Benutzerhandbuch für Mitsubishi Electronics Mitsubishi Programmable Logic Controller QD75P

Inhaltsverzeichnis

• SAFETY INSTRUCTIONS

  3
• REVISIONS

  6
• INTRODUCTION

  8
• CONTENTS

  8
• About Manuals

  15
• Using This Manual

  15
• Conformation to the EMC AND LOW-VOLTAGE DIRECTIVES

  15
• Generic Terms and Abbreviations

  16
• Component List

  17
• Section 1 Product Specifications and Handling

  19
  • Chapter 1 Product Outline

    21
    • 1.1 Positioning control

      22
      • 1.1.1 Features of QD75

        22
      • 1.1.2 Purpose and applications of positioning control

        25
      • 1.1.3 Mechanism of positioning control

        27
      • 1.1.4 Outline design of positioning system

        29
      • 1.1.5 Communicating signals between QD75 and each module

        32
    • 1.2 Flow of system operation

      35
      • 1.2.1 Flow of all processes

        35
      • 1.2.2 Outline of starting

        38
      • 1.2.3 Outline of stopping

        40
      • 1.2.4 Outline for restarting

        41
    • 1.3 Restrictions with a system using a stepping motor

      42
    • 1.4 Function additions/modifications according to function version B

      42
  • Chapter 2 System Configuration

    43
    • 2.1 General image of system

      44
    • 2.2 Component list

      46
    • 2.3 Applicable system

      47
    • 2.4 How to check the function version and SERIAL No.

      48
  • Chapter 3 Specifications and Functions

    49
    • 3.1 Performance specifications

      50
    • 3.2 List of functions

      52
      • 3.2.1 QD75 control functions

        52
      • 3.2.2 QD75 main functions

        54
      • 3.2.3 QD75 sub functions and common functions

        56
      • 3.2.4 Combination of QD75 main functions and sub functions

        60
    • 3.3 Specifications of input/output signals with PLC CPU

      62
      • 3.3.1 List of input/output signals with PLC CPU

        62
      • 3.3.2 Details of input signals (QD75 -> PLC CPU)

        63
      • 3.3.3 Detail of output signals (PLC CPU -> QD75)

