications.
QD75 modules?
The BUSY signal is not canceled The BUSY signal may remain if the scan time is long.
Current value
by the current value changing. Use a complete signal to check whether the current value 39
changing
How can it be canceled? changing has been executed.
The QD75 READY signal does not "A parameter error" has occurred.
QD75 READY signal turn ON even when the PLC Confirm the error No. in the error history, and correct the 40
READY signal [Y0] is turned ON. parameter.
The QD75 checks the M code ON signal OFF request
Is there any problem with setting
every "1.8ms", so there is a possibility that the M code ON
an M code ON signal OFF request
M code ON signal signal OFF may be delayed by a maximum of "1.8ms" 41
in the next scan after the M code
after the M code ON signal ON, even if an M code ON
ON signal ON?
signal OFF request is set.
How long is the output time for the The time set in " Pr.55 Deviation counter signal output
42
deviation counter clear signal? time". (Initial value: 11 ms)
Deviation counter Is a deviation counter clear signal A signal is not output.
clear output when the positioning is The only time the QD75 outputs a deviation counter clear 43
complete? signal is for a machine OPR.
How can a deviation counter clear The QD75 does not output a deviation counter clear
44
signal be output? signal except for machine OPR.
The internal parameters of the QD75 may be different.
Check if the QD75 READY signal [X0] turns ON when the
Error 537 (PLC READY OFF start)
PLC READY signal [Y0] turns ON.
occurs after the QD75 is replaced.
Module When the PLC READY signal is ON but the QD75 45
(The sequence program is the
READY signal is OFF, the parameter error has occurred.
same.)
Check the error code and modify the parameter with the
error.
The parameter settings on the QD75 side may not match
The motor only rotates in one
those on the servo side. 46
direction.
Check the parameter settings.
The speed shown on the QD75 monitor is calculated from
Motor the number of pulses output from the module. Thus, the
Can the current motor speed be actual motor speed cannot be monitored. 47
monitored?
(" Md.22 Feedrate" monitors the commanded speed. It
does not show the actual motor speed.)

Appendix - 96
APPENDICES
MELSEC-Q

Trouble type Questions/Trouble Remedy No.

Backlash compensation value
0≤ 255
Movement amount per pulse
Error 920 (backlash compensation Setting is not possible if the above equation is not
amount error) occurs even when satisfied.
48
the backlash compensation value
Adjust by setting " Pr.4 Unit magnification" to 10-fold (or
is set to "1".
100-fold, or 1000-fold), and setting " Pr.2 Movement
amount per rotation" to 1/10 (or 1/100, or 1/1000).
When a JOG operation is
attempted, errors such as error The hardware stroke limit wiring has probably not been
104 (hardware stroke limit+) or carried out.
49
error 105 (hardware stroke limit ) Refer to Section 12.4.4 "Hardware stroke limit function" for
occur and the machine does not details, and wire accordingly.
move.
Error 997 (Speed selection at OP A value besides "0" or "1" may be set in the " Pr.56
Error/warning
shift error) appears when the PLC Speed designation during OP shift".
50
READY signal [Y0] turns from OFF Review the set sequence program, and reset the correct
to ON. parameters.
The QD75 starts the deceleration stop process when the
When the start signal was turned
stop signal ON is detected. Thus, the machine interprets
ON immediately after the stop
that "positioning is still being executed" immediately after
signal ON, warning 100 (start 51
the stop signal ON. Even if the start signal is turned ON at
during operation) was detected,
that time, the start request will be ignored and warning
and the start was ignored.
100 will occur.
Does warning 500 (deceleration
The warning occurs only at those times mentioned at the
and stop speed change) occur
left. Because this is a warning, there is no problem if the
only during "stop deceleration" and
operation can be continued without resetting the error.
"automatically deceleration"? 52
(When the speed is changed using the override, the new
Is there any problem if the
value will not be reflected on the data being executed, but
operation is continued in that state
will be reflected from the next start.)
without resetting the error?
Depending on the stop occurrence factor, positioning may
have not been completed normally.
Check the axis monitor " Md.26 Axis operation status"
after the BUSY signal has turned OFF.
Stop : The stop signal has turned ON
during positioning.
Check the condition under which the 53
stop signal (Y stop, external stop)
Position control was executed but turns ON.
Positioning complete
the positioning complete signal
signal Error occurrence : An error has occurred during
does not turn ON.
positioning.
Check the error occurrence factor
from " Md.23 Axis error No.".
The setting value of the detailed parameter 2 "Positioning
complete signal output time" is 0 or shorter than the scan
time. 54
Using the sequence program, set the time when the signal
can be detected securely.

Appendix - 97
APPENDICES
MELSEC-Q

Appendix 12 List of buffer memory addresses

The following shows the relation between the buffer memory addresses and the various items.
(Do not use ary address other than listed below. If used, the system may not operate correctly.)
Buffer memory address
Item Memory area
Axis 1 Axis 2 Axis 3 Axis 4
0 150 300 450 Pr.1 Unit setting

1 151 301 451 Pr.2 No. of pulses per rotation (Ap)

Basic parameters 1
2 152 302 452 Pr.3 Movement amount per rotation (Al)

3 153 303 453 Pr.4 Unit magnification (Am)

4 154 304 454 Pr.5 Pulse output mode

5 155 305 455 Pr.6 Rotation direction setting

6 156 306 456 Pr.7 Bias speed at start
7 157 307 457
8 158 308 458
Not used

Basic parameters
9 159 309 459
10 160 310 460 Pr.8 Speed limit value
11 161 311 461

2
12 162 312 462 Pr.9 Acceleration time 0
13 163 313 463
14 164 314 464 Pr.10 Deceleration time 0
15 165 315 465
17 167 317 467 Pr.11 Backlash compensation amount

Positioning parameters
18 168 318 468 Pr.12 Software stroke limit upper limit value
19 169 319 469
20 170 320 470 Pr.13 Software stroke limit lower limit value
21 171 321 471
22 172 322 472 Pr.14 Software stroke limit selection

23 173 323 473 Pr.15 Software stroke limit valid/invalid selection

Detailed parameters 1

24 174 324 474 Pr.16 Command in-position width

25 175 325 475
26 176 326 476 Pr.17 Torque limit setting value

27 177 327 477 Pr.18 M code ON signal output timing

28 178 328 478 Pr.19 Speed switching mode

29 179 329 479 Pr.20 Interpolation speed designation method

30 180 330 480 Pr.21 Current feed value during speed control

31 181 331 481 Pr.22 Input signal logic selection

32 182 332 482 Pr.23 Output signal logic selection

33 Pr.24 Manual pulse generator input selection

34 184 334 484 Pr.150 Speed-position function selection

35 185 335 485 Not used
parameters
Detailed

36 186 336 486 Pr.25 Acceleration time 1

37 187 337 487
2

38 188 338 488 Pr.26 Acceleration time 2

39 189 339 489

Appendix - 98
APPENDICES
MELSEC-Q

Buffer memory address

Item Memory area
Axis 1 Axis 2 Axis 3 Axis 4
40 190 340 490 Pr.27 Acceleration time 3
41 191 341 491
42 192 342 492
Pr.28 Deceleration time 1
43 193 343 493
44 194 344 494 Pr.29 Deceleration time 2
45 195 345 495
46 196 346 496 Pr.30 Deceleration time 3
47 197 347 497
48 198 348 498 Pr.31 JOG speed limit value
49 199 349 499

Positioning parameters
50 200 350 500 Pr.32 JOG operation acceleration time selection

Basic parameters 2
51 201 351 501 Pr.33 JOG operation deceleration time selection

52 202 352 502 Pr.34 Acceleration/deceleration process selection

53 203 353 503 Pr.35 S-curve ratio

54 204 354 504 Pr.36 Sudden stop deceleration time
55 205 355 505
56 206 356 506 Pr.37 Stop group 1 sudden stop selection

57 207 357 507 Pr.38 Stop group 2 sudden stop selection

58 208 358 508 Pr.39 Stop group 3 sudden stop selection

59 209 359 509 Pr.40 Positioning complete signal output time

60 210 360 510 Pr.41 Allowable circular interpolation error width
61 211 361 511
62 212 362 512 Pr.42 External command function selection

