Справочник ПользователяСодержаниеSAFETY INSTRUCTIONS2REVISIONS12INTRODUCTION13CONTENTS13About Manuals20Using This Manual20Conformation to the EMC Directive20Generic Terms and Abbreviations21Component List21Section 1 Product Specifications and Handling22Chapter 1 Product Outline241.1 Positioning control251.1.1 Features of QD75MH251.1.2 Purpose and applications of positioning control281.1.3 Mechanism of positioning control301.1.4 Overview of positioning control functions311.1.5 Outline design of positioning system411.1.6 Communicating signals between QD75MH and each module421.2 Flow of system operation451.2.1 Flow of all processes451.2.2 Outline of starting471.2.3 Outline of stopping491.2.4 Outline for restarting51Chapter 2 System Configuration522.1 General image of system532.2 Component list552.3 Applicable system572.4 How to check the function version and SERIAL No.59Chapter 3 Specifications and Functions603.1 Performance specifications613.2 List of functions633.2.1 QD75MH control functions633.2.2 QD75MH main functions653.2.3 QD75MH sub functions and common functions673.2.4 Combination of QD75MH main functions and sub functions713.3 Specifications of input/output signals with PLC CPU733.3.1 List of input/output signals with PLC CPU733.3.2 Details of input signals (QD75MH --> PLC CPU)743.3.3 Detail of output signals (PLC CPU --> QD75MH)763.4 Specifications of interfaces with external devices773.4.1 Electrical specifications of input signals773.4.2 Signal layout for external device connection connector783.4.3 List of input signal details793.4.4 Interface internal circuit803.5 External circuit design81Chapter 4 Installation, Wiring and Maintenance of the Product844.1 Outline of installation, wiring and maintenance854.1.1 Installation, wiring and maintenance procedures854.1.2 Names of each part864.1.3 Handling precautions884.2 Installation904.2.1 Precautions for installation904.3 Wiring934.3.1 Precautions for wiring934.4 Confirming the installation and wiring994.4.1 Items to confirm when installation and wiring are completed994.5 Maintenance1004.5.1 Precautions for maintenance1004.5.2 Disposal instructions100Chapter 5 Data Used for Positioning Control1025.1 Types of data1035.1.1 Parameters and data required for control1035.1.2 Setting items for positioning parameters1075.1.3 Setting items for OPR parameters1095.1.4 Setting items for servo parameters1105.1.5 Setting items for positioning data1125.1.6 Setting items for block start data1155.1.7 Setting items for condition data1165.1.8 Types and roles of monitor data1175.1.9 Types and roles of control data1215.2 List of parameters1255.2.1 Basic parameters 11255.2.2 Basic parameters 21295.2.3 Detailed parameters 11315.2.4 Detailed parameters 21395.2.5 OPR basic parameters1515.2.6 OPR detailed parameters1575.2.7 Servo parameters (Basic setting)1635.2.8 Servo parameters (Gain • filter setting)1695.2.9 Servo parameters (Expansion setting)1815.2.10 Servo parameters (Input/output setting)1875.3 List of positioning data1915.4 List of block start data2075.5 List of condition data2135.6 List of monitor data2195.6.1 System monitor data2195.6.2 Axis monitor data2295.7 List of control data2495.7.1 System control data2495.7.2 Axis control data251Chapter 6 PLC Program Used for Positioning Control2746.1 Precautions for creating program2756.2 List of devices used2786.3 Creating a program2886.3.1 General configuration of program2886.3.2 Positioning control operation program2896.4 Positioning program examples2936.5 Program details3256.5.1 Initialization program3256.5.2 Start details setting program3266.5.3 Start program3286.5.4 Continuous operation interrupt program3376.5.5 Restart program3396.5.6 Stop program342Chapter 7 Memory Configuration and Data Process3467.1 Configuration and roles of QD75MH memory3477.1.1 Configuration and roles of QD75MH memory3477.1.2 Buffer memory area configuration3507.2 Data transmission process353Section 2 Control Details and Setting366Chapter 8 OPR Control3688.1 Outline of OPR control3698.1.1 Two types of OPR control3698.2 Machine OPR3728.2.1 Outline of the machine OPR operation3728.2.2 Machine OPR method3738.2.3 OPR method (1): Near-point dog method3748.2.4 OPR method (2): Count method 1)3768.2.5 OPR method (3): Count method 2)3788.2.6 OPR method (4): Data set method3808.3 Fast OPR3818.3.1 Outline of the fast OPR operation3818.4 Selection of the OPR setting condition3838.4.1 Outline of the OPR setting condition383Chapter 9 Major Positioning Control3849.1 Outline of major positioning controls3859.1.1 Data required for major positioning control3879.1.2 Operation patterns of major positioning controls3889.1.3 Designating the positioning address3989.1.4 Confirming the current value3999.1.5 Control unit "degree" handling4019.1.6 Interpolation control4049.2 Setting the positioning data4089.2.1 Relation between each control and positioning data4089.2.2 1-axis linear control4109.2.3 2-axis linear interpolation control4129.2.4 3-axis linear interpolation control4169.2.5 4-axis linear interpolation control4229.2.6 1-axis fixed-feed control4279.2.7 2-axis fixed-feed control (interpolation)4299.2.8 3-axis fixed-feed control (interpolation)4319.2.9 4-axis fixed-feed control (interpolation)4359.2.10 2-axis circular interpolation control with sub point designation4379.2.11 2-axis circular interpolation