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MELSEC-Q Positioning Modules

(12/31/2016)

One of Q Series’ strengths is the ability to integrate positioning directly onto your system. If a Q Series motion CPU is not required, the following modules provide a range of alternative positioning control capabilities in a range of formats.

Key Features:

  • Module set-up via menus in GX Works2;
    no programming required
  • One, two and four axis versions available
  • Open collector, differential driver and SSCNET versions available
  • 4MHz output capability
  • 4 axis linear interpolation
  • Circular interpolation
  • Variety of control schemes (point to point, fixed feed, speed, speed/position and position/speed)

Positioning Control Modules

Model Number

QD75P1N (*1) • QD75D1N

QD75P2N (*1) • QD75D2N

QD75P4N (*1) • QD75D4N

Stocked Item

-

S

S

Number of Control Axes

1 axis

2 axes

4 axes

Interpolation Function

No

2-axis linear interpolation; 2-axis circular interpolation

2-, 3-, or 4-axis linear interpolation 2-axis circular interpolation

Control Unit

mm, inch, degree, pulse

Backup

Parameters, positioning data, and block start data can be saved on flash ROM
(battery-less backup).

Positioning

Positioning System

PTP control: Incremental system/absolute system
Speed-position switching control: Incremental system/absolute system (*2)
Position-speed switching control: Incremental system
Path control: Incremental system/absolute system

Position Range

In absolute system
• -214748364.8 to 214748364.7( m)
• -21474.83648 to 21474.83647(inch)
• 0 to 359.99999(degree)
• -2147483648 to 2147483647(pulse)
In incremental system
• -214748364.8 to 214748364.7( m)
• -21474.83648 to 21474.83647(inch)
• -21474.83648 to 21474.83647(degree)
• -2147483648 to 2147483647(pulse)
In speed-position switching control (INC mode) / position-speed switching control
• 0 to 214748364.7( m)
• 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)

Speed Command

0.01 to 40000000.00(mm/min); 0.001 to 2000000.000(inch/min);
0.001 to 2000000.000(degree/min); 1 to 4000000(pulse/s)

Acceleration/Deceleration Process

Automatic trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration

Acceleration/Deceleration Time

1 to 8388608 (ms) Four patterns can be set for each of acceleration time and deceleration time

Sudden Stop Deceleration Time

1 to 8388608 (ms)

Protective Degree

IP2X

External Wiring Connection System

40-pin connector

Applicable Wire Size

0.3mm2 (AWG#22) or less (for A6CON1, A6CON4), AWG #24 (for A6CON2)

Applicable Connector for External Devices

A6CON1, A6CON2, A6CON4 (Sold separately)

Max. Output Pulse

QD75D1N, QD75D2N, QD75D4N: 4Mpps

Max. Connection Distance Between Servos

QD75P1, QD75P2, QD75P4: 2m; QD75D1, QD75D2,QD75D4: 10m

Online Module Change

Disabled

I/O Device Points Occupied

32 points/slot (I/O assignment: intelligent)

5VDC Internal Current Consumption

QD75P1N: 0.29A
QD75D1N: 0.43A

QD75P2N: 0.30A

QD75D2N: 0.45A

QD75P4N: 0.36A

QD75D4N: 0.66A

Weight (kg)

0.15

0.15

0.16

Base Unit Slots Occupied

1

Notes:

  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.

Positioning Module with Built-in Counter Function

Model Number

QD72P3C3

Stocked Item

-

Certification

UL • cUL • CE

Number of Control Axes

3 axes

Interpolation Function

No (Artificial linear interpolation by concurrent start is available.)

Control Unit

Pulse

Backup

No

Positioning

Positioning System

PTP (Point to Point) control, speed control

Position Range

-1073741824 to 1073741823 pulses

Speed Command

1 to 100000 pulses/s (*1)

Acceleration/Deceleration Process

Trapezoidal acceleration/deceleration

Acceleration/Deceleration Time

1 to 5000 ms

External Wiring Connection System

40-pin connector

Applicable Connector for External Devices

A6CON1, A6CON2, A6CON4 (Sold separately)

Max. Output Pulse

100 kpps

I/O Device Points Occupied

32 points

5VDC Internal Current Consumption (A)

0.57

Weight (kg)

0.16

Base Unit Slots Occupied

1

Note:

  1. When the “speed limit value” setting is 100000 (pulse/s) (25-pulse units), set the “speed command” value in multiples of 25. If other values are set, the value will be change to a multiple of 25.

