Mitsubishi Electronics QD75D4N User Manuals

Table of Contents

• SAFETY PRECAUTIONS

  3
• CONDITIONS OF USE FOR THE PRODUCT

  7
• REVISIONS

  8
• INTRODUCTION

  11
• CONTENTS

  11
• ABOUT MANUALS

  19
• USING THIS MANUAL

  19
• COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

  20
• GENERIC TERMS AND ABBREVIATIONS

  20
• COMPONENT LIST

  21
• PART 1 PRODUCT SPECIFICATIONS AND HANDLING

  23
  • CHAPTER 1 PRODUCT OUTLINE

    25
    • 1.1 Positioning control

      26
      • 1.1.1 Features of QD75

        26
      • 1.1.2 Purpose and applications of positioning control

        29
      • 1.1.3 Mechanism of positioning control

        31
      • 1.1.4 Outline design of positioning system

        33
      • 1.1.5 Communicating signals between QD75 and each module

        36
    • 1.2 Flow of system operation

      39
      • 1.2.1 Flow of all processes

        39
      • 1.2.2 Outline of starting

        42
      • 1.2.3 Outline of stopping

        44
      • 1.2.4 Outline of restarting

        46
    • 1.3 Restrictions on using a stepping motor

      47
    • 1.4 Function additions/modifications according to function version B

      47
  • CHAPTER 2 SYSTEM CONFIGURATION

    49
    • 2.1 General image of system

      50
    • 2.2 Configuration list

      52
    • 2.3 Applicable system

      54
    • 2.4 How to check the function version and SERIAL No.

      56
  • CHAPTER 3 SPECIFICATIONS AND FUNCTIONS

    59
    • 3.1 Performance specifications

      60
    • 3.2 List of functions

      64
      • 3.2.1 QD75 control functions

        64
      • 3.2.2 QD75 main functions

        66
      • 3.2.3 QD75 sub functions and common functions

        68
      • 3.2.4 Combination of QD75 main functions and sub functions

        72
    • 3.3 Specifications of input/output signals with CPU module

      74
      • 3.3.1 List of input/output signals with CPU module

        74
      • 3.3.2 Details of input signals (QD75 -> CPU module)

        75
      • 3.3.3 Detail of output signals (CPU module -> QD75)