70 220 370 520 Pr.43 OPR method

OPR basic parameters

71 221 371 521 Pr.44 OPR direction
72 222 372 522 Pr.45 OP address
73 223 373 523
74 224 374 524 Pr.46 OPR speed
75 225 375 525
76 226 376 526 Pr.47 Creep speed
77 227 377 527
78 228 378 528 Pr.48 OPR retry
OPR parameters

79 229 379 529 Pr.49 OPR dwell time

80 230 380 530 Pr.50 Setting for the movement amount after
81 231 381 531 near-point dog ON
OPR detailed parameters

82 232 382 532 Pr.51 OPR acceleration time selection

83 233 383 533 Pr.52 OPR deceleration time selection

84 234 384 534 Pr.53 OP shift amount
85 235 385 535
86 236 386 536 Pr.54 OPR torque limit value

87 237 387 537 Pr.55 Deviation counter clear signal output time

88 238 388 538 Pr.56 Speed designation during OP shift

89 239 389 539 Pr.57 Dwell time during OPR retry

Appendix - 99
APPENDICES
MELSEC-Q

Buffer memory address Memory

Item
Common to axes 1, 2, 3, and 4 area
1200 Md.1 In test mode flag
1201
1202
1203
1204
1205
1206 Not used
1207
1208
1209
1210
1211
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (Pointer No.)
1212 1217 1222 1227 1232 1237 1242 1247 1252 1257 1262 1267 1272 1277 1282 1287 Md.3 Start information

Md.4 Start No.

Start History
1213 1218 1223 1228 1233 1238 1243 1248 1256 1258 1263 1268 1273 1278 1283 1288

1214 1219 1224 1229 1234 1239 1244 1249 1254 1259 1264 1269 1274 1279 1284 1289 Md.5 Start (Hour)

1215 1220 1225 1230 1235 1240 1245 1250 1255 1260 1265 1270 1275 1280 1285 1290 Md.6 Start (Minute: second)

1216 1221 1226 1231 1236 1241 1246 1251 1256 1261 1266 1271 1276 1281 1286 1291 Md.7 Error judgment

System monitor data

1292 Md.8 Start history pointer
(Pointer No.)

Monitor data
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15)

Md.9 Axis in which the error

1293 1297 1301 1305 1309 1313 1317 1321 1325 1329 1333 1337 1341 1345 1349 1353
occurred

Error History
1294 1298 1302 1306 1310 1314 1318 1322 1326 1330 1334 1338 1342 1346 1350 1354 Md.10 Axis error No.

Md.11 Axis error occurrence

1295 1299 1303 1307 1311 1315 1319 1323 1327 1331 1335 1339 1343 1347 1351 1355
(Hour)
Md.12 Axis error occurrence
1296 1300 1304 1308 1312 1316 1320 1324 1328 1332 1336 1340 1344 1348 1352 1356
(Minute: second)
1357 Md.13 Error history pointer
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12) (13) (14) (15) (Pointer No.)
Md.14 Axis in which the
1358 1362 1366 1370 1374 1378 1382 1386 1390 1394 1398 1402 1406 1410 1414 1418
warning occurred
Warning history

1359 1363 1367 1371 1375 1379 1383 1387 1391 1395 1399 1403 1407 1411 1415 1419 Md.15 Axis warning No.

Md.16 Axis warning

1360 1364 1368 1372 1376 1380 1384 1388 1392 1396 1400 1404 1408 1412 1416 1420
occurrence (Hour)
Md.17 Axis warning
1361 1365 1369 1373 1377 1381 1385 1389 1393 1397 1401 1405 1409 1413 1417 1421
occurrence
(Minute: second)
1422 Md.18 Warning history pointer

1424 Md.19 No. of write accesses to

1425 flash ROM

Appendix - 100
APPENDICES
MELSEC-Q

Buffer memory address

Item Memory area
Axis 1 Axis 2 Axis 3 Axis 4
800 900 1000 1100 Md.20 Current feed value
801 901 1001 1101
802 902 1002 1102 Md.21 Machine feed value
803 903 1003 1103
804 904 1004 1104 Md.22 Feedrate
805 905 1005 1105
806 906 1006 1106 Md.23 Axis error No.

807 907 1007 1107 Md.24 Axis warning No.

808 908 1008 1108 Md.25 Valid M code

809 909 1009 1109 Md.26 Axis operation status

810 910 1010 1110 Md.27 Current speed
811 911 1011 1111
812 912 1012 1112 Md.28 Axis feedrate
813 913 1013 1113
814 914 1014 1114 Md.29 Speed-position switching control positioning
815 915 1015 1115 amount
816 916 1016 1116 Md.30 External input/output signal

817 917 1017 1117 Md.31 Status

818 918 1018 1118
Md.32 Target value
819 919 1019 1119

Axis monitor data

820 920 1020 1120

Monitor data
Md.33 Target speed
821 921 1021 1121
824 924 1024 1124 Md.34 Movement amount after near-point dog ON
825 925 1025 1125
826 926 1026 1126 Md.35 Torque limit stored value

Md.36 Special start data instruction parameter

827 927 1027 1127
setting value
Md.37 Special start data instruction No. setting
828 928 1028 1128
value
829 929 1029 1129 Md.38 Start positioning data No. setting value.

830 930 1030 1130 Md.39 In speed control flag

831 931 1031 1131 Md.40 In speed change processing flag

832 932 1032 1132 Md.41 Special start repetition counter

833 933 1033 1133 Md.42 Control system repetition counter

834 934 1034 1134 Md.43 Start data pointer being executed

835 935 1035 1135 Md.44 Positioning data No. being executed

836 936 1036 1136 Md.45 Block No. being executed

837 937 1037 1137 Md.46 Last executed positioning data No.
1038 to 1138 to Md.47 Positioning data being executed
838 to 847 938 to 947
1047 1147
899 999 1099 1199 Md.48 Deceleration start flag

Appendix - 101
APPENDICES
MELSEC-Q

Buffer memory address

Item Memory area
Axis 1 Axis 2 Axis 3 Axis 4
1500 1600 1700 1800 Cd.3 Positioning start No.

1501 1601 1701 1801 Cd.4 Positioning starting point No.

1502 1602 1702 1802 Cd.5 Axis error reset

1503 1603 1703 1803 Cd.6 Restart command

1504 1604 1704 1804 Cd.7 M code OFF request

1505 1605 1705 1805 Cd.8 External command valid

1506 1606 1706 1806 Cd.9 New current value
1507 1607 1707 1807
1508 1608 1708 1808 Cd.10 New acceleration time value
1509 1609 1709 1809
1510 1610 1710 1810 Cd.11 New deceleration time value
1511 1611 1711 1811
Cd.12 Acceleration/deceleration time change
1512 1612 1712 1812 during speed change, enable/disable
selection
1513 1613 1713 1813 Cd.13 Positioning operation speed override
1514 1614 1714 1814 Cd.14 New speed value
1515 1615 1715 1815
1516 1616 1716 1816 Cd.15 Speed change request

1517 1617 1717 1817 Cd.16 Inching movement amount

Axis control data

1518 1618 1718 1818 Cd.17 JOG speed

Control data
1519 1619 1719 1819
Cd.18 Interrupt request during continuous
1520 1620 1720 1820
operation
1521 1621 1721 1821 Cd.19 OPR request flag OFF request

1522 1622 1722 1822 Cd.20 Manual pulse generator 1 pulse input
1523 1623 1723 1823 magnification
1524 1624 1724 1824 Cd.21 Manual pulse generator enable flag

1525 1625 1725 1825 Cd.22 New torque value

1526 1626 1726 1826 Cd.23 Speed-position switching control movement

1527 1627 1727 1927 amount change register
1528 1628 1728 1828 Cd.24 Speed-position switching enable flag
1529 1629 1729 1829 Not used
1530 1630 1730 1830 Cd.25 Position-speed switching control speed
1531 1631 1731 1831 change register
1532 1632 1732 1832 Cd.26 Position-speed switching enable flag
1533 1633 1733 1833 Not used
1534 1634 1734 1834 Cd.27 Target position change value (new address)
1535 1635 1735 1835
1536 1636 1736 1836 Cd.28 Target position change value (new speed)
1537 1637 1737 1837
1538 1638 1738 1838 Cd.29 Target position change request flag
1539 1639 1739 1839 Not used
Cd.30 Simultaneous starting axis start data No.
1540 1640 1740 1840
(axis 1 start data No.)

