Mitsubishi-electric Mitsubishi Programmable Logic Controller QD75D User Manual Page 672
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Appendix - 30
MELSEC-Q
APPENDICES
(3) For axis 3
Command
speed
Positioning
address
Arc data
Command
speed
Positioning
address
Arc data
Data
No.
Posi-
tioning
identi-
fier
M
code
Dwell
time
Low-
order
High-
order
Low-
order
High-
order
Low-
order
High-
order
Data
No.
Posi-
tioning
identi-
fier
M
code
Dwell
time
Low-
order
High-
order
Low-
order
High-
order
Low-
order
High-
order
501
502
503
504
505
19000
19010
19020
19030
19040
19001
19011
19021
19031
19041
19002
19012
19022
19032
19042
19004
19014
19024
19034
19044
19005
19015
19025
19035
19045
19006
19016
19026
19036
19046
19007
19017
19027
19037
19047
19008
19018
19028
19038
19048
19009
19019
19029
19039
19049
551
552
553
554
555
19500
19510
19520
19530
19540
19501
19511
19521
19531
19541
19502
19512
19522
19532
19542
19504
19514
19524
19534
19544
19505
19515
19525
19535
19545
19506
19516
19526
19536
19546
19507
19517
19527
19537
19547
19508
19518
19528
19538
19548
19509
19519
19529
19539
19549
506
507
508
509
510
19050
19060
19070
19080
19090
19051
19061
19071
19081
19091
19052
19062
19072
19082
19092
19054
19064
19074
19084
19094
19055
19065
19075
19085
19095
19056
19066
19076
19086
19096
19057
19067
19077
19087
19097
19058
19068
19078
19088
19098
19059
19069
19079
19089
19099
556
557
558
559
560
19550
19560
19570
19580
19590
19551
19561
19571
19581
19591
19552
19562
19572
19582
19592
19554
19564
19574
19584
19594
19555
19565
19575
19585
19595
19556
19566
19576
19586
19596
19557
19567
19577
19587
19597
19558
19568
19578
19588
19598
19559
19569
19579
19589
19599
511
512
513
514
515
19100
19110
19120
19130
19140
19101
19111
19121
19131
19141
19102
19112
19122
19132
19142
19104
19114
19124
19134
19144
19105
19115
19125
19135
19145
19106
19116
19126
19136
19146
19107
19117
19127
19137
19147
19108
19118
19128
19138
19148
19109
19119
19129
19139
19149
561
562
563
564
565
19600
19610
19620
19630
19640
19601
19611
19621
19631
19641
19602
19612
19622
19632
19642
19604
19614
19624
19634
19644
19605
19615
19625
19635
19645
19606
19616
19626
19636
19646
19607
19617
19627
19637
19647
19608
19618
19628
19638
19648
19609
19619
19629
19639
19649
516
517
518
519
520
19150
19160
19170
19180
19190
19151
19161
19171
19181
19191
19152
19162
19172
19182
19192
19154
19164
19174
19184
19194
19155
19165
19175
19185
19195
19156
19166
19176
19186
19196
19157
19167
19177
19187
19197
19158
19168
19178
19188
19198
19159
19169
19179
19189
19199
566
567
568
569
570
19650
19660
19670
19680
19690
19651
19661
19671
19681
19691
19652
19662
19672
19682
19692
19654
19664
19674
19684
19694
19655
19665
19675
19685
19695
19656
19666
19676
19686
19696
19657
19667
19677
19687
19697
19658
19668
19678
19688
19698
19659
19669
19679
19689
19699
521
522
523
524
525
19200
19210
19220
19230
19240
19201
19211
19221
19231
19241
19202
19212
19222
19232
19242
19204
19214
19224
19234
19244
19205
19215
19225
19235
19245
19206
19216
19226
19236
19246
19207
19217
19227
19237
19247
19208
19218
19228
19238
19248
19209
19219
19229
19239
19249
571
572
573
574
575
19700
19710
19720
19730
19740
19701
19711
19721
19731
19741
19702
19712
19722
19732
19742
19704
19714
19724
19734
19744
19705
19715
19725
19735
19745
19706
19716
19726
19736
19746
19707
19717
19727
19737
19747
19708
19718
19728
19738
19748
19709
