BenutzerhandbuchInhaltsverzeichnisSAFETY PRECAUTIONS3CONDITIONS OF USE FOR THE PRODUCT7REVISIONS8INTRODUCTION11CONTENTS11ABOUT MANUALS19USING THIS MANUAL19COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES20GENERIC TERMS AND ABBREVIATIONS20COMPONENT LIST21PART 1 PRODUCT SPECIFICATIONS AND HANDLING23CHAPTER 1 PRODUCT OUTLINE251.1 Positioning control261.1.1 Features of QD75261.1.2 Purpose and applications of positioning control291.1.3 Mechanism of positioning control311.1.4 Outline design of positioning system331.1.5 Communicating signals between QD75 and each module361.2 Flow of system operation391.2.1 Flow of all processes391.2.2 Outline of starting421.2.3 Outline of stopping441.2.4 Outline of restarting461.3 Restrictions on using a stepping motor471.4 Function additions/modifications according to function version B47CHAPTER 2 SYSTEM CONFIGURATION492.1 General image of system502.2 Configuration list522.3 Applicable system542.4 How to check the function version and SERIAL No.56CHAPTER 3 SPECIFICATIONS AND FUNCTIONS593.1 Performance specifications603.2 List of functions643.2.1 QD75 control functions643.2.2 QD75 main functions663.2.3 QD75 sub functions and common functions683.2.4 Combination of QD75 main functions and sub functions723.3 Specifications of input/output signals with CPU module743.3.1 List of input/output signals with CPU module743.3.2 Details of input signals (QD75 -> CPU module)753.3.3 Detail of output signals (CPU module -> QD75)763.4 Specifications of input/output interfaces with external devices773.4.1 Electrical specifications of input/output signals773.4.2 Signal layout for external device connection connector833.4.3 List of input/output signal details843.4.4 Input/output interface internal circuit86CHAPTER 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT894.1 Outline of installation, wiring and maintenance904.1.1 Installation, wiring and maintenance procedures904.1.2 Names of each part914.1.3 Handling precautions934.2 Installation954.2.1 Installation precautions954.3 Wiring964.3.1 Wiring precautions964.3.2 Wiring of the differential driver common terminal1024.4 Checking installation and wiring1034.4.1 Items to check when installation and wiring are completed1034.5 Maintenance1044.5.1 Maintenance precautions1044.5.2 Disposal precautions104CHAPTER 5 DATA USED FOR POSITIONING CONTROL1055.1 Types of data1065.1.1 Parameters and data required for control1065.1.2 Setting items for positioning parameters1095.1.3 Setting items for OPR parameters1115.1.4 Setting items for positioning data1125.1.5 Setting items for block start data1145.1.6 Setting items for condition data1155.1.7 Types and roles of monitor data1165.1.8 Types and roles of control data1195.2 List of parameters1225.2.1 Basic parameters 11225.2.2 Basic parameters 21285.2.3 Detailed parameters 11305.2.4 Detailed parameters 21385.2.5 OPR basic parameters1475.2.6 OPR detailed parameters1545.3 List of positioning data1585.4 List of block start data1725.5 List of condition data1785.6 List of monitor data1845.6.1 System monitor data1845.6.2 Axis monitor data1945.7 List of control data2085.7.1 System control data2085.7.2 Axis control data212CHAPTER 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL2336.1 Precautions for creating program2346.2 List of devices used2376.3 Creating a program2436.3.1 General configuration of program2436.3.2 Positioning control operation program2446.4 Positioning program examples2476.5 Program details2566.5.1 Initialization program2566.5.2 Start details setting program2576.5.3 Start program2596.5.4 Continuous operation interrupt program2696.5.5 Restart program2716.5.6 Stop program275CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS2797.1 Configuration and roles of QD75 memory2807.1.1 Configuration and roles of QD75 memory2807.1.2 Buffer memory area configuration2837.2 Data transmission process284PART 2 CONTROL DETAILS AND SETTING291CHAPTER 8 OPR CONTROL2938.1 Outline of OPR control2948.1.1 Two types of OPR control2948.2 Machine