Appendix - 102
APPENDICES
MELSEC-Q

Buffer memory address

Item Memory area
Axis 1 Axis 2 Axis 3 Axis 4
Cd.31 Simultaneous starting axis start data No.
1541 1641 1741 1841
(axis 2 start data No.)
Cd.32 Simultaneous starting axis start data No.
1542 1642 1742 1842
(axis 3 start data No.)
Cd.33 Simultaneous starting axis start data No.
1543 1643 1743 1843

Axis control data

(axis 4 start data No.)
1544 1644 1744 1844 Cd.34 Step mode

1545 1645 1745 1845 Cd.35 Step valid flag

1546 1646 1746 1846 Cd.36 Step start information

1547 1647 1747 1847 Cd.37 Skip command

Control data
1548 1648 1748 1848 Cd.38 Teaching data selection

1549 1649 1749 1849 Cd.39 Teaching positioning data No.

1550 1650 1750 1850 Cd.40 ABS direction in degrees

1900 Cd.1 Flash ROM write request

System Control data

1901 Cd.2 Parameter initialization request

1905 Cd.41 Deceleration start flag valid

Cd.42 Stop command processing for deceleration

1907
stop selection

Appendix - 103
APPENDICES
MELSEC-Q

Buffer memory address

Item Memory area
Axis 1 Axis 2 Axis 3 Axis 4
Da.1 Operation pattern

Da.2 Control system

2000 8000 14000 20000 Da.3 Acceleration time No.

Da.4 Deceleration time No.

Da.5 Axis to be interpolated

Da.10 M code/condition data No.

2001 8001 14001 20001
/No. of LOOP to LEND repetitions

No.1
Da.9 Dwell time/JUMP destination
2002 8002 14002 20002
positioning data No.
2003 8003 14003 20003 Not used

Positioning data

Positioning data
2004 8004 14004 20004 Da.8 Command speed
2005 8005 14005 20005
2006 8006 14006 20006 Da.6 Positioning address/movement
2007 8007 14007 20007 amount
2008 8008 14008 20008 Da.7 Arc address
2009 8009 14009 20009
2010 8010 14010 20010
to to to to No.2
2019 8019 14019 20019
2020 8020 14020 20020
to to to to No.3
2029 8029 14029 20029
to to to to to
7990 13990 19990 25990
to to to to No.600
7999 13999 19999 25999

Appendix - 104
APPENDICES
MELSEC-Q

Buffer memory address

Item
Axis 1 Axis 2 Axis 3 Axis 4 Memory area

Da.11 Shape

1st point
Da.12 Start data No.
26000 26050 27000 27050 28000 28050 29000 29050
Da.13 Specilal start instruction

Block start data

Da.14 Parameter

26001 26051 27001 27051 28001 28051 29001 29051 2nd point
26002 26052 27002 27052 28002 28052 29002 29052 3rd point

to to to to to

Starting block 0
26049 26099 27049 27099 28049 28099 29049 29099 50th point
Da.15 Condition target
26100 27100 28100 29100
Da.16 Condition operator

26102 27102 28102 29102 Da.17 Address

No. 1
26103 27103 28103 29103

Condition data
26104 27104 28104 29104 Da.18 Parameter 1
26405 27405 28405 29405
26106 27106 28106 29106
Da.19 Parameter 2

Positioning data (Starting block data)

26107 27107 28107 29107
26110 to 26119 27110 to 27119 28110 to 28119 29110 to 29119 No. 2
26120 to 26129 27120 to 27129 28120 to 28129 29120 to 29129 No. 3
to to to to to
26190 to 26199 27190 to 27199 28190 to 28199 29190 to 29199 No. 10

Starting block 1
26200 to 26299 27200 to 27299 28200 to 28299 29200 to 29299 Block start data

26300 to 26399 27300 to 27399 28300 to 28399 29300 to 29399 Condition data
Starting block 2

26400 to 26499 27400 to 27499 28400 to 28499 29400 to 29499 Block start data

26500 to 26599 27500 to 27599 28500 to 28599 29500 to 29599 Condition data
Starting block 3

26600 to 26699 27600 to 27699 28600 to 28699 29600 to 29699 Block start data

26700 to 26799 27700 to 27799 28700 to 28799 29700 to 29799 Condition data
Starting block 4

26800 to 26899 27800 to 27899 28800 to 28899 29800 to 29899 Block start data

26900 to 26999 27900 to 27999 28900 to 28999 29900 to 29999 Condition data

Appendix - 105
APPENDICES
MELSEC-Q

Buffer memory address

Item Memory area
Axis 1 Axis 2 Axis 3 Axis 4

Positioning data
30000

memory area
Condition judgement target data of the condition

PLC CPU
to
data

30099

Appendix - 106
APPENDICES
MELSEC-Q

Appendix 13 External dimension drawing

[1] QD75P1/QD75P2/QD75P4

23

27. 4

98
4

90 46 (unit:mm)

Appendix - 107
APPENDICES
MELSEC-Q

[2] QD75D1/QD75D2/QD75D4

23

27. 4

98
4
12

90 46 (unit:mm)

Appendix - 108
INDEX

[Number] 4-axis linear interpolation control (INC linear 4)

1-2 phase excitation system (Explanation of ........................................................................9-41
positioning terms) .............................Appendix-68 4-axis speed control.......................................9-77
1-axis fixed-feed control ................................ 9-43
1-axis linear control (ABS linear 1) ............... 9-27 [A]
1-axis linear control (INC linear 1) ................ 9-28 A phase/B phase mode .................................5-24
1-axis speed control ...................................... 9-67 ABS direction in degrees ( Cd.40 ) ............5-130
2-axis circular interpolation control with sub point Absolute encoder (Explanation of positioning
designation (ABS circular sub) terms) ............................................... Appendix-69
....................................................................... 9-53 Absolute position detection system (Explanation of
2-axis circular interpolation control with sub point positioning terms)............................. Appendix-69
designation (INC circular sub) Absolute position restoration function .........12-50
....................................................................... 9-56 Absolute system.............................................9-15
2-axis circular interpolation control with center Absolute system (Explanation of positioning terms)
point designation (ABS circular right/ABS circular .......................................................... Appendix-69
left) ................................................................. 9-61 Acceleration time (Explanation of positioning
2-axis circular interpolation control with center terms) ............................................... Appendix-69
point designation (INC circular right/INC circular Acceleration time 0 ( Pr.9 )..........................5-26
left) ................................................................. 9-64
Acceleration time 1 ( Pr.25 )........................5-36
2-axis fixed-feed control (interpolation)
....................................................................... 9-45 Acceleration time 2 ( Pr.26 )........................5-36
2-axis linear interpolation control (ABS linear 2) Acceleration time 3 ( Pr.27 )........................5-36
....................................................................... 9-29
Acceleration time No. ( Da.3 )......................5-60
2-axis linear interpolation control (INC linear 2)
Acceleration/deceleration process selection
....................................................................... 9-31
( Pr.34 ) ........................................................5-38
2-axis speed control ...................................... 9-70
2-phase excitation system (Explanation of Acceleration/deceleration processing function
positioning terms) .............................Appendix-68 ......................................................................12-84
2-phase pulse (Explanation of positioning terms) Acceleration/deceleration time change during
..........................................................Appendix-68 speed change, enable/disable selection ( Cd.12 )
2-speed trapezoidal control (Explanation of ......................................................................5-116
positioning terms) .............................Appendix-68 Acceleration/deceleration time change function
3-axis fixed-feed control (interpolation) ......................................................................12-44
....................................................................... 9-47 Acceleration/deceleration time change program
3-axis linear interpolation control (ABS linear 3) ........................................................................6-20
....................................................................... 9-33 Actual acceleration/deceleration time ...........5-27
3-axis linear interpolation control (INC linear 3) Address ( Da.17 ) .........................................5-83
....................................................................... 9-36 Address (Explanation of positioning terms)
3-axis speed control ...................................... 9-73 .......................................................... Appendix-69
4-axis fixed-feed control (interpolation) AFTER mode ...............................................12-67
....................................................................... 9-51 AFTER mode (Explanation of positioning terms)
4-axis linear interpolation control (ABS linear 4) .......................................................... Appendix-69
....................................................................... 9-39

