Mitsubishi Electronics QD75MH4 User Manuals

Table of Contents

• SAFETY INSTRUCTIONS

  2
• REVISIONS

  12
• INTRODUCTION

  13
• CONTENTS

  13
• About Manuals

  20
• Using This Manual

  20
• Conformation to the EMC Directive

  20
• Generic Terms and Abbreviations

  21
• Component List

  21
• Section 1 Product Specifications and Handling

  22
  • Chapter 1 Product Outline

    24
    • 1.1 Positioning control

      25
      • 1.1.1 Features of QD75MH

        25
      • 1.1.2 Purpose and applications of positioning control

        28
      • 1.1.3 Mechanism of positioning control

        30
      • 1.1.4 Overview of positioning control functions

        31
      • 1.1.5 Outline design of positioning system

        41
      • 1.1.6 Communicating signals between QD75MH and each module

        42
    • 1.2 Flow of system operation

      45
      • 1.2.1 Flow of all processes

        45
      • 1.2.2 Outline of starting

        47
      • 1.2.3 Outline of stopping

        49
      • 1.2.4 Outline for restarting

        51
  • Chapter 2 System Configuration

    52
    • 2.1 General image of system

      53
    • 2.2 Component list

      55
    • 2.3 Applicable system

      57
    • 2.4 How to check the function version and SERIAL No.

      59
  • Chapter 3 Specifications and Functions

    60
    • 3.1 Performance specifications

      61
    • 3.2 List of functions

      63
      • 3.2.1 QD75MH control functions

        63
      • 3.2.2 QD75MH main functions

        65
      • 3.2.3 QD75MH sub functions and common functions

        67
      • 3.2.4 Combination of QD75MH main functions and sub functions

        71
    • 3.3 Specifications of input/output signals with PLC CPU

      73
      • 3.3.1 List of input/output signals with PLC CPU

        73
      • 3.3.2 Details of input signals (QD75MH --> PLC CPU)

        74
      • 3.3.3 Detail of output signals (PLC CPU --> QD75MH)

        76
    • 3.4 Specifications of interfaces with external devices

      77
      • 3.4.1 Electrical specifications of input signals

        77
      • 3.4.2 Signal layout for external device connection connector

        78
      • 3.4.3 List of input signal details

        79
      • 3.4.4 Interface internal circuit

        80
    • 3.5 External circuit design

      81
  • Chapter 4 Installation, Wiring and Maintenance of the Product

    84
    • 4.1 Outline of installation, wiring and maintenance

      85
      • 4.1.1 Installation, wiring and maintenance procedures

        85
      • 4.1.2 Names of each part

        86
      • 4.1.3 Handling precautions

        88
    • 4.2 Installation

      90
      • 4.2.1 Precautions for installation

        90
    • 4.3 Wiring

      93
      • 4.3.1 Precautions for wiring

        93
    • 4.4 Confirming the installation and wiring

      99
      • 4.4.1 Items to confirm when installation and wiring are completed

        99
    • 4.5 Maintenance

      100
      • 4.5.1 Precautions for maintenance

        100
      • 4.5.2 Disposal instructions

        100
  • Chapter 5 Data Used for Positioning Control

    102
    • 5.1 Types of data

      103
      • 5.1.1 Parameters and data required for control

        103
      • 5.1.2 Setting items for positioning parameters

        107
      • 5.1.3 Setting items for OPR parameters

        109
      • 5.1.4 Setting items for servo parameters

        110
      • 5.1.5 Setting items for positioning data

        112
      • 5.1.6 Setting items for block start data

        115
      • 5.1.7 Setting items for condition data

        116
      • 5.1.8 Types and roles of monitor data

        117
      • 5.1.9 Types and roles of control data

        121
    • 5.2 List of parameters

      125
      • 5.2.1 Basic parameters 1

        125
      • 5.2.2 Basic parameters 2

        129
      • 5.2.3 Detailed parameters 1

        131
      • 5.2.4 Detailed parameters 2

        139
      • 5.2.5 OPR basic parameters

        151
      • 5.2.6 OPR detailed parameters

        157
      • 5.2.7 Servo parameters (Basic setting)

        163
      • 5.2.8 Servo parameters (Gain • filter setting)

        169
      • 5.2.9 Servo parameters (Expansion setting)

        181
      • 5.2.10 Servo parameters (Input/output setting)

