Manuels d'utilisation pour Mitsubishi Electronics AJ65BT-D75P2-S3

Table des matières

• SAFETY PRECAUTIONS

  3
• CONDITIONS OF USE FOR THE PRODUCT

  7
• REVISIONS

  8
• INTRODUCTION

  10
• CONTENTS

  10
• ABOUT MANUALS

  17
• COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

  18
• USING THIS MANUAL (1)

  19
• USING THIS MANUAL (2)

  20
• USING THIS MANUAL (3)

  21
• GENERIC TERMS AND ABBREVIATIONS

  22
• ENCLOSED PARTS

  23
• SECTION 1 PRODUCT SPECIFICATIONS AND HANDLING

  25
  • Chapter 1 PRODUCT OUTLINE

    27
    • 1.1 Positioning control

      28
      • 1.1.1 Features of D75P2

        28
      • 1.1.2 Purpose and applications of positioning control

        30
      • 1.1.3 Mechanism of positioning control

        32
      • 1.1.4 Outline design of positioning system

        34
      • 1.1.5 Communicating signals between D75P2 and each module

        36
    • 1.2 Flow of system operation

      38
      • 1.2.1 Flow of all processes

        38
      • 1.2.2 Outline of starting

        40
      • 1.2.3 Outline of stopping

        42
      • 1.2.4 Outline for restarting

        43
    • 1.3 Outline of communication

      44
      • 1.3.1 Cyclic transmission

        45
      • 1.3.2 Transient transmission

        46
  • Chapter 2 SYSTEM CONFIGURATION

    47
    • 2.1 General image of system

      48
    • 2.2 List of configuration devices

      50
    • 2.3 Applicable system

      52
    • 2.4 Precautions for use

      54
  • Chapter 3 SPECIFICATIONS AND FUNCTIONS

    59
    • 3.1 General specifications

      60
    • 3.2 Performance specifications

      62
    • 3.3 List of functions

      64
      • 3.3.1 D75P2 control functions

        64
      • 3.3.2 D75P2 main functions

        66
      • 3.3.3 D75P2 auxiliary functions and common functions

        68
      • 3.3.4 Combination of D75P2 main functions and auxiliary functions

        70
    • 3.4 Specifications of input/output signals for master module

      72
      • 3.4.1 List of input/output signals

        72
      • 3.4.2 Details of input signals (D75P2 -> Master module)

        75
      • 3.4.3 Details of output signals (Master module -> D75P2)