        76
    • 3.4 Specifications of input/output interfaces with external devices

      77
      • 3.4.1 Electrical specifications of input/output signals

        77
      • 3.4.2 Signal layout for external device connection connector

        83
      • 3.4.3 List of input/output signal details

        84
      • 3.4.4 Input/output interface internal circuit

        86
  • CHAPTER 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

    89
    • 4.1 Outline of installation, wiring and maintenance

      90
      • 4.1.1 Installation, wiring and maintenance procedures

        90
      • 4.1.2 Names of each part

        91
      • 4.1.3 Handling precautions

        93
    • 4.2 Installation

      95
      • 4.2.1 Installation precautions

        95
    • 4.3 Wiring

      96
      • 4.3.1 Wiring precautions

        96
      • 4.3.2 Wiring of the differential driver common terminal

        102
    • 4.4 Checking installation and wiring

      103
      • 4.4.1 Items to check when installation and wiring are completed

        103
    • 4.5 Maintenance

      104
      • 4.5.1 Maintenance precautions

        104
      • 4.5.2 Disposal precautions

        104
  • CHAPTER 5 DATA USED FOR POSITIONING CONTROL

    105
    • 5.1 Types of data

      106
      • 5.1.1 Parameters and data required for control

        106
      • 5.1.2 Setting items for positioning parameters

        109
      • 5.1.3 Setting items for OPR parameters

        111
      • 5.1.4 Setting items for positioning data

        112
      • 5.1.5 Setting items for block start data

        114
      • 5.1.6 Setting items for condition data

        115
      • 5.1.7 Types and roles of monitor data

        116
      • 5.1.8 Types and roles of control data

        119
    • 5.2 List of parameters

      122
      • 5.2.1 Basic parameters 1

        122
      • 5.2.2 Basic parameters 2

        128
      • 5.2.3 Detailed parameters 1

        130
      • 5.2.4 Detailed parameters 2

        138
      • 5.2.5 OPR basic parameters

        147
      • 5.2.6 OPR detailed parameters

        154
    • 5.3 List of positioning data

      158
    • 5.4 List of block start data

      172
    • 5.5 List of condition data

      178
    • 5.6 List of monitor data

      184
      • 5.6.1 System monitor data

        184
      • 5.6.2 Axis monitor data

        194
    • 5.7 List of control data

      208
      • 5.7.1 System control data

        208
      • 5.7.2 Axis control data

        212
  • CHAPTER 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

    233
    • 6.1 Precautions for creating program

      234
    • 6.2 List of devices used

      237
    • 6.3 Creating a program

      243
      • 6.3.1 General configuration of program

        243
      • 6.3.2 Positioning control operation program

        244
    • 6.4 Positioning program examples

      247
    • 6.5 Program details

      256
      • 6.5.1 Initialization program

        256
      • 6.5.2 Start details setting program

        257
      • 6.5.3 Start program

        259
      • 6.5.4 Continuous operation interrupt program

        269
      • 6.5.5 Restart program

        271
      • 6.5.6 Stop program

        275
  • CHAPTER 7 MEMORY CONFIGURATION AND DATA PROCESS

    279
    • 7.1 Configuration and roles of QD75 memory

      280
      • 7.1.1 Configuration and roles of QD75 memory

        280
      • 7.1.2 Buffer memory area configuration

        283
    • 7.2 Data transmission process

      284
• PART 2 CONTROL DETAILS AND SETTING

  291
  • CHAPTER 8 OPR CONTROL

    293
    • 8.1 Outline of OPR control

      294
      • 8.1.1 Two types of OPR control

        294
    • 8.2 Machine OPR

      296
      • 8.2.1 Outline of the machine OPR operation

        296
      • 8.2.2 Machine OPR method

        297
      • 8.2.3 OPR method (1): Near-point dog method

        299
      • 8.2.4 OPR method (2): Stopper method 1)

        301
      • 8.2.5 OPR method (3): Stopper method 2)

        304
      • 8.2.6 OPR method (4): Stopper method 3)

        307
      • 8.2.7 OPR method (5): Count method1)

        309
      • 8.2.8 OPR method (6): Count method 2)

        312
    • 8.3 Fast OPR

      315
      • 8.3.1 Outline of the fast OPR operation

        315
  • CHAPTER 9 MAJOR POSITIONING CONTROL

    317
    • 9.1 Outline of major positioning controls

      318
      • 9.1.1 Data required for major positioning control

        320
      • 9.1.2 Operation patterns of major positioning controls

        321
      • 9.1.3 Designating the positioning address

        332
      • 9.1.4 Confirming the current value

        333
      • 9.1.5 Control unit "degree" handling

        335
      • 9.1.6 Interpolation control

        338
    • 9.2 Setting the positioning data

      342
      • 9.2.1 Relation between each control and positioning data

        342
      • 9.2.2 1-axis linear control

        344
      • 9.2.3 2-axis linear interpolation control

        346
      • 9.2.4 3-axis linear interpolation control

        350
      • 9.2.5 4-axis linear interpolation control

        356
      • 9.2.6 1-axis fixed-feed control

        360
      • 9.2.7 2-axis fixed-feed control (interpolation)

        362
      • 9.2.8 3-axis fixed-feed control (interpolation)

        365
      • 9.2.9 4-axis fixed-feed control (interpolation)

        370
      • 9.2.10 2-axis circular interpolation control with sub point designation

        373
      • 9.2.11 2-axis circular interpolation control with center point designation

        379
      • 9.2.12 1-axis speed control

        387
      • 9.2.13 2-axis speed control

        390
      • 9.2.14 3-axis speed control

        393
      • 9.2.15 4-axis speed control

        397
      • 9.2.16 Speed-position switching control (INC mode)

        402
      • 9.2.17 Speed-position switching control (ABS mode)

