ユーザーズマニュアル目次SAFETY PRECAUTIONS3CONDITIONS OF USE FOR THE PRODUCT7INTRODUCTION8COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES9RELEVANT MANUALS10CONTENTS12MANUAL PAGE ORGANIZATION16TERMS18PACKING LIST18CHAPTER 1 OVERVIEW191.1 Features201.2 Signal Transmission Between the QD73A1 and Others21CHAPTER 2 SYSTEM CONFIGURATION232.1 Applicable Systems232.2 How to Check the Function Version and Serial Number25CHAPTER 3 SPECIFICATIONS273.1 Performance Specifications273.2 Number of Parameter Settings283.3 List of Functions293.4 I/O Signals from/to the CPU Module323.4.1 I/O signal list323.4.2 Details of input signals343.4.3 Details of output signals393.5 Specifications of I/O Interfaces with External Devices423.5.1 Electrical specifications of I/O signals423.5.2 Signal layout for external device connectors443.5.3 List of I/O signal details453.5.4 I/O interface internal circuit473.6 Memory Configuration and Use493.7 List of Buffer Memory Addresses50CHAPTER 4 SETTINGS AND PROCEDURE BEFORE OPERATION564.1 Handling Precautions564.2 Settings and Procedure Before Operation574.3 Part Names584.4 LED604.5 Zero/gain Adjustment614.6 Wiring664.6.1 Wiring precautions664.6.2 Precautions when connecting an encoder684.6.3 External device connectors71CHAPTER 5 DATA USED FOR POSITIONING755.1 Types of Data755.2 Positioning Parameters775.3 OPR Parameters815.4 Positioning Data845.5 Monitor Data875.6 Control Data91CHAPTER 6 VARIOUS SETTINGS1016.1 Adding a Module1016.2 Switch Setting1026.2.1 Rotation direction setting1036.2.2 Accumulated pulse setting1046.2.3 Multiplication setting1066.2.4 OPR direction setting1066.2.5 OPR method setting1066.2.6 Encoder I/F setting1076.2.7 Analog voltage resolution setting1076.2.8 Feedback pulse addition/subtraction setting1086.2.9 Deviation counter clear setting1096.3 Parameter Setting1106.4 Positioning Data Setting1116.5 Auto Refresh112CHAPTER 7 PROGRAMMING1137.1 Precautions on Programming1137.2 Programs for Positioning1167.3 When Using the Module in a Standard System Configuration1177.3.1 Parameter setting program1197.3.2 OPR program1217.3.3 Major positioning control program1277.3.4 Fixed-feed operation program1357.3.5 JOG operation program1377.3.6 Control change program1397.3.7 Stop program during positioning1437.4 When Using the Module in a Remote I/O Network1447.4.1 Parameter setting program1517.4.2 OPR program1537.4.3 Major positioning control program1597.4.4 Fixed-feed operation program1697.4.5 JOG operation program1727.4.6 Control change program1747.4.7 Stop program during positioning179CHAPTER 8 OPR CONTROL1808.1 Overview of OPR Control1808.2 Near-point Dog Method1818.3 Count Method1838.4 Operation Timing and Processing Time of OPR Control1858.5 OPR Parameter Setting186CHAPTER 9 MAJOR POSITIONING CONTROL1879.1 Overview of Major Positioning Control1879.2 Data Required for Major Positioning Control1889.3 Relation Between Each Control and Positioning Data1899.4 Specifying a Positioning Address1909.5 Checking the Current Value1919.6 Details of Major Positioning Control1929.6.1 Position control mode1939.6.2 Speed-position control switch mode1979.7 Operation Timing and Processing Time of Major Positioning Control201CHAPTER 10 JOG OPERATION20210.1 Operation of JOG Operation20310.2 Operation Timing and Processing Time of JOG Operation20810.3 Data Setting for JOG Operation209CHAPTER 11 CONTROL SUB FUNCTIONS21011.1 Electronic Gear Function21111.2 Speed Limit Function21311.3 Stroke Limit Function21511.4 Upper Limit Switch (FLS)/Lower Limit Switch (RLS) Function21711.5 Current Value Change Function21911.6 Speed Change Function22011.7 Deviation Counter Clear Function22211.8 In-position Function22311.9 Accumulated Pulse Error Detection Function22511.9.1 Measuring and saving the reference value in the flash ROM22711.9.2 Setting the accumulated pulse error detection function228CHAPTER 12 STOPPING AND RESTARTING CONTROL23212.1 Stopping Control23212.2 Restarting the Speed-position Control Switch Mode236CHAPTER 13 COMMON FUNCTIONS23813.1 Module Status Monitor Function23813.2 Error History Function24013.3 Module Error Collection Function24113.4 Error Clear Function242CHAPTER 14 TROUBLESHOOTING24314.1 Checking an Error on GX Works224314.2 Troubleshooting24714.2.1 Troubleshooting procedure24714.2.2 When the motor does not stop24814.2.3 When positioning cannot be executed24814.2.4 When a positioning error occurs24914.2.5 When the positioning speed is different from the specified speed25014.2.6 When operation stops abnormally during positioning25014.2.7 OPR error25114.3 Details of Errors25214.3.1 Types of errors25214.3.2 Storage of errors25314.3.3 Error reset25314.3.4 Error code list254APPENDICES265Appendix 1 Functions Added or Changed265Appendix 1.1 Functions added265Appendix 1.2 Functions changed265Appendix 2 Connection Examples266Appendix 2.1 Example of connection with a servo amplifier manufactured by Mitsubishi Electric Corporation266Appendix 2.2 Example of connection with a servo amplifier manufactured by YASKAWA Electric Corporation267Appendix 3 Comparison of the QD73A1 and the AD70/A1SD70269Appendix 4 When Using GX Developer277Appendix 4.1 Operation of GX Developer277Appendix 5 Terms280Appendix 6 External Dimensions282INDEX284REVISIONS288WARRANTY289サイズ: 4.24MBページ数: 292Language: Englishマニュアルを開く