control with center point designation4439.2.12 1-axis speed control4519.2.13 2-axis speed control4549.2.14 3-axis speed control4579.2.15 4-axis speed control4619.2.16 Speed-position switching control (INC mode)4669.2.17 Speed-position switching control (ABS mode)4749.2.18 Position-speed switching control4829.2.19 Current value changing4899.2.20 NOP instruction4949.2.21 JUMP instruction4959.2.22 LOOP4979.2.23 LEND498Chapter 10 High-Level Positioning Control50010.1 Outline of high-level positioning control50110.1.1 Data required for high-level positioning control50210.1.2 "Block start data" and "condition data" configuration50310.2 High-level positioning control execution procedure50510.3 Setting the block start data50610.3.1 Relation between various controls and block start data50610.3.2 Block start (normal start)50710.3.3 Condition start50910.3.4 Wait start51010.3.5 Simultaneous start51110.3.6 Repeated start (FOR loop)51210.3.7 Repeated start (FOR condition)51310.3.8 Restrictions when using the NEXT start51410.4 Setting the condition data51510.4.1 Relation between various controls and the condition data51510.4.2 Condition data setting examples51810.5 Multiple axes simultaneous start control51910.6 Start program for high-level positioning control52210.6.1 Starting high-level positioning control52210.6.2 Example of a start program for high-level positioning control523Chapter 11 Manual Control52611.1 Outline of manual control52711.1.1 Three manual control methods52711.2 JOG operation52911.2.1 Outline of JOG operation52911.2.2 JOG operation execution procedure53211.2.3 Setting the required parameters for JOG operation53311.2.4 Creating start programs for JOG operation53511.2.5 JOG operation example53811.3 Inching operation54211.3.1 Outline of inching operation54211.3.2 Inching operation execution procedure54511.3.3 Setting the required parameters for inching operation54611.3.4 Creating a program to enable/disable the inching operation54711.3.5 Inching operation example55011.4 Manual pulse generator operation55211.4.1 Outline of manual pulse generator operation55211.4.2 Manual pulse generator operation execution procedure55611.4.3 Setting the required parameters for manual pulse generator operation55711.4.4 Creating a program to enable/disable the manual pulse generator operation558Chapter 12 Control Sub Functions56212.1 Outline of sub functions56312.1.1 Outline of sub functions56312.2 Sub functions specifically for machine OPR56512.2.1 OPR retry function56512.2.2 OP shift function56912.3 Functions for compensating the control57212.3.1 Backlash compensation function57212.3.2 Electronic gear function57412.3.3 Near pass function58112.4 Functions to limit the control58412.4.1 Speed limit function58412.4.2 Torque limit function58612.4.3 Software stroke limit function59012.4.4 Hardware stroke limit function59612.4.5 Forced stop function60012.5 Functions to change the control details60312.5.1 Speed change function60312.5.2 Override function61012.5.3 Acceleration/deceleration time change function61312.5.4 Torque change function61712.6 Absolute position system62012.7 Other functions62212.7.1 Step function62212.7.2 Skip function62712.7.3 M code output function63012.7.4 Teaching function63412.7.5 Target position change function64012.7.6 Command in-position function64412.7.7 Acceleration/deceleration processing function64712.7.8 Pre-reading start function65012.7.9 Deceleration start flag function65512.7.10 Stop command processing for deceleration stop function65912.7.11 Speed control 10 x multiplier setting for degree axis function66212.7.12 Operation setting for incompletion of OPR function66412.8 Servo ON/OFF66612.8.1 Servo ON/OFF66612.8.2 Follow up function667Chapter 13 Common Functions66813.1 Outline of common functions66913.2 Parameter initialization function67013.3 Execution data backup function67213.4 External signal selection function67413.5 External I/O signal logic switching function675Chapter 14 Dedicated Instructions67614.1 List of dedicated instructions67714.2 Interlock during dedicated instruction is executed67714.3 PSTRT1, PSTRT2, PSTRT3, PSTRT467814.4 TEACH1, TEACH2, TEACH3, TEACH468214.5 PFWRT68614.6 PINIT690Chapter 15 Troubleshooting69415.1 Error and warning details69515.2 List of errors69915.2.1 QD75MH detection error69915.2.2 MR-J3-B detection error72915.3 List of warnings74315.3.1 QD75MH detection warning74315.3.2 MR-J3-B detection warning74915.4 LED display functions753Appendices754Appendix 1 Functions756Appendix 1.1 Multiple CPU correspond function756Appendix 1.2 The combination of software package for QD75MH and QCPU756Appendix 2 Positioning data (No.1 to 600) List of buffer memory addresses757Appendix 3 Connection with servo amplifiers781Appendix 3.1 Connection of SSCNET III cables781Appendix 3.2 Wiring of SSCNET III cables783Appendix 4 Connection with external device connector787Appendix 4.1 Connector787Appendix4.2 Wiring of manual pulse generator cable789Appendix 5 Comparisons with conventional positioning modules790Appendix 5.1 Comparisons with QD75P model790Appendix 5.2 Comparisons with QD75M1/ QD75M2/ QD75M4 models791Appendix 6 Positioning control troubleshooting804Appendix 7 List of buffer memory addresses810Appendix 8 External dimension drawing824INDEX826WARRANTY836Размер: 8,1 МБСтраницы: 838Язык: EnglishПросмотреть