Index - 1
 Allowable circular interpolation error width BCD (Explanation of positioning terms)
( Pr.41 )........................................................ 5-43 .......................................................... Appendix-71
Applicable system ........................................... 2-5 Bias speed at start ( Pr.7 ) ..........................5-26
Applicable wire size......................................... 3-3 Bias speed at start (Explanation of positioning
Arc address ( Da.7 )..................................... 5-68 terms) ............................................... Appendix-71
Auto tuning (Explanation of positioning terms) BIN (Explanation of positioning terms)
..........................................................Appendix-70 .......................................................... Appendix-71
Automatic trapezoidal acceleration/deceleration Bipolar drive constant-current system (Explanation
(Explanation of positioning terms) ...Appendix-70 of positioning terms) ........................ Appendix-72
Automatic trapezoidal acceleration/deceleration Block...............................................................10-2
processing method...................................... 12-85 Block No. being executed ( Md.45 ) ...........5-108
Axis display LED ............................................. 4-3 Block start (Normal start) ...............................10-8
Axis error No. ( Md.10 , Md.23 )............... 5-92,96 Block start data ..............................................10-7
Block start data area (Nos. 7000 to 7004) ......7-3
Axis error occurrence (Hour) ( Md.11 )........ 5-92
Buffer memory .................................................7-2
Axis error occurrence (Minute: second) ( Md.12 ) Buffer memory (Explanation of positioning terms)
....................................................................... 5-92 .......................................................... Appendix-72
Axis error reset ( Cd.5 ) ............................. 5-112 Buffer memory area configuration...................7-5
Axis feedrate ( Md.28 )............................... 5-100 BUSY (Explanation of positioning terms)
.......................................................... Appendix-72
Axis in which the error occurred ( Md.9 ) .... 5-92
BUSY signal ...................................................3-14
Axis in which the warning occurred ( Md.14 )
....................................................................... 5-94
[C]
Axis monitor data........................................... 5-96
Cable clamp ...................................................4-11
Axis operation status ( Md.26 ) .................... 5-98 CCW (Explanation of positioning terms)
Axis stop signal ............................................. 3-16 .......................................................... Appendix-72
Axis to be interpolated ( Da.5 ) .................... 5-62 CHANGE signal (Explanation of positioning terms)
Axis warning detection ................................ 5-102 .......................................................... Appendix-72
Axis warning No. ( Md.15 , Md.24 ) ........ 5-94,98 Circular interpolation (Explanation of positioning
Axis warning occurrence (Hour) ( Md.16 )... 5-94 terms) ............................................... Appendix-72
Combination of functions ...............................3-12
Axis warning occurrence (Minute: second)
Combination of main functions and sub functions
( Md.17 )........................................................ 5-94
........................................................................3-12
Command in-position flag............................5-102
[B] Command in-position function.....................12-81
Backlash compensation amount ( Pr.11 ). 5-28 Command in-position width ( Pr.16 ) ..........5-30
Backlash compensation (Explanation of Command pulse (Explanation of positioning terms)
positioning terms) .............................Appendix-70 .......................................................... Appendix-72
Backlash compensation function ................ 12-11 Command pulse frequency ...........................1-11
Backup function (Explanation of positioning terms)
Command speed ( Da.8 ).............................5-70
..........................................................Appendix-70
Common functions................................. 3-8, 13-2
Ball screw (Explanation of positioning terms)
Communicating signals between QD75 and each
..........................................................Appendix-70
module............................................................1-12
Basic parameters 1 ....................................... 5-20
Composite speed...........................................5-32
Basic parameters 2 ....................................... 5-26
Composite speed (Explanation of positioning
terms) ............................................... Appendix-72

Index - 2
Condition data ............................................. 10-16 [D]
Condition operator....................................... 10-17 D/A converter (Explanation of positioning terms)
Condition operator ( Da.16 ) ........................ 5-84 .......................................................... Appendix-73
Condition start ............................................. 10-10 Data No. (Explanation of positioning terms)
.......................................................... Appendix-73
Condition target ( Da.15 ) ............................ 5-84
Data transmission process ..............................7-6
Conditional JUMP ....................................... 9-111
Deceleration curve.......................................12-96
Configuration and roles of QD75 memory...... 7-2
Deceleration curve re-processing ...............12-96
Confirming the current value......................... 9-16
Deceleration curve continuation ..................12-96
Confirming the installation and wiring........... 4-14
Deceleration ratio (Explanation of positioning
Connection confirmation ............................... 4-14
terms) ............................................... Appendix-73
Connector ........................................................ 4-3
Deceleration start flag ( Md.48 )..................5-108
Continuous operation interrupt program....... 6-37
Deceleration start flag valid ( Cd.41 ) .........5-110
Continuous path control .................................. 9-8
Deceleration stop ...........................................6-43
Continuous positioning control........................ 9-7
Deceleration time (Explanation of positioning
Control data area............................................. 7-3
terms) ............................................... Appendix-74
Control functions ............................................. 3-4
Deceleration time 0 ( Pr.10 ) .......................5-27
Control system ( Da.2 )................................ 5-60
Deceleration time 1 ( Pr.28 ) .......................5-36
Control system repetition counter ( Md.42 )
..................................................................... 5-108 Deceleration time 2 ( Pr.29 ) .......................5-36
Control unit (Explanation of positioning terms) Deceleration time 3 ( Pr.30 ) .......................5-36
..........................................................Appendix-72 Deceleration time No. ( Da.4 ) .....................5-60
Count method 1) machine OPR ................... 8-16
Detailed parameters 1 ...................................5-28
Count method 2) machine OPR ................... 8-18
Detailed parameters 2 ...................................5-36
CP control (Explanation of positioning terms)
Details of input signals (QD75 PLC CPU)
..........................................................Appendix-73
........................................................................3-15
Creep speed ( Pr.47 ) ................................. 5-50 Details of output signals (PLC CPU QD75)
Creep speed (Explanation of positioning terms) ........................................................................3-16
..........................................................Appendix-73 Deviation counter (Explanation of positioning
Current feed value......................................... 9-16 terms) ............................................... Appendix-74
Current feed value ( Md.20 ) ........................ 5-96 Deviation counter clear ..................................3-21
Current feed value (Explanation of positioning Deviation counter clear signal output time
terms)................................................Appendix-73 ( Pr.55 ) ........................................................5-56
Current feed value during speed control ( Pr.21 ) Deviation counter droop pulse amount .........1-11
....................................................................... 5-32 Differential driver common terminal (SG)
Current loop mode (Explanation of positioning ................................................................ 3-24, 4-3
terms)................................................Appendix-73 Differential output type (Explanation of positioning
Current speed ( Md.27 ) ............................... 5-98 terms) ............................................... Appendix-74
Digital bus connection (Explanation of positioning
Current value (Explanation of positioning terms)
terms) ............................................... Appendix-74
..........................................................Appendix-73
Disposal instructions......................................4-15
CW (Explanation of positioning terms)
DOG signal (Explanation of positioning terms)
..........................................................Appendix-73
.......................................................... Appendix-74
CW/CCW mode............................................. 5-23
DOS/V personal computer ........................... A-15
Drive unit (Explanation of positioning terms)
.......................................................... Appendix-74