        411
      • 9.2.18 Position-speed switching control

        419
      • 9.2.19 Current value changing

        426
      • 9.2.20 NOP instruction

        431
      • 9.2.21 JUMP instruction

        432
      • 9.2.22 LOOP

        434
      • 9.2.23 LEND

        435
  • CHAPTER 10 HIGH-LEVEL POSITIONING CONTROL

    437
    • 10.1 Outline of high-level positioning control

      438
      • 10.1.1 Data required for high-level positioning control

        439
      • 10.1.2 "Block start data" and "condition data" configuration

        440
    • 10.2 High-level positioning control execution procedure

      442
    • 10.3 Setting the block start data

      443
      • 10.3.1 Relation between various controls and block start data

        443
      • 10.3.2 Block start (normal start)

        444
      • 10.3.3 Condition start

        446
      • 10.3.4 Wait start

        447
      • 10.3.5 Simultaneous start

        448
      • 10.3.6 Repeated start (FOR loop)

        450
      • 10.3.7 Repeated start (FOR condition)

        451
      • 10.3.8 Restrictions when using the NEXT start

        452
    • 10.4 Setting the condition data

      453
      • 10.4.1 Relation between various controls and the condition data

        453
      • 10.4.2 Condition data setting examples

        456
    • 10.5 Multiple axes simultaneous start control

      457
    • 10.6 Start program for high-level positioning control

      460
      • 10.6.1 Starting high-level positioning control

        460
      • 10.6.2 Example of a start program for high-level positioning control

        461
  • CHAPTER 11 MANUAL CONTROL

    465
    • 11.1 Outline of manual control

      466
      • 11.1.1 Three manual control methods

        466
    • 11.2 JOG operation

      468
      • 11.2.1 Outline of JOG operation

        468
      • 11.2.2 JOG operation execution procedure

        471
      • 11.2.3 Setting the required parameters for JOG operation

        472
      • 11.2.4 Creating start programs for JOG operation

        474
      • 11.2.5 JOG operation example

        477
    • 11.3 Inching operation

      480
      • 11.3.1 Outline of inching operation

        480
      • 11.3.2 Inching operation execution procedure

        483
      • 11.3.3 Setting the required parameters for inching operation

        484
      • 11.3.4 Creating a program to enable/disable the inching operation

        485
      • 11.3.5 Inching operation example

        488
    • 11.4 Manual pulse generator operation

      490
      • 11.4.1 Outline of manual pulse generator operation

        490
      • 11.4.2 Manual pulse generator operation execution procedure

        494
      • 11.4.3 Setting the required parameters for manual pulse generator operation

        495
      • 11.4.4 Creating a program to enable/disable the manual pulse generator operation