OPR2968.2.1 Outline of the machine OPR operation2968.2.2 Machine OPR method2978.2.3 OPR method (1): Near-point dog method2998.2.4 OPR method (2): Stopper method 1)3018.2.5 OPR method (3): Stopper method 2)3048.2.6 OPR method (4): Stopper method 3)3078.2.7 OPR method (5): Count method1)3098.2.8 OPR method (6): Count method 2)3128.3 Fast OPR3158.3.1 Outline of the fast OPR operation315CHAPTER 9 MAJOR POSITIONING CONTROL3179.1 Outline of major positioning controls3189.1.1 Data required for major positioning control3209.1.2 Operation patterns of major positioning controls3219.1.3 Designating the positioning address3329.1.4 Confirming the current value3339.1.5 Control unit "degree" handling3359.1.6 Interpolation control3389.2 Setting the positioning data3429.2.1 Relation between each control and positioning data3429.2.2 1-axis linear control3449.2.3 2-axis linear interpolation control3469.2.4 3-axis linear interpolation control3509.2.5 4-axis linear interpolation control3569.2.6 1-axis fixed-feed control3609.2.7 2-axis fixed-feed control (interpolation)3629.2.8 3-axis fixed-feed control (interpolation)3659.2.9 4-axis fixed-feed control (interpolation)3709.2.10 2-axis circular interpolation control with sub point designation3739.2.11 2-axis circular interpolation control with center point designation3799.2.12 1-axis speed control3879.2.13 2-axis speed control3909.2.14 3-axis speed control3939.2.15 4-axis speed control3979.2.16 Speed-position switching control (INC mode)4029.2.17 Speed-position switching control (ABS mode)4119.2.18 Position-speed switching control4199.2.19 Current value changing4269.2.20 NOP instruction4319.2.21 JUMP instruction4329.2.22 LOOP4349.2.23 LEND435CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL43710.1 Outline of high-level positioning control43810.1.1 Data required for high-level positioning control43910.1.2 "Block start data" and "condition data" configuration44010.2 High-level positioning control execution procedure44210.3 Setting the block start data44310.3.1 Relation between various controls and block start data44310.3.2 Block start (normal start)44410.3.3 Condition start44610.3.4 Wait start44710.3.5 Simultaneous start44810.3.6 Repeated start (FOR loop)45010.3.7 Repeated start (FOR condition)45110.3.8 Restrictions when using the NEXT start45210.4 Setting the condition data45310.4.1 Relation between various controls and the condition data45310.4.2 Condition data setting examples45610.5 Multiple axes simultaneous start control45710.6 Start program for high-level positioning control46010.6.1 Starting high-level positioning control46010.6.2 Example of a start program for high-level positioning control461CHAPTER 11 MANUAL CONTROL46511.1 Outline of manual control46611.1.1 Three manual control methods46611.2 JOG operation46811.2.1 Outline of JOG operation46811.2.2 JOG operation execution procedure47111.2.3 Setting the required parameters for JOG operation47211.2.4 Creating start programs for JOG operation47411.2.5 JOG operation example47711.3 Inching operation48011.3.1 Outline of inching operation48011.3.2 Inching operation execution procedure48311.3.3 Setting the required parameters for inching operation48411.3.4 Creating a program to enable/disable the inching operation48511.3.5 Inching operation example48811.4 Manual pulse generator operation49011.4.1 Outline of manual pulse generator operation49011.4.2 Manual pulse generator operation execution procedure49411.4.3 Setting the required parameters for manual pulse generator operation49511.4.4 Creating a program to enable/disable the manual pulse generator operation496CHAPTER 12 CONTROL SUB FUNCTIONS49912.1 Outline of sub functions50012.1.1 Outline of sub functions50012.2 Sub functions specifically for machine OPR50212.2.1 OPR retry function50212.2.2 OP shift function50612.3 Functions for compensating the control51012.3.1 Backlash compensation function51012.3.2 Electronic gear function51212.3.3 Near pass function51912.3.4 Output timing selection of near pass control52112.4 