        64
    • 3.4 Specifications of input/output interfaces with external devices

      65
      • 3.4.1 Electrical specifications of input/output signals

        65
      • 3.4.2 Signal layout for external device connection connector

        67
      • 3.4.3 List of input/output signal details

        68
      • 3.4.4 Input/output interface internal circuit

        70
  • Chapter 4 Installation, Wiring and Maintenance of the Product

    73
    • 4.1 Outline of installation, wiring and maintenance

      74
      • 4.1.1 Installation, wiring and maintenance procedures

        74
      • 4.1.2 Names of each part

        75
      • 4.1.3 Handling precautions

        77
    • 4.2 Installation

      79
      • 4.2.1 Precautions for installation

        79
    • 4.3 Wiring

      80
      • 4.3.1 Precautions for wiring

        80
      • 4.3.2 Wiring of the differential driver common terminal

        85
    • 4.4 Confirming the installation and wiring

      86
      • 4.4.1 Items to confirm when installation and wiring are completed

        86
    • 4.5 Maintenance

      87
      • 4.5.1 Precautions for maintenance

        87
      • 4.5.2 Disposal instructions

        87
  • Chapter 5 Data Used for Positioning Control

    89
    • 5.1 Types of data

      90
      • 5.1.1 Parameters and data required for control

        90
      • 5.1.2 Setting items for positioning parameters

        92
      • 5.1.3 Setting items for OPR parameters

        94
      • 5.1.4 Setting items for positioning data

        95
      • 5.1.5 Setting items for block start data

        98
      • 5.1.6 Setting items for condition data

        99
      • 5.1.7 Types and roles of monitor data

        100
      • 5.1.8 Types and roles of control data

        104
    • 5.2 List of parameters

      108
      • 5.2.1 Basic parameters 1

        108
      • 5.2.2 Basic parameters 2

        114
      • 5.2.3 Detailed parameters 1

        116
      • 5.2.4 Detailed parameters 2

        124
      • 5.2.5 OPR basic parameters

        134
      • 5.2.6 OPR detailed parameters

        142
    • 5.3 List of positioning data

      146
    • 5.4 List of block start data

      162
    • 5.5 List of condition data

      168
    • 5.6 List of monitor data

      174
      • 5.6.1 System monitor data

        174
      • 5.6.2 Axis monitor data

        184
    • 5.7 List of control data

      198
      • 5.7.1 System control data

        198
      • 5.7.2 Axis control data

        200
  • Chapter 6 Sequence Program Used for Positioning Control

    221
    • 6.1 Precautions for creating program

      222
    • 6.2 List of devices used

      225
    • 6.3 Creating a program

      231
      • 6.3.1 General configuration of program

        231
      • 6.3.2 Positioning control operation program

        232
    • 6.4 Positioning program examples

      235
    • 6.5 Program details

      244
      • 6.5.1 Initialization program

        244
      • 6.5.2 Start details setting program

        245
      • 6.5.3 Start program

        247
      • 6.5.4 Continuous operation interrupt program

        257
      • 6.5.5 Restart program

        259
      • 6.5.6 Stop program

        262
  • Chapter 7 Memory Configuration and Data Process

    265
    • 7.1 Configuration and roles of QD75 memory

      266
      • 7.1.1 Configuration and roles of QD75 memory

        266
      • 7.1.2 Buffer memory area configuration

        269
    • 7.2 Data transmission process

      270
• Section 2 Control Details and Setting

  277
  • Chapter 8 OPR Control

    279
    • 8.1 Outline of OPR control

      280
      • 8.1.1 Two types of OPR control

        280
    • 8.2 Machine OPR

      282
      • 8.2.1 Outline of the machine OPR operation

        282
      • 8.2.2 Machine OPR method

        283
      • 8.2.3 OPR method (1): Near-point dog method

        284
      • 8.2.4 OPR method (2): Stopper method 1)

        286
      • 8.2.5 OPR method (3): Stopper method 2)

        289
      • 8.2.6 OPR method (4): Stopper method 3)

        292
      • 8.2.7 OPR method (5): Count method 1)

        294
      • 8.2.8 OPR method (6): Count method 2)

        296
    • 8.3 Fast OPR

      298
      • 8.3.1 Outline of the fast OPR operation

        298
  • Chapter 9 Major Positioning Control

    301
    • 9.1 Outline of major positioning controls

      302
      • 9.1.1 Data required for major positioning control

        304
      • 9.1.2 Operation patterns of major positioning controls

        305
      • 9.1.3 Designating the positioning address

        315
      • 9.1.4 Confirming the current value

        316
      • 9.1.5 Control unit "degree" handling

        318
      • 9.1.6 Interpolation control

        321
    • 9.2 Setting the positioning data

      325
      • 9.2.1 Relation between each control and positioning data

        325
      • 9.2.2 1-axis linear control

        327
      • 9.2.3 2-axis linear interpolation control

        329
      • 9.2.4 3-axis linear interpolation control

        333
      • 9.2.5 4-axis linear interpolation control

        339
      • 9.2.6 1-axis fixed-feed control

        343
      • 9.2.7 2-axis fixed-feed control (interpolation)

        345
      • 9.2.8 3-axis fixed-feed control (interpolation)

        347
      • 9.2.9 4-axis fixed-feed control (interpolation)

        351
      • 9.2.10 2-axis circular interpolation control with sub point designation

        353
      • 9.2.11 2-axis circular interpolation control with center point designation

        359
      • 9.2.12 1-axis speed control

        367
      • 9.2.13 2-axis speed control

        370
      • 9.2.14 3-axis speed control

        373
      • 9.2.15 4-axis speed control

        377
      • 9.2.16 Speed-position switching control (INC mode)

        382
      • 9.2.17 Speed-position switching control (ABS mode)

        390
      • 9.2.18 Position-speed switching control

        398
      • 9.2.19 Current value changing

        405
      • 9.2.20 NOP instruction

        410
      • 9.2.21 JUMP instruction

        411
      • 9.2.22 LOOP

        413
      • 9.2.23 LEND

        414
  • Chapter 10 High-level Positioning Control

    415
    • 10.1 Outline of high-level positioning control

      416
      • 10.1.1 Data required for high-level positioning control

        417
      • 10.1.2 "Block start data" and "condition data" configuration

        418
    • 10.2 High-level positioning control execution procedure

      420
    • 10.3 Setting the block start data

      421
      • 10.3.1 Relation between various controls and block start data

        421
      • 10.3.2 Block start (normal start)

        422
      • 10.3.3 Condition start

        424
      • 10.3.4 Wait start

        425
      • 10.3.5 Simultaneous start

        426
      • 10.3.6 Repeated start (FOR loop)

        427
      • 10.3.7 Repeated start (FOR condition)

        428
      • 10.3.8 Restrictions when using the NEXT start

        429
    • 10.4 Setting the condition data

      430
      • 10.4.1 Relation between various controls and the condition data

        430
      • 10.4.2 Condition data setting examples

        433
    • 10.5 Multiple axes simultaneous start control

      434
    • 10.6 Start program for high-level positioning control

      437
      • 10.6.1 Starting high-level positioning control

        437
      • 10.6.2 Example of a start program for high-level positioning control

        438
  • Chapter 11 Manual Control

    441
    • 11.1 Outline of manual control

      442
      • 11.1.1 Three manual control methods

        442
    • 11.2 JOG operation

      444
      • 11.2.1 Outline of JOG operation

        444
      • 11.2.2 JOG operation execution procedure

        447
      • 11.2.3 Setting the required parameters for JOG operation

        448
      • 11.2.4 Creating start programs for JOG operation

        450
      • 11.2.5 JOG operation example

        453
    • 11.3 Inching operation

      457
      • 11.3.1 Outline of inching operation

        457
      • 11.3.2 Inching operation execution procedure

        460
      • 11.3.3 Setting the required parameters for inching operation

        461
      • 11.3.4 Creating a program to enable/disable the inching operation

        462
      • 11.3.5 Inching operation example

        465
    • 11.4 Manual pulse generator operation

      467
      • 11.4.1 Outline of manual pulse generator operation

        467
      • 11.4.2 Manual pulse generator operation execution procedure

        471
      • 11.4.3 Setting the required parameters for manual pulse generator operation