        496
  • CHAPTER 12 CONTROL SUB FUNCTIONS

    499
    • 12.1 Outline of sub functions

      500
      • 12.1.1 Outline of sub functions

        500
    • 12.2 Sub functions specifically for machine OPR

      502
      • 12.2.1 OPR retry function

        502
      • 12.2.2 OP shift function

        506
    • 12.3 Functions for compensating the control

      510
      • 12.3.1 Backlash compensation function

        510
      • 12.3.2 Electronic gear function

        512
      • 12.3.3 Near pass function

        519
      • 12.3.4 Output timing selection of near pass control

        521
    • 12.4 Functions to limit the control

      525
      • 12.4.1 Speed limit function

        525
      • 12.4.2 Torque limit function

        527
      • 12.4.3 Software stroke limit function

        531
      • 12.4.4 Hardware stroke limit function

        537
    • 12.5 Functions to change the control details

      539
      • 12.5.1 Speed change function

        539
      • 12.5.2 Override function

        546
      • 12.5.3 Acceleration/deceleration time change function

        549
      • 12.5.4 Torque change function

        554
      • 12.5.5 Target position change function

        556
    • 12.6 Absolute position restoration function

      560
    • 12.7 Other functions

      571
      • 12.7.1 Step function

        571
      • 12.7.2 Skip function

        576
      • 12.7.3 M code output function

        579
      • 12.7.4 Teaching function

        583
      • 12.7.5 Command in-position function

        590
      • 12.7.6 Acceleration/deceleration processing function

        593
      • 12.7.7 Pre-reading start function

        596
      • 12.7.8 Deceleration start flag function

        601
      • 12.7.9 Stop command processing for deceleration stop function

        605
  • CHAPTER 13 COMMON FUNCTIONS

    609
    • 13.1 Outline of common functions

      610
    • 13.2 Parameter initialization function

      611
    • 13.3 Execution data backup function

      613
    • 13.4 External I/O signal logic switching function

      615
    • 13.5 External I/O signal monitor function

      616
  • CHAPTER 14 DEDICATED INSTRUCTIONS

    617
    • 14.1 List of dedicated instructions

      618
    • 14.2 Interlock during dedicated instruction is executed

      618
    • 14.3 Z.ABRST1, Z.ABRST2, Z.ABRST3, Z.ABRST4

      619
    • 14.4 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4

      624
    • 14.5 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4

      628
    • 14.6 ZP.PFWRT

      632
    • 14.7 ZP.PINIT

      636
  • CHAPTER 15 TROUBLESHOOTING

    641
    • 15.1 Troubleshooting

      642
    • 15.2 Error and warning details

      646
    • 15.3 List of errors

      650
    • 15.4 List of warnings

      680
• APPENDICES

  689
  • Appendix 1 Version up of the functions

    690
    • Appendix 1.1 Comparison of functions according to function versions

      690
    • Appendix 1.2 Precautions for the replacement of the QD75P[ ]/QD75D[ ] with the QD75P[ ]N/QD75D[ ]N

      691
  • Appendix 2 Format sheets

    694
    • Appendix 2.1 Positioning Module operation chart

      694
    • Appendix 2.2 Parameter setting value entry table

      696
    • Appendix 2.3 Positioning data setting value entry table [data No. to ]

      702
  • Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses

    703
  • Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation

    727
    • Appendix 4.1 Connection example of QD75D[ ]N and MR-J3-[ ]A (Differential driver)

      727
    • Appendix 4.2 Connection example of QD75D[ ]N and MR-H[ ]A (Differential driver)

      728
    • Appendix 4.3 Connection example of QD75D[ ]N and MR-J2/J2S-[ ]A (Differential driver)

      729
    • Appendix 4.4 Connection example of QD75D[ ]N and MR-C[ ]A (Differential driver)

      730
  • Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.

    731
    • Appendix 5.1 Connection example of QD75P[ ]N and VEXTA UPD (Open collector)

      731
  • Appendix 6 Connection examples with servo amplifiers manufactured by Panasonic Corporation

    732
    • Appendix 6.1 Connection example of QD75D[ ]N and MINAS-A series (Differential driver)

      732
  • Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.

    733
    • Appendix 7.1 Connection example of QD75D[ ]N and PYO series (Differential driver)

      733
  • Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation

    734
    • Appendix 8.1 Connection example of QD75D[ ]N and sigma-II series (Differential driver)

      734
  • Appendix 9 Comparisons with conventional positioning modules

    735
    • Appendix 9.1 Comparisons with A1SD71S2 model

      735
    • Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models

      736
  • Appendix 10 When using GX Works2

    759
    • Appendix 10.1 Adding a module

      760
    • Appendix 10.2 Setting parameters

      761
    • Appendix 10.3 Setting auto refresh

      766
    • Appendix 10.4 Positioning monitor

      767
    • Appendix 10.5 Positioning test

      777
    • Appendix 10.6 Wave trace

      785
    • Appendix 10.7 Location trace

      788
    • Appendix 10.8 Parameter initialization function

      791
    • Appendix 10.9 Execution data backup function

      793
    • Appendix 10.10 External I/O signal logic switching function

      795
    • Appendix 10.11 External I/O signal monitor function

      796
    • Appendix 10.12 History monitor function

      797
    • Appendix 10.13 Checking errors

      799
  • Appendix 11 MELSEC Explanation of positioning terms

    803
  • Appendix 12 Positioning control troubleshooting

    823
  • Appendix 13 List of buffer memory addresses

    829
  • Appendix 14 External dimension drawing

    838
• INDEX

  845
• WARRANTY

  857