        79
    • 3.5 Remote registers

      81
    • 3.6 Transmission delay time

      90
    • 3.7 Specifications of input/output interfaces with external devices

      93
      • 3.7.1 Electrical specifications of input/output signals

        93
      • 3.7.2 Signal layout for external device connection connector

        96
      • 3.7.3 List of input/output signal details

        97
      • 3.7.4 Input/output interface internal circuit

        100
  • Chapter 4 INSTALLATION, WIRING AND MAINTENANCE OF THE PRODUCT

    103
    • 4.1 Outline of installation, wiring and maintenance

      104
      • 4.1.1 Installation, wiring and maintenance procedures

        104
      • 4.1.2 Names of each part

        105
      • 4.1.3 Handling precautions

        107
    • 4.2 Installation

      109
      • 4.2.1 Precautions for installation

        109
      • 4.2.2 Installation/removal of module

        111
    • 4.3 Connection of CC-Link dedicated cable

      114
    • 4.4 Module setting

      116
      • 4.4.1 Station number setting of module

        116
      • 4.4.2 Transmission speed setting of module

        117
    • 4.5 Wiring/connection

      118
      • 4.5.1 Precautions for wiring/connection

        118
      • 4.5.2 Wiring the external device connection connector pins

        122
      • 4.5.3 Connecting the connector

        126
    • 4.6 Confirming the installation and wiring

      127
      • 4.6.1 Items to confirm when installation and wiring are completed

        127
    • 4.7 Single module test

      128
    • 4.8 Maintenance

      132
      • 4.8.1 Precautions for maintenance

        132
      • 4.8.2 Disposal instructions

        132
  • Chapter 5 DATA USED FOR POSITIONING CONTROL

    133
    • 5.1 Types of data

      134
      • 5.1.1 Parameters and data required for control

        134
      • 5.1.2 Setting items for positioning parameters

        136
      • 5.1.3 Setting items for zero point return parameters

        138
      • 5.1.4 Setting items for positioning data

        139
      • 5.1.5 Setting items for start block data

        141
      • 5.1.6 Setting items for condition data

        142
      • 5.1.7 Types and roles of monitor data

        143
      • 5.1.8 Types and roles of control data

        146
    • 5.2 List of parameters

      150
      • 5.2.1 Basic parameters 1

        150
      • 5.2.2 Basic parameters 2

        156
      • 5.2.3 Detailed parameters 1

        160
      • 5.2.4 Detailed parameters 2

        168
      • 5.2.5 Zero point return basic parameters

        177
      • 5.2.6 Zero point return detailed parameters

        184
    • 5.3 List of positioning data

      189
    • 5.4 List of start block data

      203
    • 5.5 List of condition data

      208
    • 5.6 List of monitor data

      212
      • 5.6.1 System monitor data

        212
      • 5.6.2 Axis monitor data

        222
    • 5.7 List of control data

      232
      • 5.7.1 System control data

        232
      • 5.7.2 Axis control data

        238
  • Chapter 6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL

    245
    • 6.1 Information necessary for program creation

      246
      • 6.1.1 When ACPU/QCPU (A mode) is used

        246
      • 6.1.2 When QCPU (Q mode)/QnACPU is used

        259
    • 6.2 Precautions for creating program

      266
    • 6.3 List of devices used

      267
    • 6.4 Creating a program

      273
      • 6.4.1 General configuration of program

        273
      • 6.4.2 Positioning control operation program

        274
    • 6.5 Positioning program examples

      277
      • 6.5.1 When using FROM/TO command with ACPU/QCPU-A (A mode)

        277
      • 6.5.2 When using dedicated commands with ACPU/QCPU-A (A mode)

        284
      • 6.5.3 When using dedicated commands with QCPU (Q mode)/QnACPU

        290
    • 6.6 Program details

      295
      • 6.6.1 Initialization program

        295
      • 6.6.2 Start details setting program

        296
      • 6.6.3 Start program

        297
      • 6.6.4 Restart program

        305
      • 6.6.5 Stop program

        308
  • Chapter 7 MEMORY CONFIGURATION AND DATA PROCESS

    311
    • 7.1 Configuration and roles of D75P2 memory

      312
      • 7.1.1 Configuration and roles of D75P2 memory

        312
      • 7.1.2 Buffer memory area configuration

        315
    • 7.2 Data transmission process

      316
• SECTION 2 CONTROL DETAILS AND SETTING

  327
  • Chapter 8 ZERO POINT RETURN CONTROL

    329
    • 8.1 Outline of zero point return control

      330
      • 8.1.1 Three types of zero point return control

        330
    • 8.2 Machine zero point return

      332
      • 8.2.1 Outline of the machine zero point return operation

        332
      • 8.2.2 Machine zero point return method

        333
      • 8.2.3 Zero point return method (1): Near-point dog method

        334
      • 8.2.4 Zero point return method (2): Stopper stop method 1)

        336
      • 8.2.5 Zero point return method (3): Stopper stop method 2)

        339
      • 8.2.6 Zero point return method (4): Stopper stop method 3)

        342
      • 8.2.7 Zero point return method (5): Count method 1)

        344
      • 8.2.8 Zero point return method (6): Count method 2)

        346
    • 8.3 Data setting method zero point return

      348
    • 8.4 High-speed zero point return

      349
      • 8.4.1 Outline of the high-speed zero point return operation

        349
    • 8.5 Positioning to the zero point

      351
  • Chapter 9 MAIN POSITIONING CONTROL

    353
    • 9.1 Outline of main positioning controls

      354
      • 9.1.1 Data required for main positioning control

        355
      • 9.1.2 Operation patterns of main positioning controls

        356
      • 9.1.3 Designating the positioning address

        366
      • 9.1.4 Confirming the current value

        367
      • 9.1.5 Control unit "degree" handling

        369
      • 9.1.6 Interpolation control

        371
    • 9.2 Setting the positioning data

      374
      • 9.2.1 Relation between each control and positioning data

        374
      • 9.2.2 1-axis linear control

        375
      • 9.2.3 2-axis linear interpolation control

        377
      • 9.2.4 1-axis fixed-dimension feed control

        381
      • 9.2.5 2-axis fixed-dimension feed control (interpolation)

        383
      • 9.2.6 2-axis circular interpolation control with auxiliary point designation

        385
      • 9.2.7 2-axis circular interpolation control with center point designation

        391
      • 9.2.8 Speed control

        398
      • 9.2.9 Speed/position changeover control

        400
      • 9.2.10 Current value change

        408
      • 9.2.11 JUMP command

        412
  • Chapter 10 ADVANCED POSITIONING CONTROL

    415
    • 10.1 Outline of advanced positioning control

      416
      • 10.1.1 Data required for advanced positioning control

        417
      • 10.1.2 "Start block data" and "condition data" configuration

        418
    • 10.2 Advanced positioning control execution procedure

      420
    • 10.3 Setting the start block data

      421
      • 10.3.1 Relation between various controls and start block 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 Stop

        427
      • 10.3.7 Repeated start (FOR loop)

        428
      • 10.3.8 Repeated start (FOR condition)