Index - 3
 Drive unit (Servo amplifier) ...........................A-15 External dimension drawing .......... Appendix-107
Drive unit READY.......................................... 3-21 External input/output signal ( Md.30 ) ........5-100
Drive unit READY (Explanation of positioning External I/O signal logic switching function...13-7
terms)................................................Appendix-74 External I/O signal monitor function ..............13-8
Droop pulse (Explanation of positioning terms) External regenerative brake resistor (Explanation
..........................................................Appendix-75 of positioning terms) ........................ Appendix-76
Dwell time (Explanation of positioning terms)
..........................................................Appendix-75 [F]
Dwell time (JUMP destination positioning data F (Explanation of positioning terms)
No.) ( Da.9 ).................................................. 5-70 .......................................................... Appendix-76
Dwell time during OPR retry ( Pr.57 )......... 5-56 Fast OPR .......................................................8-20
Dynamic brake (Explanation of positioning terms) Fast OPR (Explanation of positioning terms)
..........................................................Appendix-75 .......................................................... Appendix-76
Fatal stop........................................................6-42
[E] Features of QD75 ............................................1-2
Electrical specifications ................................. 3-17 Feed pulse (Explanation of positioning terms)
Electromagnetic brake (Explanation of positioning .......................................................... Appendix-76
terms)................................................Appendix-75 Feed screw (Explanation of positioning terms)
Electronic gear (Explanation of positioning terms) .......................................................... Appendix-76
..........................................................Appendix-75 Feedback pulse (Explanation of positioning terms)
Electronic gear function............................... 12-13 .......................................................... Appendix-76
Emergency stop ............................................ 6-42 Feedrate ( Md.22 ) ........................................5-96
Emergency stop (Explanation of positioning terms) Fixed-feed (Explanation of positioning terms)
..........................................................Appendix-75 .......................................................... Appendix-77
Encoder (Explanation of positioning terms) Flash memory (Explanation of positioning terms)
..........................................................Appendix-75 .......................................................... Appendix-77
Error and warning details .............................. 15-2 Flash ROM .......................................................7-2
Error compensation method ....................... 12-14 Flash ROM write program .............................6-23
Error correction (Explanation of positioning terms) Flash ROM write request ( Cd.1 ) ..............5-110
..........................................................Appendix-76
Flat type motor (Pancake motor) (Explanation of
Error detection signal .................................... 3-15
positioning terms)............................. Appendix-77
Error history ................................................... 5-92
Flow of all processes .....................................1-15
Error history pointer ( Md.13 ) ...................... 5-92
Flow of system operation...............................1-15
Error judgement ( Md.7 ).............................. 5-90
FLS signal (Explanation of positioning terms)
Error reset (Explanation of positioning terms)
.......................................................... Appendix-77
..........................................................Appendix-76
Forced stop ....................................................6-42
Error reset program....................................... 6-23
Front-loading speed switching mode ............9-13
Execution data backup function.................... 13-5
Functions for compensating the control ......12-11
Execution prohibition flag.............................. 3-14
Functions to change the control details ......12-34
External command signal.............................. 3-21
Functions to limit the control........................12-21
External command function selection ( Pr.42 ) Function version................................. Appendix-2
....................................................................... 5-42
External command function valid setting program [G]
....................................................................... 6-12 G code (Explanation of positioning terms)
External command valid ( Cd.8 ) ............... 5-114 .......................................................... Appendix-77
External device connector............................... 4-3 Gain (Explanation of positioning terms)
.......................................................... Appendix-77

Index - 4
 2
GD (Explanation of positioning terms) Interpolation speed designation method ( Pr.20 )
..........................................................Appendix-77 ........................................................................5-32
General configuration of program................. 6-11 Interruption request during continuous operation
General image of system ................................ 2-2
( Cd.18 ) ......................................................5-120
GX Configurator-QP...............................A-15, 2-4
Inverter (Explanation of positioning terms)
GX Developer ................................................A-15
.......................................................... Appendix-79
[H]
[J]
Handling precautions ...................................... 4-5
JOG (Explanation of positioning terms)
Hardware stroke limit function .................... 12-32
.......................................................... Appendix-79
High-level positioning control........................ 10-2
JOG operation................................................11-4
[I] JOG operation acceleration time selection
Immediate stop.............................................. 6-43 ( Pr.32 ) ........................................................5-36
In speed change processing flag ( Md.40 ) JOG operation deceleration time selection
..................................................................... 5-106 ( Pr.33 ) ........................................................5-36
In speed control flag.................................... 5-102 JOG operation setting program.....................6-19
In speed control flag ( Md.39 ) ................... 5-106 JOG operation start time chart ....................11-11
JOG operation timing and processing times
In test mode flag ( Md.1 ) ............................. 5-86
........................................................................11-6
Inching movement amount ( Cd.16 )......... 5-120
JOG speed ( Cd.17 ) ..................................5-120
Inching operation setting program ................ 6-19
JOG speed limit value ( Pr.31 )...................5-36
Inching operation start time chart ............... 11-23
Inching operation timing and processing times JOG start signal .............................................3-16
..................................................................... 11-19 JUMP instruction..........................................9-111
Inching operation......................................... 11-17
Incremental encoder (Explanation of positioning [K]
terms)................................................Appendix-78 kPPS (Explanation of positioning terms)
Incremental system ....................................... 9-15 .......................................................... Appendix-79
Incremental system (Explanation of positioning
terms)................................................Appendix-78 [L]
Independent positioning control...................... 9-6 Last executed positioning data No. ( Md.46 )
Inertia (Explanation of positioning terms) ......................................................................5-108
..........................................................Appendix-78 LED display functions ..................................15-38
Initialization program ..................................... 6-24 LEND............................................................9-114
Input signal logic selection ( Pr.22 ) ........... 5-32 Limit switch (Explanation of positioning terms)
Input terminal (Explanation of positioning terms) .......................................................... Appendix-79
..........................................................Appendix-79 Linear interpolation (Explanation of positioning
Input/output interface internal circuit............. 3-22 terms) ............................................... Appendix-80
Intentional stop .............................................. 6-42 List of block start data....................................5-74
Interlock (Explanation of positioning terms) List of condition data......................................5-80
..........................................................Appendix-79 List of configuration devices ............................2-4
Internal circuit ................................................ 3-22 List of control data........................................5-110
Internal current consumption .......................... 3-3 List of dedicated instructions .........................14-2
Interpolation axis ........................................... 9-21 List of devices used .........................................6-5
Interpolation control....................................... 9-21 List of errors ...................................................15-6
Interpolation operation (Explanation of positioning List of functions ................................................3-4
terms)................................................Appendix-79 List of input/output signal details ...................3-20

Index - 5
 List of input/output signals ............................ 3-14 processing times ..........................................11-29
List of monitor data........................................ 5-86 Master axis (Explanation of positioning terms)
List of parameters.......................................... 5-20 .......................................................... Appendix-80
List of positioning data .................................. 5-58 Max. connection distance ................................3-3
List of warnings ........................................... 15-32 Max. output pulse.............................................3-3
Load inertia ratio (Explanation of positioning Mechanism of positioning control....................1-7
terms)................................................Appendix-80 Monitor data area.............................................7-3
LOOP........................................................... 9-113 Movement amount after near-point dog ON
Lower limit signal........................................... 3-20 ( Md.34 ) ......................................................5-104
Low-inertia motor (Explanation of positioning
Movement amount per pulse ( Pr.2 to Pr.4 )
terms)................................................Appendix-80
........................................................................5-20
[M] Movement amount per pulse (Explanation of
M code (Condition data No., No. of LOOP to positioning terms)............................. Appendix-81
LEND repetitions) ( Da.10 ) ......................... 5-70 Movement amount per rotation ( Pr.3 ).......5-20

M code (Explanation of positioning terms) Multi-phase pulse (Explanation of positioning