Functions to limit the control52512.4.1 Speed limit function52512.4.2 Torque limit function52712.4.3 Software stroke limit function53112.4.4 Hardware stroke limit function53712.5 Functions to change the control details53912.5.1 Speed change function53912.5.2 Override function54612.5.3 Acceleration/deceleration time change function54912.5.4 Torque change function55412.5.5 Target position change function55612.6 Absolute position restoration function56012.7 Other functions57112.7.1 Step function57112.7.2 Skip function57612.7.3 M code output function57912.7.4 Teaching function58312.7.5 Command in-position function59012.7.6 Acceleration/deceleration processing function59312.7.7 Pre-reading start function59612.7.8 Deceleration start flag function60112.7.9 Stop command processing for deceleration stop function605CHAPTER 13 COMMON FUNCTIONS60913.1 Outline of common functions61013.2 Parameter initialization function61113.3 Execution data backup function61313.4 External I/O signal logic switching function61513.5 External I/O signal monitor function616CHAPTER 14 DEDICATED INSTRUCTIONS61714.1 List of dedicated instructions61814.2 Interlock during dedicated instruction is executed61814.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST461914.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT462414.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH462814.6 ZP.PFWRT63214.7 ZP.PINIT636CHAPTER 15 TROUBLESHOOTING64115.1 Troubleshooting64215.2 Error and warning details64615.3 List of errors65015.4 List of warnings680APPENDICES689Appendix 1 Version up of the functions690Appendix 1.1 Comparison of functions according to function versions690Appendix 1.2 Precautions for the replacement of the QD75P[ ]/QD75D[ ] with the QD75P[ ]N/QD75D[ ]N691Appendix 2 Format sheets694Appendix 2.1 Positioning Module operation chart694Appendix 2.2 Parameter setting value entry table696Appendix 2.3 Positioning data setting value entry table [data No. to ]702Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses703Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation727Appendix 4.1 Connection example of QD75D[ ]N and MR-J3-[ ]A (Differential driver)727Appendix 4.2 Connection example of QD75D[ ]N and MR-H[ ]A (Differential driver)728Appendix 4.3 Connection example of QD75D[ ]N and MR-J2/J2S-[ ]A (Differential driver)729Appendix 4.4 Connection example of QD75D[ ]N and MR-C[ ]A (Differential driver)730Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.731Appendix 5.1 Connection example of QD75P[ ]N and VEXTA UPD (Open collector)731Appendix 6 Connection examples with servo amplifiers manufactured by Panasonic Corporation732Appendix 6.1 Connection example of QD75D[ ]N and MINAS-A series (Differential driver)732Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.733Appendix 7.1 Connection example of QD75D[ ]N and PYO series (Differential driver)733Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation734Appendix 8.1 Connection example of QD75D[ ]N and sigma-II series (Differential driver)734Appendix 9 Comparisons with conventional positioning modules735Appendix 9.1 Comparisons with A1SD71S2 model735Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models736Appendix 10 When using GX Works2759Appendix 10.1 Adding a module760Appendix 10.2 Setting parameters761Appendix 10.3 Setting auto refresh766Appendix 10.4 Positioning monitor767Appendix 10.5 Positioning test777Appendix 10.6 Wave trace785Appendix 10.7 Location trace788Appendix 10.8 Parameter initialization function791Appendix 10.9 Execution data backup function793Appendix 10.10 External I/O signal logic switching function795Appendix 10.11 External I/O signal monitor function796Appendix 10.12 History monitor function797Appendix 10.13 Checking errors799Appendix 11 MELSEC Explanation of positioning terms803Appendix 12 Positioning control troubleshooting823Appendix 13 List of buffer memory addresses829Appendix 14 External dimension drawing838INDEX845WARRANTY857Größe: 13,6 MBSeiten: 860Language: EnglishHandbuch öffnen