Positioning Module with Deviation Counter and D/A Counter

Model Number

QD73A1

Stocked Item

-

Certification

UL • cUL • CE

Number of Occupied I/O Points

48 points (I/O assignment: empty 16 points and intelligent 32 points)

Number of Control Axes

1 axis

Positioning Data

Capacity

1 data

Setting Method

Sequence program

Positioning

Mode

Position control mode; Speed-position control switch mode

System

Position control mode: Selectable from absolute system or incremental system; Speed-position control switch mode: Incremental system

Position Command

-2147483648 to 2147483647 (pulse) (signed 32-bit binary)

Speed Command

1 to 4000000 (pulse/s)

Acceleration

Automatic trapezoidal acceleration/deceleration

Automatic Acceleration/Deceleration Time

Acceleration time: 2 to 9999 (ms); Deceleration time: 2 to 9999 (ms)

In-Position Range

1 to 20479 (pulse)

Backlash Compensation

None

Error Correction Function

None

Speed Command Output

0 to ±10VDC (Adjustable to set in the range of ±5 to ±10VDC)

Positioning Feedback Pulse Input

Pulse Frequency

Open collector: 200kpulse/s; TTL: 200kpulse/s; Differential output: 1Mpulse/s

Connectable Encoder Type

Open collector, TTL, or differential output

Multiplication Setting

The number of input feedback pulses can be multiplied by 4, 2, 1, or 1/2

OPR Control

With OPR address change; An OPR method and OPR direction can be set through the intelligent function module
switch setting

JOG Operation

JOG operation can be started by inputting a JOG start signal

M Function

None

Internal Current Consumption (5VDC)

0.52A

External Supply Voltage/Current Terminal Block

No external power supply

External Dimensions (H x W x D) mm

98 x 55.2 x 90

Weight (kg)

0.20

Starting Time
(From a Start Request to Analog Output Start)

Absolute system: 1.2ms (same for two-phase trapezoidal positioning); Incremental system: 1.2ms (same for two-phase trapezoidal positioning); JOG operation: 1.2ms; OPR (near-point dog method): 1.2ms; OPR (count method): 1.2ms


Basic Positioning Control Modules

For applications not requiring the level of sophistication offered by our QD75P/D/M modules, consider the QD70P4 and P8 modules. These modules offer four and eight axis control from a single module. All basic motion control capabilities for non-coordinated axes are offered.

Key Features:

  • Module set-up via menus in GX Works2; no programming required
  • Multiple axes controlled by a single module to minimize slot occupancy on the rack
  • Multiple modules may be installed on a Q Series rack, giving control over dozens of axes
  • Start 8 axes simultaneously, with very short (0.1ms) delay
  • Variety of axis control schemes (point to point, speed/position switching control)

Model Number

QD70P4

QD70P8

Stocked Item

S

S

Certification

UL • cUL • CE

UL • cUL • CE

Number of Control Axes

4 axes

8 axes

Interpolation Function

No

Control Method

PTP (Point To Point) control, path control (linear only), speed-position switching control

Control Unit

Pulse

Data Backup

No

Positioning Control

Positioning Control Method

PTP control : Incremental system/absolute system
Speed-position switching control : Incremental system
Path control : Incremental system/absolute system

Positioning Control Range

Absolute system: -2147483648 to 2147483647 (pulse)
Incremental system: -2147483648 to 2147483647 (pulse)
Speed-position switching control: 0 to 2147483647 (pulse)

Speed Command

0 to 200000 (pulse/s)

Acceleration/Deceleration Processing

Trapezoidal acceleration/deceleration

Accel./Decel. Time

0 to 32767 (ms)

External Device Connection Connector

A6CON1, A6CON2 (option), A6CON4

Pulse Output Method

Open collector output

Max. Output Pulse

200kpps

Max. Connection Distance Between QD70 and Drive Unit

2m (6.56 feet)

Internal Current Consumption (5VDC)

0.55A

0.74A

External 24V Current Consumption (24VDC)

0.065A

0.12A

I/O Device Points Occupied

32 points (I/O assignment: Intelligent function module 32 points)

Weight (kg)

0.15

0.17

Base Unit Slots Occupied

1


Q Series / V680 Series RFID Interface Module

The RFID interface module is mounted on a Q Series platform enabling communication with Omron V680 Series RFID systems.

Model Number

EQ-V680D1

EQ-V680D2

Stocked Item

-

-

Manufactured by Omron Corporation Connectable Antenna

V680-HA63A+V680-HSoo; V680-HA63B+V680-HSoo

V680-H01-V2

V680-HA63A+V680-HSoo; V680-HA63B+V680-HSoo

No. of Connectable Antennas

1 antenna

2 antennas

No. of Occupied IO Points

32 points (IO assignments: 32 intelligent module points)

Data Transfer Volume

2,048 bytes, maximum

Internal Power Supply Current Consumption 5VDC (Supplied From Inside the Programmable Controller)

0.42A

0.52A

External Power Supply Current Consumption 24VDC
(20.4 to 26.4VDC)

0.25A

0.37A

External Power Supply Connection Terminal

2-point terminal block

Wiring Recommendations

Wire Standard

Heat Resistant PVC Insulated Wire; JIS C 3316 HKIV,JIS C 3317 HIV, UL 758 Style No.1007or1015

Temperature Rating

Minimum 75°C

Voltage Rating

300V to 600V

Conductors Wire Size

AWG18 (0.75mm², 0.9mm²)

Conductors Metal

Stranded copper

Compatible Crimp Contact Lugs

1.25-3, R1.25-3

Outer Dimensions (H x W x D) mm

98 x 27.4 x 106.5

Weight (kg)

0.2

0.2