BenutzerhandbuchInhaltsverzeichnisSAFETY INSTRUCTIONS3REVISIONS6INTRODUCTION8CONTENTS8About Manuals15Using This Manual15Conformation to the EMC AND LOW-VOLTAGE DIRECTIVES15Generic Terms and Abbreviations16Component List17Section 1 Product Specifications and Handling19Chapter 1 Product Outline211.1 Positioning control221.1.1 Features of QD75221.1.2 Purpose and applications of positioning control251.1.3 Mechanism of positioning control271.1.4 Outline design of positioning system291.1.5 Communicating signals between QD75 and each module321.2 Flow of system operation351.2.1 Flow of all processes351.2.2 Outline of starting381.2.3 Outline of stopping401.2.4 Outline for restarting411.3 Restrictions with a system using a stepping motor421.4 Function additions/modifications according to function version B42Chapter 2 System Configuration432.1 General image of system442.2 Component list462.3 Applicable system472.4 How to check the function version and SERIAL No.48Chapter 3 Specifications and Functions493.1 Performance specifications503.2 List of functions523.2.1 QD75 control functions523.2.2 QD75 main functions543.2.3 QD75 sub functions and common functions563.2.4 Combination of QD75 main functions and sub functions603.3 Specifications of input/output signals with PLC CPU623.3.1 List of input/output signals with PLC CPU623.3.2 Details of input signals (QD75 -> PLC CPU)633.3.3 Detail of output signals (PLC CPU -> QD75)643.4 Specifications of input/output interfaces with external devices653.4.1 Electrical specifications of input/output signals653.4.2 Signal layout for external device connection connector673.4.3 List of input/output signal details683.4.4 Input/output interface internal circuit70Chapter 4 Installation, Wiring and Maintenance of the Product734.1 Outline of installation, wiring and maintenance744.1.1 Installation, wiring and maintenance procedures744.1.2 Names of each part754.1.3 Handling precautions774.2 Installation794.2.1 Precautions for installation794.3 Wiring804.3.1 Precautions for wiring804.3.2 Wiring of the differential driver common terminal854.4 Confirming the installation and wiring864.4.1 Items to confirm when installation and wiring are completed864.5 Maintenance874.5.1 Precautions for maintenance874.5.2 Disposal instructions87Chapter 5 Data Used for Positioning Control895.1 Types of data905.1.1 Parameters and data required for control905.1.2 Setting items for positioning parameters925.1.3 Setting items for OPR parameters945.1.4 Setting items for positioning data955.1.5 Setting items for block start data985.1.6 Setting items for condition data995.1.7 Types and roles of monitor data1005.1.8 Types and roles of control data1045.2 List of parameters1085.2.1 Basic parameters 11085.2.2 Basic parameters 21145.2.3 Detailed parameters 11165.2.4 Detailed parameters 21245.2.5 OPR basic parameters1345.2.6 OPR detailed parameters1425.3 List of positioning data1465.4 List of block start data1625.5 List of condition data1685.6 List of monitor data1745.6.1 System monitor data1745.6.2 Axis monitor data1845.7 List of control data1985.7.1 System control data1985.7.2 Axis control data200Chapter 6 Sequence Program Used for Positioning Control2216.1 Precautions for creating program2226.2 List of devices used2256.3 Creating a program2316.3.1 General configuration of program2316.3.2 Positioning control operation program2326.4 Positioning program examples2356.5 Program details2446.5.1 Initialization program2446.5.2 Start details setting program2456.5.3 Start program2476.5.4 Continuous operation interrupt program2576.5.5 Restart program2596.5.6 Stop program262Chapter 7 Memory Configuration and Data Process2657.1 Configuration and roles of QD75 memory2667.1.1 Configuration and roles of QD75 memory2667.1.2 Buffer memory area configuration2697.2 Data transmission process270Section 2 Control Details and Setting277Chapter 8 OPR Control2798.1 Outline of OPR control2808.1.1 Two types of OPR control2808.2 Machine OPR2828.2.1 Outline of the machine OPR operation2828.2.2 Machine OPR method2838.2.3 OPR method (1): Near-point dog method2848.2.4 OPR method (2): Stopper method 1)2868.2.5 OPR method (3): Stopper method 2)2898.2.6 OPR method (4): Stopper method 3)2928.2.7 OPR method (5): Count method 1)2948.2.8 OPR method (6): Count method 2)2968.3 Fast OPR2988.3.1 Outline of the fast OPR operation298Chapter 9 Major Positioning Control3019.1 Outline of major positioning controls3029.1.1 Data required for major positioning control3049.1.2 Operation patterns of major positioning controls3059.1.3 Designating the positioning address3159.1.4 Confirming the current value3169.1.5 Control unit "degree" handling3189.1.6 Interpolation control3219.2 Setting the positioning data3259.2.1 Relation between each control and positioning data3259.2.2 1-axis linear control3279.2.3 2-axis linear interpolation control3299.2.4 3-axis linear interpolation control3339.2.5 4-axis linear interpolation control3399.2.6 1-axis fixed-feed control3439.2.7 2-axis fixed-feed control (interpolation)3459.2.8 3-axis fixed-feed control (interpolation)3479.2.9 4-axis fixed-feed control (interpolation)3519.2.10 2-axis circular interpolation control with sub point designation3539.2.11 2-axis circular interpolation control with center point designation3599.2.12 1-axis speed control3679.2.13 2-axis speed control3709.2.14 3-axis speed control3739.2.15 4-axis speed control3779.2.16 Speed-position switching control (INC mode)3829.2.17 Speed-position switching control (ABS mode)3909.2.18 Position-speed