19719
19729
19739
19749
526
527
528
529
530
19250
19260
19270
19280
19290
19251
19261
19271
19281
19291
19252
19262
19272
19282
19292
19254
19264
19274
19284
19294
19255
19265
19275
19285
19295
19256
19266
19276
19286
19296
19257
19267
19277
19287
19297
19258
19268
19278
19288
19298
19259
19269
19279
19289
19299
576
577
578
579
580
19750
19760
19770
19780
19790
19751
19761
19771
19781
19791
19752
19762
19772
19782
19792
19754
19764
19774
19784
19794
19755
19765
19775
19785
19795
19756
19766
19776
19786
19796
19757
19767
19777
19787
19797
19758
19768
19778
19788
19798
19759
19769
19779
19789
19799
531
532
533
534
535
19300
19310
19320
19330
19340
19301
19311
19321
19331
19341
19302
19312
19322
19332
19342
19304
19314
19324
19334
19344
19305
19315
19325
19335
19345
19306
19316
19326
19336
19346
19307
19317
19327
19337
19347
19308
19318
19328
19338
19348
19309
19319
19329
19339
19349
581
582
583
584
585
19800
19810
19820
19830
19840
19801
19811
19821
19831
19841
19802
19812
19822
19832
19842
19804
19814
19824
19834
19844
19805
19815
19825
19835
19845
19806
19816
19826
19836
19846
19807
19817
19827
19837
19847
19808
19818
19828
19838
19848
19809
19819
19829
19839
19849
536
537
538
539
540
19350
19360
19370
19380
19390
19351
19361
19371
19381
19391
19352
19362
19372
19382
19392
19354
19364
19374
19384
19394
19355
19365
19375
19385
19395
19356
19366
19376
19386
19396
19357
19367
19377
19387
19397
19358
19368
19378
19388
19398
19359
19369
19379
19389
19399
586
587
588
589
590
19850
19860
19870
19880
19890
19851
19861
19871
19881
19891
19852
19862
19872
19882
19892
19854
19864
19874
19884
19894
19855
19865
19875
19885
19895
19856
19866
19876
19886
19896
19857
19867
19877
19887
19897
19858
19868
19878
19888
19898
19859
19869
19879
19889
19899
541
542
543
544
545
19400
19410
19420
19430
19440
19401
19411
19421
19431
19441
19402
19412
19422
19432
19442
19404
19414
19424
19434
19444
19405
19415
19425
19435
19445
19406
19416
19426
19436
19446
19407
19417
19427
19437
19447
19408
19418
19428
19438
19448
19409
19419
19429
19439
19449
591
592
593
594
595
19900
19910
19920
19930
19940
19901
19911
19921
19931
19941
19902
19912
19922
19932
19942
19904
19914
19924
19934
19944
19905
19915
19925
19935
19945
19906
19916
19926
19936
19946
19907
19917
19927
19937
19947
19908
19918
19928
19938
19948
19909
19919
19929
19939
19949
546
547
548
549
550
19450
19460
19470
19480
19490
19451
19461
19471
19481
19491
19452
19462
19472
19482
19492
19454
19464
19474
19484
19494
19455
19465
19475
19485
19495
19456
19466
19476
19486
19496
19457
19467
19477
19487
19497
19458
19468
19478
19488
19498
19459
19469
19479
19489
19499
596
597
598
599
600
19950
19960
19970
19980
19990
19951
19961
19971
19981
19991
19952
19962
19972
19982
19992
19954
19964
19974
19984
19994
19955
19965
19975
19985
19995
19956
19966
19976
19986
19996
19957
19967
19977
19987
19997
19958
19968
19978
19988
19998
19959
19969
19979
19989
19999
- Mitsubishi Programmable 1
- Logic Controller 1
- [Design Instructions] 3
- Component List 17
- Section 1 19
- Chapter 1 Product Outline 21
- Position control 28
- Speed control 28
- QD75 PLC CPU 33
- QD75 Peripheral device 33
- QD75 Drive unit 33
- QD75 External signal 34
- Pr.39 Sudden stop group3 40
- When " 41
- Restart command" is ON 41
- Reference 41
- No. of control axes 46
- QD75D4 only) 51
- Main functions 52
- Sub functions 52
- Common functions 52