        187
    • 5.3 List of positioning data

      191
    • 5.4 List of block start data

      207
    • 5.5 List of condition data

      213
    • 5.6 List of monitor data

      219
      • 5.6.1 System monitor data

        219
      • 5.6.2 Axis monitor data

        229
    • 5.7 List of control data

      249
      • 5.7.1 System control data

        249
      • 5.7.2 Axis control data

        251
  • Chapter 6 PLC Program Used for Positioning Control

    274
    • 6.1 Precautions for creating program

      275
    • 6.2 List of devices used

      278
    • 6.3 Creating a program

      288
      • 6.3.1 General configuration of program

        288
      • 6.3.2 Positioning control operation program

        289
    • 6.4 Positioning program examples

      293
    • 6.5 Program details

      325
      • 6.5.1 Initialization program

        325
      • 6.5.2 Start details setting program

        326
      • 6.5.3 Start program

        328
      • 6.5.4 Continuous operation interrupt program

        337
      • 6.5.5 Restart program

        339
      • 6.5.6 Stop program

        342
  • Chapter 7 Memory Configuration and Data Process

    346
    • 7.1 Configuration and roles of QD75MH memory

      347
      • 7.1.1 Configuration and roles of QD75MH memory

        347
      • 7.1.2 Buffer memory area configuration

        350
    • 7.2 Data transmission process

      353
• Section 2 Control Details and Setting

  366
  • Chapter 8 OPR Control

    368
    • 8.1 Outline of OPR control

      369
      • 8.1.1 Two types of OPR control

        369
    • 8.2 Machine OPR

      372
      • 8.2.1 Outline of the machine OPR operation

        372
      • 8.2.2 Machine OPR method

        373
      • 8.2.3 OPR method (1): Near-point dog method

        374
      • 8.2.4 OPR method (2): Count method 1)

        376
      • 8.2.5 OPR method (3): Count method 2)

        378
      • 8.2.6 OPR method (4): Data set method

        380
    • 8.3 Fast OPR

      381
      • 8.3.1 Outline of the fast OPR operation

        381
    • 8.4 Selection of the OPR setting condition

      383
      • 8.4.1 Outline of the OPR setting condition

        383
  • Chapter 9 Major Positioning Control

    384
    • 9.1 Outline of major positioning controls

      385
      • 9.1.1 Data required for major positioning control

        387
      • 9.1.2 Operation patterns of major positioning controls

        388
      • 9.1.3 Designating the positioning address

        398
      • 9.1.4 Confirming the current value

        399
      • 9.1.5 Control unit "degree" handling

        401
      • 9.1.6 Interpolation control

        404
    • 9.2 Setting the positioning data

      408
      • 9.2.1 Relation between each control and positioning data

        408
      • 9.2.2 1-axis linear control

        410
      • 9.2.3 2-axis linear interpolation control

        412
      • 9.2.4 3-axis linear interpolation control

        416
      • 9.2.5 4-axis linear interpolation control

        422
      • 9.2.6 1-axis fixed-feed control

        427
      • 9.2.7 2-axis fixed-feed control (interpolation)

        429
      • 9.2.8 3-axis fixed-feed control (interpolation)

        431
      • 9.2.9 4-axis fixed-feed control (interpolation)

        435
      • 9.2.10 2-axis circular interpolation control with sub point designation

        437
      • 9.2.11 2-axis circular interpolation control with center point designation

        443
      • 9.2.12 1-axis speed control

        451
      • 9.2.13 2-axis speed control

        454
      • 9.2.14 3-axis speed control

        457
      • 9.2.15 4-axis speed control

        461
      • 9.2.16 Speed-position switching control (INC mode)

        466
      • 9.2.17 Speed-position switching control (ABS mode)

        474
      • 9.2.18 Position-speed switching control

        482
      • 9.2.19 Current value changing

        489
      • 9.2.20 NOP instruction

        494
      • 9.2.21 JUMP instruction

        495
      • 9.2.22 LOOP

        497
      • 9.2.23 LEND

        498
  • Chapter 10 High-Level Positioning Control

    500
    • 10.1 Outline of high-level positioning control

      501
      • 10.1.1 Data required for high-level positioning control

        502
      • 10.1.2 "Block start data" and "condition data" configuration

        503
    • 10.2 High-level positioning control execution procedure

      505
    • 10.3 Setting the block start data

      506
      • 10.3.1 Relation between various controls and block start data

        506
      • 10.3.2 Block start (normal start)

        507
      • 10.3.3 Condition start

        509
      • 10.3.4 Wait start

        510
      • 10.3.5 Simultaneous start

        511
      • 10.3.6 Repeated start (FOR loop)

        512
      • 10.3.7 Repeated start (FOR condition)

        513
      • 10.3.8 Restrictions when using the NEXT start

        514
    • 10.4 Setting the condition data

      515
      • 10.4.1 Relation between various controls and the condition data

        515
      • 10.4.2 Condition data setting examples

        518
    • 10.5 Multiple axes simultaneous start control

      519
    • 10.6 Start program for high-level positioning control

      522
      • 10.6.1 Starting high-level positioning control

        522
      • 10.6.2 Example of a start program for high-level positioning control

        523
  • Chapter 11 Manual Control

    526
    • 11.1 Outline of manual control

      527
      • 11.1.1 Three manual control methods

        527
    • 11.2 JOG operation

      529
      • 11.2.1 Outline of JOG operation

        529
      • 11.2.2 JOG operation execution procedure

        532
      • 11.2.3 Setting the required parameters for JOG operation

        533
      • 11.2.4 Creating start programs for JOG operation

        535
      • 11.2.5 JOG operation example

        538
    • 11.3 Inching operation

      542
      • 11.3.1 Outline of inching operation

        542
      • 11.3.2 Inching operation execution procedure

        545
      • 11.3.3 Setting the required parameters for inching operation

        546
      • 11.3.4 Creating a program to enable/disable the inching operation

        547
      • 11.3.5 Inching operation example

        550
    • 11.4 Manual pulse generator operation

      552
      • 11.4.1 Outline of manual pulse generator operation

        552
      • 11.4.2 Manual pulse generator operation execution procedure

        556
      • 11.4.3 Setting the required parameters for manual pulse generator operation