        429
      • 10.3.9 Restrictions when using the NEXT start

        430
    • 10.4 Setting the condition data

      431
      • 10.4.1 Relation between various controls and the condition data

        431
      • 10.4.2 Condition data setting examples

        433
    • 10.5 Starting advanced positioning control

      434
      • 10.5.1 Starting advanced positioning control

        434
      • 10.5.2 Example of a start program for advanced positioning control

        435
  • Chapter 11 MANUAL CONTROL

    437
    • 11.1 Outline of manual control

      438
      • 11.1.1 Two manual control methods

        438
    • 11.2 JOG operation

      440
      • 11.2.1 Outline of JOG operation

        440
      • 11.2.2 JOG operation execution procedure

        443
      • 11.2.3 Setting the required parameters for JOG operation

        444
      • 11.2.4 Creating start programs for JOG operation

        446
      • 11.2.5 JOG operation example

        448
    • 11.3 Manual pulse generator operation

      452
      • 11.3.1 Outline of manual pulse generator operation

        452
      • 11.3.2 Manual pulse generator operation execution procedure

        455
      • 11.3.3 Setting the required parameters for manual pulse generator operation

        456
      • 11.3.4 Starting the manual pulse generator operation

        457
  • Chapter 12 CONTROL AUXILIARY FUNCTIONS

    459
    • 12.1 Outline of auxiliary functions

      460
      • 12.1.1 Outline of auxiliary functions

        460
    • 12.2 Auxiliary functions specifically for machine zero point returns

      462
      • 12.2.1 Zero point return retry function

        462
      • 12.2.2 Zero point shift function

        466
    • 12.3 Functions for compensating the control

      469
      • 12.3.1 Backlash compensation function

        469
      • 12.3.2 Electronic gear function

        471
      • 12.3.3 Near pass mode function

        476
    • 12.4 Functions to limit the control

      480
      • 12.4.1 Speed limit function

        480
      • 12.4.2 Torque limit function

        482
      • 12.4.3 Software stroke limit function

        485
      • 12.4.4 Hardware stroke limit function

        491
    • 12.5 Functions to change the control details

      493
      • 12.5.1 Speed change function

        493
      • 12.5.2 Override function

        498
      • 12.5.3 Acceleration/deceleration time change function

        500
      • 12.5.4 Torque change function

        503
    • 12.6 Absolute position restoration function

      505
    • 12.7 Other functions

      511
      • 12.7.1 Step function

        511
      • 12.7.2 Skip function

        516
      • 12.7.3 M code output function

        518
      • 12.7.4 Teaching function

        522
      • 12.7.5 Command in-position function

        527
      • 12.7.6 Stepping motor mode function

        530
      • 12.7.7 Acceleration/deceleration processing function

        533
      • 12.7.8 Indirectly specification function

        536
  • Chapter 13 COMMON FUNCTIONS

    541
    • 13.1 Outline of common functions

      542
    • 13.2 Parameter initialization function

      543
    • 13.3 Execution data backup function

      545
    • 13.4 LED display function

      547
    • 13.5 Clock data function

      550
  • Chapter 14 TROUBLESHOOTING

    551
    • 14.1 Troubleshooting when the "ERR" LED on the Master Module is Flashing

      552
    • 14.2 Error and warning details

      554
    • 14.3 List of errors

      558
    • 14.4 List of warnings

      584
    • 14.5 Start during error history

      590
• APPENDICES

  591
  • Appendix 1 Change with Upgrade

    592
  • Appendix 2 External Dimension Drawing

    593
  • Appendix 3 Format sheets

    594
    • Appendix 3.1 Positioning module operation chart

      594
    • Appendix 3.2 Parameter setting value entry table

      596
    • Appendix 3.3 Positioning data setting value entry table [data No. to ]

      602
  • Appendix 4 Positioning data (No. 1 to 100) List of buffer memory addresses

    603
  • Appendix 5 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Coporation

    606
    • Appendix 5.1 Connection example of D75P2 and MR-H[ ]A (Differential driver (Open collector))

      606
    • Appendix 5.2 Connection example of D75P2 and MR-J2/J2S-[ ]A (Differential driver (Open collector))

      608
    • Appendix 5.3 Connection example of D75P2 and MR-C[ ]A (Differential driver (Open collector))

      610
  • Appendix 6 Connection examples with stepping motors manufac tured by ORIENTALMOTOR Co., Ltd.

    611
    • Appendix 6.1 Connection example of D75P2 and VEXTA UPD (Open collector)

      611
  • Appendix 7 Connection examples with servo amplifiers manufactured by Panasonic Co., Ltd.

    612
    • Appendix 7.1 Connection example of D75P2 and MINAS-A series (Differential driver)

      612
  • Appendix 8 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.

    613
    • Appendix 8.1 Connection example of D75P2 and PYO series (Differential driver)

      613
  • Appendix 9 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation

    614
    • Appendix 9.1 Connection example of D75P2 and and Σ-II series (Differential driver)

      614
  • Appendix 10 Comparisons with A1SD75P[ ]-S3 and AD75P[ ]-S3 modules

    615
  • Appendix 11 MELSEC Explanation of positioning terms

    617
  • Appendix 12 Positioning control troubleshooting

    639
  • Appendix 13 List of buffer memory addresses

    645
• INDEX

  653
• WARRANTY

  663