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Chapter 3 Specifications and Functions
3.1 Performance specifications
Model
Item
QD77MS2 QD77MS4 QD77MS16
Number of control axes 2 axes 4 axes 16 axes
Operation cycle 0.88ms/1.77ms
Interpolation function
2-axis linear interpolation,
2-axis circular interpolation
2-, 3-, or 4-axis linear interpolation,
2-axis circular interpolation
Control system
PTP (Point To Point) control, path control (both linear and arc can be set), speed control,
speed-position switching control, position-speed switching control, speed-torque control
Control unit mm, inch, degree, PLS
Positioning data
600 data/axis
(Can be set with GX Works2 or sequence program.)
Execution data backup function
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
Position-speed switching control: Incremental system
Path control: Incremental system/absolute system
Positioning range
In absolute system
• –214748364.8 to 214748364.7 (µm)
• –21474.83648 to 21474.83647 (inch)
• 0 to 359.99999 (degree)
• –2147483648 to 2147483647 (PLS)
In incremental system
• –214748364.8 to 214748364.7 (µm)
• –21474.83648 to 21474.83647 (inch)
• –21474.83648 to 21474.83647 (degree)
• –2147483648 to 2147483647 (PLS)
In speed-position switching control (INC mode) / position-speed switching control
• 0 to 214748364.7 (µm)
• 0 to 21474.83647 (inch)
• 0 to 21474.83647 (degree)
• 0 to 2147483647 (PLS)
In speed-position switching control (ABS mode)
(N
o
t
e-
1)
• 0 to 359.99999 (degree)
Speed command
0.01 to 20000000.00 (mm/min)
0.001 to 2000000.000 (inch/min)
0.001 to 2000000.000 (degree/min)
(Note-2)
1 to 1000000000 (PLS/s)
Acceleration/
deceleration process
Trapezoidal acceleration/deceleration, S-curve 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)