        557
      • 11.4.4 Creating a program to enable/disable the manual pulse generator operation

        558
  • Chapter 12 Control Sub Functions

    562
    • 12.1 Outline of sub functions

      563
      • 12.1.1 Outline of sub functions

        563
    • 12.2 Sub functions specifically for machine OPR

      565
      • 12.2.1 OPR retry function

        565
      • 12.2.2 OP shift function

        569
    • 12.3 Functions for compensating the control

      572
      • 12.3.1 Backlash compensation function

        572
      • 12.3.2 Electronic gear function

        574
      • 12.3.3 Near pass function

        581
    • 12.4 Functions to limit the control

      584
      • 12.4.1 Speed limit function

        584
      • 12.4.2 Torque limit function

        586
      • 12.4.3 Software stroke limit function

        590
      • 12.4.4 Hardware stroke limit function

        596
      • 12.4.5 Forced stop function

        600
    • 12.5 Functions to change the control details

      603
      • 12.5.1 Speed change function

        603
      • 12.5.2 Override function

        610
      • 12.5.3 Acceleration/deceleration time change function

        613
      • 12.5.4 Torque change function

        617
    • 12.6 Absolute position system

      620
    • 12.7 Other functions

      622
      • 12.7.1 Step function

        622
      • 12.7.2 Skip function

        627
      • 12.7.3 M code output function

        630
      • 12.7.4 Teaching function

        634
      • 12.7.5 Target position change function

        640
      • 12.7.6 Command in-position function

        644
      • 12.7.7 Acceleration/deceleration processing function

        647
      • 12.7.8 Pre-reading start function

        650
      • 12.7.9 Deceleration start flag function

        655
      • 12.7.10 Stop command processing for deceleration stop function

        659
      • 12.7.11 Speed control 10 x multiplier setting for degree axis function

        662
      • 12.7.12 Operation setting for incompletion of OPR function

        664
    • 12.8 Servo ON/OFF

      666
      • 12.8.1 Servo ON/OFF

        666
      • 12.8.2 Follow up function

        667
  • Chapter 13 Common Functions

    668
    • 13.1 Outline of common functions

      669
    • 13.2 Parameter initialization function

      670
    • 13.3 Execution data backup function

      672
    • 13.4 External signal selection function

      674
    • 13.5 External I/O signal logic switching function

      675
  • Chapter 14 Dedicated Instructions

    676
    • 14.1 List of dedicated instructions

      677
    • 14.2 Interlock during dedicated instruction is executed

      677
    • 14.3 PSTRT1, PSTRT2, PSTRT3, PSTRT4

      678
    • 14.4 TEACH1, TEACH2, TEACH3, TEACH4

      682
    • 14.5 PFWRT

      686
    • 14.6 PINIT

      690
  • Chapter 15 Troubleshooting

    694
    • 15.1 Error and warning details

      695
    • 15.2 List of errors

      699
      • 15.2.1 QD75MH detection error

        699
      • 15.2.2 MR-J3-B detection error

        729
    • 15.3 List of warnings

      743
      • 15.3.1 QD75MH detection warning

        743
      • 15.3.2 MR-J3-B detection warning

        749
    • 15.4 LED display functions

      753
• Appendices

  754
  • Appendix 1 Functions

    756
    • Appendix 1.1 Multiple CPU correspond function

      756
    • Appendix 1.2 The combination of software package for QD75MH and QCPU

      756
  • Appendix 2 Positioning data (No.1 to 600) List of buffer memory addresses

    757
  • Appendix 3 Connection with servo amplifiers

    781
    • Appendix 3.1 Connection of SSCNET III cables

      781
    • Appendix 3.2 Wiring of SSCNET III cables

      783
  • Appendix 4 Connection with external device connector

    787
    • Appendix 4.1 Connector

      787
    • Appendix4.2 Wiring of manual pulse generator cable

      789
  • Appendix 5 Comparisons with conventional positioning modules

    790
    • Appendix 5.1 Comparisons with QD75P model

      790
    • Appendix 5.2 Comparisons with QD75M1/ QD75M2/ QD75M4 models

      791
  • Appendix 6 Positioning control troubleshooting

    804
  • Appendix 7 List of buffer memory addresses

    810
  • Appendix 8 External dimension drawing

    824
• INDEX

  826
• WARRANTY

  836