..........................................................Appendix-80 terms) ............................................... Appendix-81
M code OFF request ................................... 12-67 Multiple axes simultaneous start control .....10-20
Multiple PLC.....................................................2-5
M code OFF request ( Cd.7 ) .................... 5-112
Multiplying rate setting (Explanation of positioning
M code ON signal.......................................... 3-15
terms) ............................................... Appendix-81
M code ON signal output timing.................. 12-66
M code ON signal output timing ( Pr.18 )... 5-30 [N]
M code output function................................ 12-66 Names of each part .........................................4-3
Machine feed value ....................................... 9-16 NC language (Explanation of positioning terms)
Machine feed value ( Md.21 ) ...................... 5-96 .......................................................... Appendix-81
Machine feed value (Explanation of positioning Near pass function.......................................12-18
terms)................................................Appendix-80 Near-point dog (Explanation of positioning terms)
Machine OPR .................................................. 8-4 .......................................................... Appendix-81
Main functions ................................................. 3-6 Near-point dog method machine OPR............8-6
Major positioning controls ............................... 9-2 Near-point dog signal.....................................3-20
Manual control............................................... 11-2 New acceleration time value ( Cd.10 ).......5-116
Manual pulse generator .........................A-15, 2-4 New current value ........................................9-105
Manual pulse generator (Explanation of New current value ( Cd.9 ) .........................5-114
positioning terms) .............................Appendix-80
New current value (Explanation of positioning
Manual pulse generator 1 pulse input
terms) ............................................... Appendix-81
magnification ( Cd.20 )............................... 5-122
New deceleration time value ( Cd.11 ).......5-116
Manual pulse generator enable flag ( Cd.21 )
New speed value ( Cd.14 ).........................5-118
..................................................................... 5-122
New torque value ( Cd.22 ) ........................5-122
Manual pulse generator input selection ( Pr.24 )
NEXT start....................................................10-15
....................................................................... 5-32
No. of control axes ...........................................3-2
Manual pulse generator operation.............. 11-27
No. of modules can be mounted .....................2-5
Manual pulse generator operation program
No. of occupied I/O points ...............................3-3
....................................................................... 6-20
No. of pulses per rotation ( Pr.2 )................5-20
Manual pulse generator operation start time chart
..................................................................... 11-34 No. of write accesses to flash ROM ( Md.19 )
Manual pulse generator operation timing and ........................................................................5-94

Index - 6
 NOP instruction ........................................... 9-110 OPR parameter (Explanation of positioning terms)
Normal start ................................................... 10-8 .......................................................... Appendix-82
OPR request ....................................................8-2
[O] OPR request (Explanation of positioning terms)
OP (Explanation of positioning terms) .......................................................... Appendix-83
..........................................................Appendix-82 OPR request flag .........................................5-102
OP address ( Pr.45 )................................... 5-48 OPR request flag OFF request ( Cd.19 )
OP shift amount ( Pr.53 ) ............................ 5-56 ......................................................................5-122
OP shift function ............................................ 12-8 OPR retry ( Pr.48 ).......................................5-50
OP shift function (Explanation of positioning terms) OPR retry function .........................................12-4
..........................................................Appendix-82 OPR speed ( Pr.46 )....................................5-48
Operating principle .......................................... 1-7
OPR torque limit value ( Pr.54 )
Operation pattern ( Da.1 )............................ 5-60
........................................................................5-56
Operation pattern (Explanation of positioning
Order of priority for stop process...................6-44
terms)................................................Appendix-82
Outline design of positioning system...............1-9
Operation patterns........................................... 9-5
Outline of installation, wiring and maintenance
Operation timing and processing time during
..........................................................................4-2
position-speed switching control................. 9-100
Outline of OPR control.....................................8-2
Operation timing and processing time during
Outline of restarting........................................1-21
speed-position switching control (ABS mode)
Outline of starting...........................................1-18
....................................................................... 9-93
Outline of stopping .........................................1-20
Operation timing and processing time during
Output signal logic selection ( Pr.23 ) .........5-32
speed-position switching control (INC mode)
....................................................................... 9-85 Output terminal (Explanation of positioning terms)
Operation timing and processing time of fast OPR .......................................................... Appendix-83
....................................................................... 8-21 Override function..........................................12-41
Override function (Explanation of positioning
OPR acceleration time selection ( Pr.51 ).. 5-54
terms) ............................................... Appendix-83
OPR basic parameters.................................. 5-46
Override program...........................................6-20
OPR complete flag ...................................... 5-102
OPR deceleration time selection ( Pr.52 ).. 5-54 [P]
OPR detailed parameters ............................. 5-54 P rate (Explanation of positioning terms)
OPR direction ( Pr.44 ) ............................... 5-48 .......................................................... Appendix-83

OPR dwell time ( Pr.49 ) ............................. 5-54 Parameter ( Da.14 )......................................5-77

OPR method.................................................... 8-5 Parameter (Explanation of positioning terms)

.......................................................... Appendix-83
OPR method ( Pr.43 ) ................................. 5-46
Parameter 1 ( Da.18 )...................................5-83
OPR method (1): Near-point dog method ...... 8-6
OPR method (2): Stopper method 1) ............. 8-8 Parameter 2 ( Da.19 ) ...................................5-83
OPR method (3): Stopper method 2) ........... 8-11 Parameter area ................................................7-3
OPR method (4): Stopper method 3) ........... 8-14 Parameter initialization program....................6-22
OPR method (5): Count method 1) Parameter initialization request ( Cd.2 ) ....5-110
....................................................................... 8-16 Performance specifications .............................3-2
OPR method (6): Count method 2)
....................................................................... 8-18 Peripheral device .......................................... A-15
OPR method (Explanation of positioning terms) Personal computer........................................ A-15
..........................................................Appendix-82 PG0 (Explanation of positioning terms)
OPR request OFF program .......................... 6-12 .......................................................... Appendix-83
Index - 7
PLC CPU .......................................................A-15 Positioning program examples ......................6-15
PLC CPU memo area ..................................... 7-3 Positioning start (Explanation of positioning terms)
PLC CPU module............................................ 2-5 .......................................................... Appendix-85
PLC READY signal ....................................... 3-16 Positioning start No. ( Cd.3 ) ......................5-112
PLC READY signal [Y0] ON program .......... 6-12 Positioning start No. setting program ............6-17
PULSE/SIGN mode....................................... 5-23 Positioning start program...............................6-13
Position control (Explanation of positioning terms) Positioning start signal...................................3-16
..........................................................Appendix-84
Positioning starting point No. ( Cd.4 ) ........5-112
Position detection module (Explanation of
Precautions
positioning terms) .............................Appendix-84
• Disposal instructions................................4-15
Position loop gain (Explanation of positioning
• Handling precautions .................................4-5
terms)............................................... Appendix-84
• Precautions for creating program..............6-2
Position loop mode (Explanation of positioning
• Precautions for installation ........................4-7
terms)................................................Appendix-84
• Precautions for maintenance...................4-15
Position-speed switching control .................. 9-98
• Precautions for using stepping motor .....1-22
Position-speed switching control speed change
• Precautions for wiring ................................4-8
register ( Cd.25 ) ........................................ 5-124
Pre-reading start function ............................12-87
Position-speed switching control enable flag Process time
( Cd.26 )...................................................... 5-126 • Inching operation timing and processing time
Position-speed switching latch flag............. 5-102 ...............................................................11-19
Position-speed switching signal.................... 3-21 • JOG operation timing and processing time
Positioning (Explanation of positioning terms) .................................................................11-6
..........................................................Appendix-84 • Machine OPR operation timing and process
Positioning address/movement amount ( Da.6 ) time..........................................................6-34
....................................................................... 5-62 • Manual pulse generator operation timing and
Positioning complete (Explanation of positioning processing times ...................................11-29
terms)................................................Appendix-84 • Operation timing and processing time during
Positioning complete signal .......................... 3-15 position-speed switching control ..........9-100
Positioning complete signal (Explanation of • Operation timing and processing time during
positioning terms) .............................Appendix-84 speed-position switching control (ABS mode)
.................................................................9-93
Positioning complete signal output time ( Pr.40 )
• Operation timing and processing time during
....................................................................... 5-42
speed-position switching control (INC mode)
Positioning continued .......................Appendix-85
.................................................................9-85
Positioning control operation program.......... 6-12
• Operation timing and processing time of fast
Positioning complete ....................................... 9-6
OPR.........................................................8-21
Positioning data (Explanation of positioning terms)
• Position control operation timing and process
..........................................................Appendix-85
time..........................................................6-35
Positioning data area (Nos. 1 to 600) ............. 7-3
Program details..............................................6-24
Positioning data being executed ( Md.47 ) Program examples
..................................................................... 5-108 • Absolute position restoration program ....6-22
Positioning data No. being executed ( Md.44 ) • Acceleration/deceleration time change
..................................................................... 5-108 program ...................................................6-20
Positioning operation speed override ( Cd.13 ) • Continuous operation interrupt program
.................................................................6-21
..................................................................... 5-118
• Error reset program .................................6-23
Positioning parameter (Explanation of positioning
terms)................................................Appendix-85

