BenutzerhandbuchInhaltsverzeichnisSAFETY PRECAUTIONS3CONDITIONS OF USE FOR THE PRODUCT7REVISIONS8INTRODUCTION10CONTENTS10ABOUT MANUALS17COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES18USING THIS MANUAL (1)19USING THIS MANUAL (2)20USING THIS MANUAL (3)21GENERIC TERMS AND ABBREVIATIONS22ENCLOSED PARTS23SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING25Chapter 1 PRODUCT OUTLINE271.1 Positioning control281.1.1 Features of D75P2281.1.2 Purpose and applications of positioning control301.1.3 Mechanism of positioning control321.1.4 Outline design of positioning system341.1.5 Communicating signals between D75P2 and each module361.2 Flow of system operation381.2.1 Flow of all processes381.2.2 Outline of starting401.2.3 Outline of stopping421.2.4 Outline for restarting431.3 Outline of communication441.3.1 Cyclic transmission451.3.2 Transient transmission46Chapter 2 SYSTEM CONFIGURATION472.1 General image of system482.2 List of configuration devices502.3 Applicable system522.4 Precautions for use54Chapter 3 SPECIFICATIONS AND FUNCTIONS593.1 General specifications603.2 Performance specifications623.3 List of functions643.3.1 D75P2 control functions643.3.2 D75P2 main functions663.3.3 D75P2 auxiliary functions and common functions683.3.4 Combination of D75P2 main functions and auxiliary functions703.4 Specifications of input/output signals for master module723.4.1 List of input/output signals723.4.2 Details of input signals (D75P2 -> Master module)753.4.3 Details of output signals (Master module -> D75P2)793.5 Remote registers813.6 Transmission delay time903.7 Specifications of input/output interfaces with external devices933.7.1 Electrical specifications of input/output signals933.7.2 Signal layout for external device connection connector963.7.3 List of input/output signal details973.7.4 Input/output interface internal circuit100Chapter 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT1034.1 Outline of installation, wiring and maintenance1044.1.1 Installation, wiring and maintenance procedures1044.1.2 Names of each part1054.1.3 Handling precautions1074.2 Installation1094.2.1 Precautions for installation1094.2.2 Installation/removal of module1114.3 Connection of CC-Link dedicated cable1144.4 Module setting1164.4.1 Station number setting of module1164.4.2 Transmission speed setting of module1174.5 Wiring/connection1184.5.1 Precautions for wiring/connection1184.5.2 Wiring the external device connection connector pins1224.5.3 Connecting the connector1264.6 Confirming the installation and wiring1274.6.1 Items to confirm when installation and wiring are completed1274.7 Single module test1284.8 Maintenance1324.8.1 Precautions for maintenance1324.8.2 Disposal instructions132Chapter 5 DATA USED FOR POSITIONING CONTROL1335.1 Types of data1345.1.1 Parameters and data required for control1345.1.2 Setting items for positioning parameters1365.1.3 Setting items for zero point return parameters1385.1.4 Setting items for positioning data1395.1.5 Setting items for start block data1415.1.6 Setting items for condition data1425.1.7 Types and roles of monitor data1435.1.8 Types and roles of control data1465.2 List of parameters1505.2.1 Basic parameters 11505.2.2 Basic parameters 21565.2.3 Detailed parameters 11605.2.4 Detailed parameters 21685.2.5 Zero point return basic parameters1775.2.6 Zero point return detailed parameters1845.3 List of positioning data1895.4 List of start block data2035.5 List of condition data2085.6 List of monitor data2125.6.1 System monitor data2125.6.2 Axis monitor data2225.7 List of control data2325.7.1 System control data2325.7.2 Axis control data238Chapter 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL2456.1 Information necessary for program creation2466.1.1 When ACPU/QCPU (A mode) is used2466.1.2 When QCPU (Q mode)/QnACPU is used2596.2 Precautions for creating program2666.3 List of devices used2676.4 Creating a program2736.4.1 General configuration of program2736.4.2 Positioning control operation program2746.5 Positioning program examples2776.5.1 When using FROM/TO command with ACPU/QCPU-A (A mode)2776.5.2 When using dedicated commands with ACPU/QCPU-A (A mode)2846.5.3 When using dedicated commands with QCPU (Q mode)/QnACPU2906.6 Program details2956.6.1 Initialization program2956.6.2 Start details setting program2966.6.3 Start program2976.6.4 Restart program3056.6.5 Stop program308Chapter 7 MEMORY CONFIGURATION AND DATA PROCESS3117.1 Configuration and roles of D75P2 memory3127.1.1 Configuration and roles of D75P2 memory3127.1.2 Buffer memory area configuration3157.2 Data transmission process316SECTION 2 CONTROL DETAILS AND SETTING327Chapter 8 ZERO POINT RETURN CONTROL3298.1 Outline of zero point return control3308.1.1 Three types of zero point return control3308.2 Machine zero point return3328.2.1 Outline of the machine zero point return operation3328.2.2 Machine zero point return method3338.2.3 Zero point return method (1): Near-point dog method3348.2.4 Zero point return method (2): Stopper stop method 1)3368.2.5 Zero point return method (3): Stopper stop method 2)3398.2.6 Zero point return method (4): Stopper stop method 3)3428.2.7 Zero point return method (5): Count method 1)3448.2.8 Zero point return method (6): Count method 2)3468.3 Data setting method zero point return3488.4 High-speed zero point return3498.4.1 Outline of the high-speed zero point return operation3498.5 Positioning to the zero point351Chapter 9 MAIN POSITIONING CONTROL3539.1 Outline of main positioning controls3549.1.1 Data required for