        472
      • 11.4.4 Creating a program to enable/disable the manual pulse generator operation

        473
  • Chapter 12 Control Sub Functions

    477
    • 12.1 Outline of sub functions

      478
      • 12.1.1 Outline of sub functions

        478
    • 12.2 Sub functions specifically for machine OPR

      480
      • 12.2.1 OPR retry function

        480
      • 12.2.2 OP shift function

        484
    • 12.3 Functions for compensating the control

      487
      • 12.3.1 Backlash compensation function

        487
      • 12.3.2 Electronic gear function

        489
      • 12.3.3 Near pass function

        494
    • 12.4 Functions to limit the control

      497
      • 12.4.1 Speed limit function

        497
      • 12.4.2 Torque limit function

        499
      • 12.4.3 Software stroke limit function

        502
      • 12.4.4 Hardware stroke limit function

        508
    • 12.5 Functions to change the control details

      510
      • 12.5.1 Speed change function

        510
      • 12.5.2 Override function

        517
      • 12.5.3 Acceleration/deceleration time change function

        520
      • 12.5.4 Torque change function

        524
    • 12.6 Absolute position restoration function

      526
    • 12.7 Other functions

      534
      • 12.7.1 Step function

        534
      • 12.7.2 Skip function

        539
      • 12.7.3 M code output function

        542
      • 12.7.4 Teaching function

        546
      • 12.7.5 Target position change function

        553
      • 12.7.6 Command in-position function

        557
      • 12.7.7 Acceleration/deceleration processing function

        560
      • 12.7.8 Pre-reading start function

        563
      • 12.7.9 Deceleration start flag function

        568
      • 12.7.10 Stop command processing for deceleration stop function

        572
  • Chapter 13 Common Functions

    575
    • 13.1 Outline of common functions

      576
    • 13.2 Parameter initialization function

      577
    • 13.3 Execution data backup function

      579
    • 13.4 External I/O signal logic switching function

      581
    • 13.5 External I/O signal monitor function

      582
  • Chapter 14 Dedicated instructions

    583
    • 14.1 List of dedicated instructions

      584
    • 14.2 Interlock during dedicated instruction is executed

      584
    • 14.3 ABRST1, ABRST2, ABRST3, ABRST4

      585
    • 14.4 PSTRT1, PSTRT2, PSTRT3, PSTRT4

      590
    • 14.5 TEACH1, TEACH2, TEACH3, TEACH4

      594
    • 14.6 PFWRT

      598
    • 14.7 PINIT

      602
  • Chapter 15 Troubleshooting

    605
    • 15.1 Error and warning details

      606
    • 15.2 List of errors

      610
    • 15.3 List of warnings

      636
    • 15.4 LED display functions

      642
• Appendices

  643
  • Appendix 1 Version up of the functions

    644
    • Appendix 1.1 Comparison of functions according to function versions

      644
  • Appendix 2 Format sheets

    646
    • Appendix 2.1 Positioning Module operation chart

      646
    • Appendix 2.2 Parameter setting value entry table

      648
    • Appendix 2.3 Positioning data setting value entry table [data No. to ]

      654
  • Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses

    655
  • Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation

    679
    • Appendix 4.1 Connection example of QD75D[] and MR-H[]A (Differential driver)

      679
    • Appendix 4.2 Connection example of QD75D[] and MR-J2/J2S-[]A (Differential driver)

      680
    • Appendix 4.3 Connection example of QD75D[] and MR-C[]A (Differential driver)

      681
  • Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.

    682
    • Appendix 5.1 Connection example of QD75P[] and VEXTA UPD (Open collector)

      682
  • Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co., Ltd.

    683
    • Appendix 6.1 Connection example of QD75D[] and MINAS-A series (Differential driver)

      683
  • Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.

    684
    • Appendix 7.1 Connection example of QD75D[] and PYO series (Differential driver)

      684
  • Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation

    685
    • Appendix 8.1 Connection example of QD75D[] and ...

      685
  • Appendix 9 Comparisons with conventional positioning modules

    686
    • Appendix 9.1 Comparisons with A1SD71S2 model

      686
    • Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models

      687
  • Appendix 10 MELSEC Explanation of positioning terms

    710
  • Appendix 11 Positioning control troubleshooting

    734
  • Appendix 12 List of buffer memory addresses

    740
  • Appendix 13 External dimension drawing

    749
• INDEX

  751
• WARRANTY

  765