switching control3989.2.19 Current value changing4059.2.20 NOP instruction4109.2.21 JUMP instruction4119.2.22 LOOP4139.2.23 LEND414Chapter 10 High-level Positioning Control41510.1 Outline of high-level positioning control41610.1.1 Data required for high-level positioning control41710.1.2 "Block start data" and "condition data" configuration41810.2 High-level positioning control execution procedure42010.3 Setting the block start data42110.3.1 Relation between various controls and block start data42110.3.2 Block start (normal start)42210.3.3 Condition start42410.3.4 Wait start42510.3.5 Simultaneous start42610.3.6 Repeated start (FOR loop)42710.3.7 Repeated start (FOR condition)42810.3.8 Restrictions when using the NEXT start42910.4 Setting the condition data43010.4.1 Relation between various controls and the condition data43010.4.2 Condition data setting examples43310.5 Multiple axes simultaneous start control43410.6 Start program for high-level positioning control43710.6.1 Starting high-level positioning control43710.6.2 Example of a start program for high-level positioning control438Chapter 11 Manual Control44111.1 Outline of manual control44211.1.1 Three manual control methods44211.2 JOG operation44411.2.1 Outline of JOG operation44411.2.2 JOG operation execution procedure44711.2.3 Setting the required parameters for JOG operation44811.2.4 Creating start programs for JOG operation45011.2.5 JOG operation example45311.3 Inching operation45711.3.1 Outline of inching operation45711.3.2 Inching operation execution procedure46011.3.3 Setting the required parameters for inching operation46111.3.4 Creating a program to enable/disable the inching operation46211.3.5 Inching operation example46511.4 Manual pulse generator operation46711.4.1 Outline of manual pulse generator operation46711.4.2 Manual pulse generator operation execution procedure47111.4.3 Setting the required parameters for manual pulse generator operation47211.4.4 Creating a program to enable/disable the manual pulse generator operation473Chapter 12 Control Sub Functions47712.1 Outline of sub functions47812.1.1 Outline of sub functions47812.2 Sub functions specifically for machine OPR48012.2.1 OPR retry function48012.2.2 OP shift function48412.3 Functions for compensating the control48712.3.1 Backlash compensation function48712.3.2 Electronic gear function48912.3.3 Near pass function49412.4 Functions to limit the control49712.4.1 Speed limit function49712.4.2 Torque limit function49912.4.3 Software stroke limit function50212.4.4 Hardware stroke limit function50812.5 Functions to change the control details51012.5.1 Speed change function51012.5.2 Override function51712.5.3 Acceleration/deceleration time change function52012.5.4 Torque change function52412.6 Absolute position restoration function52612.7 Other functions53412.7.1 Step function53412.7.2 Skip function53912.7.3 M code output function54212.7.4 Teaching function54612.7.5 Target position change function55312.7.6 Command in-position function55712.7.7 Acceleration/deceleration processing function56012.7.8 Pre-reading start function56312.7.9 Deceleration start flag function56812.7.10 Stop command processing for deceleration stop function572Chapter 13 Common Functions57513.1 Outline of common functions57613.2 Parameter initialization function57713.3 Execution data backup function57913.4 External I/O signal logic switching function58113.5 External I/O signal monitor function582Chapter 14 Dedicated instructions58314.1 List of dedicated instructions58414.2 Interlock during dedicated instruction is executed58414.3 ABRST1, ABRST2, ABRST3, ABRST458514.4 PSTRT1, PSTRT2, PSTRT3, PSTRT459014.5 TEACH1, TEACH2, TEACH3, TEACH459414.6 PFWRT59814.7 PINIT602Chapter 15 Troubleshooting60515.1 Error and warning details60615.2 List of errors61015.3 List of warnings63615.4 LED display functions642Appendices643Appendix 1 Version up of the functions644Appendix 1.1 Comparison of functions according to function versions644Appendix 2 Format sheets646Appendix 2.1 Positioning Module operation chart646Appendix 2.2 Parameter setting value entry table648Appendix 2.3 Positioning data setting value entry table [data No. to ]654Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses655Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation679Appendix 4.1 Connection example of QD75D[] and MR-H[]A (Differential driver)679Appendix 4.2 Connection example of QD75D[] and MR-J2/J2S-[]A (Differential driver)680Appendix 4.3 Connection example of QD75D[] and MR-C[]A (Differential driver)681Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.682Appendix 5.1 Connection example of QD75P[] and VEXTA UPD (Open collector)682Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co., Ltd.683Appendix 6.1 Connection example of QD75D[] and MINAS-A series (Differential driver)683Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.684Appendix 7.1 Connection example of QD75D[] and PYO series (Differential driver)684Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation685Appendix 8.1 Connection example of QD75D[] and ...685Appendix 9 Comparisons with conventional positioning modules686Appendix 9.1 Comparisons with A1SD71S2 model686Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models687Appendix 10 MELSEC Explanation of positioning terms710Appendix 11 Positioning control troubleshooting734Appendix 12 List of buffer memory addresses740Appendix 13 External dimension drawing749INDEX751WARRANTY765Größe: 7,28 MBSeiten: 768Language: EnglishHandbuch öffnen