main positioning control3559.1.2 Operation patterns of main positioning controls3569.1.3 Designating the positioning address3669.1.4 Confirming the current value3679.1.5 Control unit "degree" handling3699.1.6 Interpolation control3719.2 Setting the positioning data3749.2.1 Relation between each control and positioning data3749.2.2 1-axis linear control3759.2.3 2-axis linear interpolation control3779.2.4 1-axis fixed-dimension feed control3819.2.5 2-axis fixed-dimension feed control (interpolation)3839.2.6 2-axis circular interpolation control with auxiliary point designation3859.2.7 2-axis circular interpolation control with center point designation3919.2.8 Speed control3989.2.9 Speed/position changeover control4009.2.10 Current value change4089.2.11 JUMP command412Chapter 10 ADVANCED POSITIONING CONTROL41510.1 Outline of advanced positioning control41610.1.1 Data required for advanced positioning control41710.1.2 "Start block data" and "condition data" configuration41810.2 Advanced positioning control execution procedure42010.3 Setting the start block data42110.3.1 Relation between various controls and start block data42110.3.2 Block start (normal start)42210.3.3 Condition start42410.3.4 Wait start42510.3.5 Simultaneous start42610.3.6 Stop42710.3.7 Repeated start (FOR loop)42810.3.8 Repeated start (FOR condition)42910.3.9 Restrictions when using the NEXT start43010.4 Setting the condition data43110.4.1 Relation between various controls and the condition data43110.4.2 Condition data setting examples43310.5 Starting advanced positioning control43410.5.1 Starting advanced positioning control43410.5.2 Example of a start program for advanced positioning control435Chapter 11 MANUAL CONTROL43711.1 Outline of manual control43811.1.1 Two manual control methods43811.2 JOG operation44011.2.1 Outline of JOG operation44011.2.2 JOG operation execution procedure44311.2.3 Setting the required parameters for JOG operation44411.2.4 Creating start programs for JOG operation44611.2.5 JOG operation example44811.3 Manual pulse generator operation45211.3.1 Outline of manual pulse generator operation45211.3.2 Manual pulse generator operation execution procedure45511.3.3 Setting the required parameters for manual pulse generator operation45611.3.4 Starting the manual pulse generator operation457Chapter 12 CONTROL AUXILIARY FUNCTIONS45912.1 Outline of auxiliary functions46012.1.1 Outline of auxiliary functions46012.2 Auxiliary functions specifically for machine zero point returns46212.2.1 Zero point return retry function46212.2.2 Zero point shift function46612.3 Functions for compensating the control46912.3.1 Backlash compensation function46912.3.2 Electronic gear function47112.3.3 Near pass mode function47612.4 Functions to limit the control48012.4.1 Speed limit function48012.4.2 Torque limit function48212.4.3 Software stroke limit function48512.4.4 Hardware stroke limit function49112.5 Functions to change the control details49312.5.1 Speed change function49312.5.2 Override function49812.5.3 Acceleration/deceleration time change function50012.5.4 Torque change function50312.6 Absolute position restoration function50512.7 Other functions51112.7.1 Step function51112.7.2 Skip function51612.7.3 M code output function51812.7.4 Teaching function52212.7.5 Command in-position function52712.7.6 Stepping motor mode function53012.7.7 Acceleration/deceleration processing function53312.7.8 Indirectly specification function536Chapter 13 COMMON FUNCTIONS54113.1 Outline of common functions54213.2 Parameter initialization function54313.3 Execution data backup function54513.4 LED display function54713.5 Clock data function550Chapter 14 TROUBLESHOOTING55114.1 Troubleshooting when the "ERR" LED on the Master Module is Flashing55214.2 Error and warning details55414.3 List of errors55814.4 List of warnings58414.5 Start during error history590APPENDICES591Appendix 1 Change with Upgrade592Appendix 2 External Dimension Drawing593Appendix 3 Format sheets594Appendix 3.1 Positioning module operation chart594Appendix 3.2 Parameter setting value entry table596Appendix 3.3 Positioning data setting value entry table [data No. to ]602Appendix 4 Positioning data (No. 1 to 100) List of buffer memory addresses603Appendix 5 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Coporation606Appendix 5.1 Connection example of D75P2 and MR-H[ ]A (Differential driver (Open collector))606Appendix 5.2 Connection example of D75P2 and MR-J2/J2S-[ ]A (Differential driver (Open collector))608Appendix 5.3 Connection example of D75P2 and MR-C[ ]A (Differential driver (Open collector))610Appendix 6 Connection examples with stepping motors manufac tured by ORIENTALMOTOR Co., Ltd.611Appendix 6.1 Connection example of D75P2 and VEXTA UPD (Open collector)611Appendix 7 Connection examples with servo amplifiers manufactured by Panasonic Co., Ltd.612Appendix 7.1 Connection example of D75P2 and MINAS-A series (Differential driver)612Appendix 8 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.613Appendix 8.1 Connection example of D75P2 and PYO series (Differential driver)613Appendix 9 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation614Appendix 9.1 Connection example of D75P2 and and Σ-II series (Differential driver)614Appendix 10 Comparisons with A1SD75P[ ]-S3 and AD75P[ ]-S3 modules615Appendix 11 MELSEC Explanation of positioning terms617Appendix 12 Positioning control troubleshooting639Appendix 13 List of buffer memory addresses645INDEX653WARRANTY663Größe: 10,1 MBSeiten: 666Language: EnglishHandbuch öffnen