- Input specifications 65
- Output specifications 66
- Module side 85
- Checking the OPR parameters 94
- Checking the condition data 99
- MELSEC-Q 100
- [Table 1] on right page 108
- [Table 2] on right page 114
- Speed limit value 115
- Acceleration time 0 115
- Deceleration time 0 115
- Torque limit setting value 119
- Speed switching mode 121
- Acceleration time 1 to 124
- Acceleration time 3 124
- Deceleration time 1 to 124
- Deceleration time 3 124
- JOG speed limit value 125
- S-pattern ratio 127
- Sudden stop deceleration time 128
- OPR speed 134
- OPR direction 137
- OP address 138
- Creep speed 139
- OPR retry 140
- OP shift amount 144
- OPR torque limit value 145
- Dwell time during OPR retry 145
- Operation pattern 149
- Control system 149
- Acceleration time No 149
- Deceleration time No 150
- Axis to be interpolated 150
- [Table 3] on right page 158
- Parameter 165
- Start data No 166
- Special start instruction 166
- Condition target 172
- Condition operator 172
- Parameter 1 173
- Parameter 2 173
- Axis warning occurrence 183
- Torque change value 211
- Positioning Control 221
- Data requiring setting 244
- Starting conditions 248
- Starting time chart 250
- Restrictions 256
- Data required to be set 256
- Details of areas 267
- Section 2 277
- Chapter 8 OPR Control 279
- OPR sub functions 281
- When an OPR is not required 281
- OPR from peripheral devices 281
- Near-point dog 282
- Machine OPR 282
- Precautions during operation 285
- Valid torque limit range 288
- Operation chart 289
- (Positioning start signal) 296
- Fast OPR operation 298
- Operating restrictions 299
- Da.2 Control system 302
- Positioning continue (11) 309
- Positioning complete signal 309
- Positioning 309
- Positioning address 314
- P1 P2 P3 P4 314
- Absolute system 315
- Incremental system 315
- Monitoring the current value 317
- Axis 2, Axis 3, Axis 4 321
- Axis 3, Axis 4, Axis 1 321
- Axis 4, Axis 1, Axis 2 321
- Axis 1, Axis 2, Axis 3 321
- Center point address 360
- Start point address 360
- End point address 360
- Position 385
- OPR complete flag 385
- Md.31 Status: b4 385
- Positioning start signal 400
- [Y10,Y11,Y12,Y13] 400
- Operation 411
- 7001 7004 419
- Da.12 Special start 429
- QD75 buffer memory 432
- Address 30000 432
- Start conditions 438
- Start time chart 439
- Creating the program 440
- Chapter 11 Manual Control 441
- JOG start signal 442
- Manual control sub functions 443
- Monitoring manual control 443
- Errors during operation 445
- Forward 451
- JOG run 451
- OFF (within 100ms) 456
- Inching operation 457
- (within 100 ms): 466
- Manual pulse 467
- Restricted items 468
- Worm gear 487
- Workpiece 487
- Workpiece moveable range 502
- Current value address 507
- External command 516
- No.15 Override program 519
- <Write override value> 519
- K1K3K62H0TOP 541
- K1 K1K1505H0TOP 541
- Velocity 561
- Cutter shaft 564
- Feed shaft 564
- Chapter 13 Common Functions 575
- 0:OFF, 1:ON 582
- Axis-by-axis external I/O 582
- ERR LEDs 582
- Chapter 15 605
- Troubleshooting 605
- Types of errors 606
- Error storage 607
- Types of warnings 607
- Warning storage 608
- Appendices 643
- Forward run stroke end 679
- Reverse run stroke end 679
- External emergency stop 679
- 12345678910111213141516 710
- This point is the reference 724
- Switching signal 730
- [Number] 751
- Index - 14 764
- WARRANTY 765
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