Index - 8
 • External command function valid setting Reference axis speed (Explanation of positioning
program .................................................. 6-17 terms) ............................................... Appendix-86
• Flash ROM write program....................... 6-23 Regeneration brake option (Explanation of
• Inching operation setting program .......... 6-19 positioning terms)............................. Appendix-86
• JOG operation setting program .............. 6-19 Relatively safe stop........................................6-42
• JOG operation/inching operation execution Repeated start (FOR condition) ..................10-14
program .................................................. 6-19 Repeated start (FOR loop) ..........................10-13
• M code OFF program.............................. 6-19 Resolver (Explanation of positioning terms)
• Manual pulse generator operation program .......................................................... Appendix-86
................................................................ 6-20 Restart command ( Cd.6 )..........................5-112
• OPR request OFF program .................... 6-17 Restart operation ...........................................6-39
• Override program .................................... 6-20 Restart program .............................................6-39
• Parameter initialization program............. 6-22 RLS signal (Explanation of positioning terms)
• PLC READY signal [Y0] ON program .... 6-17 .......................................................... Appendix-86
• Positioning start No. setting program ..... 6-17 Rotary table...................................... Appendix-86
• Positioning start program ........................ 6-18
Rotation direction setting ( Pr.6 ) ................5-22
• Restart program ...................................... 6-22
• Skip program ........................................... 6-21
[S]
• Speed change program .......................... 6-20
S-curve acceleration/deceleration
• Step operation program .......................... 6-21
.......................................................... Appendix-86
• Stop program........................................... 6-23
SERIAL No. .............................. 1-22, Appendix-2
• Target position change program............. 6-21
Servo amplifier (Explanation of positioning terms)
• Teaching program ................................... 6-21
.......................................................... Appendix-86
• Torque change program ......................... 6-21
Servo lock (Explanation of positioning terms)
PTP control (Explanation of positioning terms)
.......................................................... Appendix-87
..........................................................Appendix-85
Servo ON (Explanation of positioning terms)
Pulse (Explanation of positioning terms)
.......................................................... Appendix-87
..........................................................Appendix-85
Servomotor (Explanation of positioning terms)
Pulse generator (Explanation of positioning terms)
.......................................................... Appendix-87
..........................................................Appendix-85
Setting data ......................................................5-2
Pulse output mode ( Pr.5 ).......................... 5-22 Setting for the movement amount after near-point
Pulse output mode (Explanation of positioning dog ON ( Pr.50 ) ..........................................5-54
terms)................................................Appendix-85
Setting items for block start data ...................5-10
Purpose and applications of positioning control
Setting items for condition data .....................5-11
......................................................................... 1-5
Setting items for OPR parameters
..........................................................................5-6
[Q]
Setting items for positioning data ....................5-7
QD75 .............................................................A-15
Setting items for positioning parameters.........5-4
QD75 READY signal..................................... 3-15
Setting the positioning data ...........................9-25
Setting the torque limit function ...................12-25
[R]
Setting unit (Explanation of positioning terms)
READY (Explanation of positioning terms)
.......................................................... Appendix-87
..........................................................Appendix-86
SFC (Explanation of positioning terms)
Real-time AUTO tuning (Explanation of positioning
.......................................................... Appendix-87
terms)................................................Appendix-86
Shape ( Da.11 ) ............................................5-77
Reference axis .............................................. 9-21
Reference axis speed ................................... 5-33

Index - 9
Signal layout of connector............................. 3-19 Special start data instruction parameter setting
Signal name................................................... 3-14 value ( Md.37 ) ............................................5-106
Signals
Special start repetition counter ( Md.41 ) ...5-108
• Axis stop signal ....................................... 3-16
Specifications of input/output interfaces .......3-17
• BUSY signal ............................................ 3-15
Specifications of input/output signals ............3-14
• Error detection signal .............................. 3-15
Speed change 0 flag....................................5-102
• Execution prohibition flag signal ............. 3-16
Speed change function................................12-34
• JOG start signal....................................... 3-16
Speed change program .................................6-20
• M code ON signal.................................... 3-15
• PLC READY signal ................................ 3-16 Speed change request ( Cd.15 )................5-118
• Positioning complete signal .................... 3-15 Speed control (Explanation of positioning terms)
• Positioning start signal ............................ 3-16 .......................................................... Appendix-88
• QD75 READY signal............................... 3-15 Speed designation during OP shift ( Pr.56 )
• Start complete signal............................... 3-15 ........................................................................5-56
• Synchronization flag signal ..................... 3-15 Speed integral compensation (Explanation of
Simultaneous start....................................... 10-12 positioning terms)............................. Appendix-88
Simultaneous starting axis start data No. (Axis 1 Speed limit function .....................................12-21
start data No.) ( Cd.30 ) ............................. 5-128 Speed limit value ( Pr.8 ).............................5-26
Simultaneous starting axis start data No. (Axis 2 Speed limit value (Explanation of positioning
start data No.)( Cd.31 ) .............................. 5-128 terms) ............................................... Appendix-88
Simultaneous starting axis start data No. (Axis 3 Speed loop gain (Explanation of positioning terms)
start data No.)( Cd.32 ) .............................. 5-128 .......................................................... Appendix-88
Speed loop mode (Explanation of positioning
Simultaneous starting axis start data No. (Axis 4
terms) ............................................... Appendix-88
start data No.)( Cd.33 ) .............................. 5-128
Speed-position function selection ( Pr.150 ) ..5-34
Skip command ( Cd.37 ) ............................ 5-130 Speed switching mode ( Pr.19 )..................5-32
Skip function ................................................ 12-63 Speed-position switching control (ABS mode)
Skip function (Explanation of positioning terms) ........................................................................9-90
..........................................................Appendix-87 Speed-position switching control (INC mode)
Skip program ................................................. 6-14 ........................................................................9-82
Slave axis (Explanation of positioning terms) Speed–position switching control (Explanation of
..........................................................Appendix-87 positioning terms)............................. Appendix-88
Slot................................................................... 2-5 Speed-position switching control movement
Software stroke limit lower limit value ( Pr.13 )
amount change register ( Cd.23 ) ..............5-124
....................................................................... 5-28
Speed-position switching control positioning
Software stroke limit selection ( Pr.14 ) ...... 5-28
Software stroke limit upper limit value ( Pr.12 ) amount ( Md.29 ).........................................5-100
....................................................................... 5-28 Speed-position switching enable flag ( Cd.24 )
Software stroke limit valid/invalid setting ( Pr.15 ) ......................................................................5-124
....................................................................... 5-28 Speed-position switching latch flag .............5-102
S-curve acceleration/deceleration processing Speed-position switching signal ....................3-21
method......................................................... 12-85 Speed-position switching control mode
S-curve ratio ( Pr.35 ).................................. 5-38 (Explanation of positioning terms)... Appendix-88
Special start instruction ( Da.13 ) ................ 5-77 Spiral interpolation .........................................9-60
Standard speed switching mode ...................9-12
Special start data instruction code setting value
Start Hour ( Md.5 ) ........................................5-88
( Md.36 )...................................................... 5-106

Index - 10
Start complete (Explanation of positioning terms) Stop group 3 sudden stop selection ( Pr.39 )
..........................................................Appendix-88 ........................................................................5-38
Start complete signal..................................... 3-15 Stop process ..................................................6-42
Start data No. ( Da.12 )................................ 5-77 Stop program .................................................6-42
Start data pointer being executed ( Md.43 ) Stop settling time (Explanation of positioning
..................................................................... 5-108 terms) ............................................... Appendix-89
Start details setting program ......................... 6-25 Stop signal .....................................................3-21
Start history ................................................... 5-88 STOP signal (Explanation of positioning terms)
Start history pointer ( Md.8 ) ........................ 5-90 .......................................................... Appendix-89
Stop with stopper (Explanation of positioning
Start information ( Md.3 ) ............................. 5-88
terms) ............................................... Appendix-89
Start Minute: second ( Md.6 )....................... 5-88 Stopper method 1) machine OPR ...................8-8
Start No. ( Md.4 ).......................................... 5-88 Stopper method 2) machine OPR .................8-11
Start positioning data No. setting value ( Md.38 ) Stopper method 3) machine OPR .................8-14
Stroke (Explanation of positioning terms)
..................................................................... 5-106
.......................................................... Appendix-89
Start program................................................. 6-27
Stroke limit (Explanation of positioning terms)
Start program for high-level positioning control
.......................................................... Appendix-90
..................................................................... 10-23
Sub functions .................................................12-2
Starting axis (Explanation of positioning terms)
Sub functions specifically for machine OPR
..........................................................Appendix-88
........................................................................12-4
Status ( Md.31 ) .......................................... 5-102
Sudden stop ...................................................6-43
Status (Explanation of positioning terms) Sudden stop (Explanation of positioning terms)
..........................................................Appendix-88 .......................................................... Appendix-90
Step function................................................ 12-58 Sudden stop deceleration time ( Pr.36 ) .....5-38
Step function (Explanation of positioning terms)
Synchronization flag (X1) ..............................3-15
..........................................................Appendix-88
System control data .....................................5-110
Step mode ................................................... 12-59
System monitor data......................................5-86
Step mode ( Cd.34 )................................... 5-128
Step operation program ................................ 6-21 [T]
Step out (Explanation of positioning terms) Tact time.......................................................12-87
..........................................................Appendix-89 Target position change function ..................12-77
Step start information .................................. 12-59 Target position change request flag ( Cd.29 )
Step start information ( Cd.36 ) ................. 5-130 ......................................................................5-126
Step valid flag ( Cd.35 ) ............................. 5-128 Target position change value (new address)
Stepping motor (Explanation of positioning terms) ( Cd.27 ) ......................................................5-126
..........................................................Appendix-89 Target position change value (new speed)
Stop cause..................................................... 6-42 ( Cd.28 ) ......................................................5-126
Stop command processing for deceleration stop
Target speed ( Md.33 ) ...............................5-104
function ........................................................ 12-96
Stop command processing for deceleration stop Target value ( Md.32 ).................................5-102
selection ( Cd.42 )....................................... 5-110 Teaching (Explanation of positioning terms)
.......................................................... Appendix-90
Stop group 1 sudden stop selection ( Pr.37 )
Teaching data selection ( Cd.38 ) ..............5-130
....................................................................... 5-38 Teaching function.........................................12-70
Stop group 2 sudden stop selection ( Pr.38 ) Teaching positioning data No. ( Cd.39 ).....5-130
....................................................................... 5-38

Index - 11
 Teaching program ......................................... 6-21 Unit setting (Explanation of positioning terms)
Time chart .......................................................... Appendix-91
• Inching operation start time chart ......... 11-23 Upper limit signal ...........................................3-20
• JOG operation start time chart.............. 11-11
• Time chart for changing the speed from the [V]
PLC CPU .............................................. 12-37 Valid M code ( Md.25 )..................................5-98
• Time chart for changing the speed using an
external command signal ..................... 12-39 [W]
• Time chart for changing the speed using the Wait start ......................................................10-11
override function................................... 12-42 Warning (Explanation of positioning terms)
• Time chart for restarting.......................... 6-41 .......................................................... Appendix-91
• Time chart for starting "fast OPR" .......... 6-31 Warning history ..............................................5-94
• Time chart for starting "machine OPR" .. 6-30 Warning history pointer ( Md.18 ) .................5-94
• Time chart for starting "major positioning Window (Explanation of positioning terms)
control".................................................... 6-32 .......................................................... Appendix-91
• Time chart for starting "position-speed Writing to the Flash ROM ..............................13-6
switching control".................................... 6-33 WITH mode..................................................12-66
• Time chart for starting "speed-position WITH mode (Explanation of positioning terms)
switching control".................................... 6-32 .......................................................... Appendix-91
• Time chart for starting with external command Workpiece ..................................................... A-15
signal....................................................... 6-36
Torque change function .............................. 12-48 [X]
Torque change program ............................... 6-21 X0 (QD75 READY) ........................................3-15
Torque control (Explanation of positioning terms) X1 (Synchronization flag) ..............................3-15
..........................................................Appendix-90 XY table (Explanation of positioning terms)
Torque limit function.................................... 12-23 .......................................................... Appendix-91
Torque limit setting value ( Pr.17 ) ............. 5-31
[Z]
Torque limit stored value ( Md.35 ) ............ 5-104 Z.ABRST1 ......................................................14-3
Torque loop mode (Explanation of positioning Z.ABRST2 ......................................................14-3
terms)................................................Appendix-90 Z.ABRST3 ......................................................14-3
Torque ripple (Explanation of positioning terms) Z.ABRST4 ......................................................14-3
..........................................................Appendix-90 Zero signal (Explanation of positioning terms)
Tracking function (Explanation of positioning .......................................................... Appendix-91
terms)................................................Appendix-90 ZP.PFWRT.....................................................14-2
Turntable (Explanation of positioning terms) ZP.PINIT.........................................................14-2
..........................................................Appendix-91 Z phase (Explanation of positioning terms)
Types and roles of control data .................... 5-16 .......................................................... Appendix-91
Types and roles of monitor data ................... 5-12 ZP.PSTRT1....................................................14-8
Types of data................................................... 5-2 ZP.PSTRT2....................................................14-8
Types of errors .............................................. 15-2 ZP.PSTRT3....................................................14-8
Types of stop processes ............................... 6-43 ZP.PSTRT4....................................................14-8
Types of warnings ......................................... 15-3

[U]
Unconditional JUMP.................................... 9-111
Unit magnification ( Pr.4 ) ........................... 5-20
Unit setting ( Pr.1 ) ...................................... 5-20

Index - 12
WARRANTY
Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product
within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service
Company.
However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at
the customer’s discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-
site that involves replacement of the failed module.
[Gratis Warranty Term]
The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated
place.
Note that after manufacture and shipment from Mitsubishi, the maximum distribution period shall be six (6) months, and
the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair
parts shall not exceed the gratis warranty term before repairs.
[Gratis Warranty Range]
(1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc.,
which follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels
on the product.
(2) Even within the gratis warranty term, repairs shall be charged for in the following cases.
1. Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused
by the user's hardware or software design.
2. Failure caused by unapproved modifications, etc., to the product by the user.
3. When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions
or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary
by industry standards, had been provided.
4. Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the
instruction manual had been correctly serviced or replaced.
5. Failure caused by external irresistible forces such as fires or abnormal voltages, and Failure caused by force
majeure such as earthquakes, lightning, wind and water damage.
6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi.
7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.

2. Onerous repair term after discontinuation of production

(1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.
Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc.
(2) Product supply (including repair parts) is not available after production is discontinued.

3. Overseas service
Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA
Center may differ.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation of damages caused by any cause
found not to be the responsibility of Mitsubishi, loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi
products, special damages and secondary damages whether foreseeable or not , compensation for accidents, and
compensation for damages to products other than Mitsubishi products, replacement by the user, maintenance of on-site
equipment, start-up test run and other tasks.

5. Changes in product specifications

The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.

6. Product application
(1) In using the Mitsubishi MELSEC programmable logic controller, the usage conditions shall be that the application will
not lead to a major accident even if any problem or fault should occur in the programmable logic controller device, and
that backup and fail-safe functions are systematically provided outside of the device for any problem or fault.
(2) The Mitsubishi programmable logic controller has been designed and manufactured for applications in general
industries, etc. Thus, applications in which the public could be affected such as in nuclear power plants and other
power plants operated by respective power companies, and applications in which a special quality assurance system
is required, such as for Railway companies or Public service purposes shall be excluded from the programmable logic
controller applications.
In addition, applications in which human life or property that could be greatly affected, such as in aircraft, medical
applications, incineration and fuel devices, manned transportation, equipment for recreation and amusement, and
safety devices, shall also be excluded from the programmable logic controller range of applications.
However, in certain cases, some applications may be possible, providing the user consults their local Mitsubishi
representative outlining the special requirements of the project, and providing that all parties concerned agree to the
special circumstances, solely at the users discretion.
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SH (NA)-080058-J