Mitsubishi Electronics Programmable Logic Controller Qd75D Users Manual Type QD75P/QD75D Positioning Module User's

2015-02-09

• SAFETY INSTRUCTIONS
• REVISIONS
• INTRODUCTION
• CONTENTS
• About Manuals
• Using This Manual
• Conformation to the EMC AND LOW-VOLTAGE DIRECTIVES
• Generic Terms and Abbreviations
• Component List
• Section 1 Product Specifications and Handling
  • Chapter 1 Product Outline
    • 1.1 Positioning control
      • 1.1.1 Features of QD75
      • 1.1.2 Purpose and applications of positioning control
      • 1.1.3 Mechanism of positioning control
      • 1.1.4 Outline design of positioning system
      • 1.1.5 Communicating signals between QD75 and each module
    • 1.2 Flow of system operation
      • 1.2.1 Flow of all processes
      • 1.2.2 Outline of starting
      • 1.2.3 Outline of stopping
      • 1.2.4 Outline for restarting
    • 1.3 Restrictions with a system using a stepping motor
    • 1.4 Function additions/modifications according to function version B
  • Chapter 2 System Configuration
    • 2.1 General image of system
    • 2.2 Component list
    • 2.3 Applicable system
    • 2.4 How to check the function version and SERIAL No.
  • Chapter 3 Specifications and Functions
    • 3.1 Performance specifications
    • 3.2 List of functions
      • 3.2.1 QD75 control functions
      • 3.2.2 QD75 main functions
      • 3.2.3 QD75 sub functions and common functions
      • 3.2.4 Combination of QD75 main functions and sub functions
    • 3.3 Specifications of input/output signals with PLC CPU
      • 3.3.1 List of input/output signals with PLC CPU
      • 3.3.2 Details of input signals (QD75 -> PLC CPU)
      • 3.3.3 Detail of output signals (PLC CPU -> QD75)
    • 3.4 Specifications of input/output interfaces with external devices
      • 3.4.1 Electrical specifications of input/output signals
      • 3.4.2 Signal layout for external device connection connector
      • 3.4.3 List of input/output signal details
      • 3.4.4 Input/output interface internal circuit
  • Chapter 4 Installation, Wiring and Maintenance of the Product
    • 4.1 Outline of installation, wiring and maintenance
      • 4.1.1 Installation, wiring and maintenance procedures
      • 4.1.2 Names of each part
      • 4.1.3 Handling precautions
    • 4.2 Installation
      • 4.2.1 Precautions for installation
    • 4.3 Wiring
      • 4.3.1 Precautions for wiring
      • 4.3.2 Wiring of the differential driver common terminal
    • 4.4 Confirming the installation and wiring
      • 4.4.1 Items to confirm when installation and wiring are completed
    • 4.5 Maintenance
      • 4.5.1 Precautions for maintenance
      • 4.5.2 Disposal instructions
  • Chapter 5 Data Used for Positioning Control
    • 5.1 Types of data
      • 5.1.1 Parameters and data required for control
      • 5.1.2 Setting items for positioning parameters
      • 5.1.3 Setting items for OPR parameters
      • 5.1.4 Setting items for positioning data
      • 5.1.5 Setting items for block start data
      • 5.1.6 Setting items for condition data
      • 5.1.7 Types and roles of monitor data
      • 5.1.8 Types and roles of control data
    • 5.2 List of parameters
      • 5.2.1 Basic parameters 1
      • 5.2.2 Basic parameters 2
      • 5.2.3 Detailed parameters 1
      • 5.2.4 Detailed parameters 2
      • 5.2.5 OPR basic parameters
      • 5.2.6 OPR detailed parameters
    • 5.3 List of positioning data
    • 5.4 List of block start data
    • 5.5 List of condition data
    • 5.6 List of monitor data
      • 5.6.1 System monitor data
      • 5.6.2 Axis monitor data
    • 5.7 List of control data
      • 5.7.1 System control data
      • 5.7.2 Axis control data
  • Chapter 6 Sequence Program Used for Positioning Control
    • 6.1 Precautions for creating program
    • 6.2 List of devices used
    • 6.3 Creating a program
      • 6.3.1 General configuration of program
      • 6.3.2 Positioning control operation program
    • 6.4 Positioning program examples
    • 6.5 Program details
      • 6.5.1 Initialization program
      • 6.5.2 Start details setting program
      • 6.5.3 Start program
      • 6.5.4 Continuous operation interrupt program
      • 6.5.5 Restart program
      • 6.5.6 Stop program
  • Chapter 7 Memory Configuration and Data Process
    • 7.1 Configuration and roles of QD75 memory
      • 7.1.1 Configuration and roles of QD75 memory
      • 7.1.2 Buffer memory area configuration
    • 7.2 Data transmission process
• Section 2 Control Details and Setting
  • Chapter 8 OPR Control
    • 8.1 Outline of OPR control
      • 8.1.1 Two types of OPR control
    • 8.2 Machine OPR
      • 8.2.1 Outline of the machine OPR operation
      • 8.2.2 Machine OPR method
      • 8.2.3 OPR method (1): Near-point dog method
      • 8.2.4 OPR method (2): Stopper method 1)
      • 8.2.5 OPR method (3): Stopper method 2)
      • 8.2.6 OPR method (4): Stopper method 3)
      • 8.2.7 OPR method (5): Count method 1)
      • 8.2.8 OPR method (6): Count method 2)
    • 8.3 Fast OPR
      • 8.3.1 Outline of the fast OPR operation
  • Chapter 9 Major Positioning Control
    • 9.1 Outline of major positioning controls
      • 9.1.1 Data required for major positioning control
      • 9.1.2 Operation patterns of major positioning controls
      • 9.1.3 Designating the positioning address
      • 9.1.4 Confirming the current value
      • 9.1.5 Control unit "degree" handling
      • 9.1.6 Interpolation control
    • 9.2 Setting the positioning data
      • 9.2.1 Relation between each control and positioning data
      • 9.2.2 1-axis linear control
      • 9.2.3 2-axis linear interpolation control
      • 9.2.4 3-axis linear interpolation control
      • 9.2.5 4-axis linear interpolation control
      • 9.2.6 1-axis fixed-feed control
      • 9.2.7 2-axis fixed-feed control (interpolation)
      • 9.2.8 3-axis fixed-feed control (interpolation)
      • 9.2.9 4-axis fixed-feed control (interpolation)
      • 9.2.10 2-axis circular interpolation control with sub point designation
      • 9.2.11 2-axis circular interpolation control with center point designation
      • 9.2.12 1-axis speed control
      • 9.2.13 2-axis speed control
      • 9.2.14 3-axis speed control
      • 9.2.15 4-axis speed control
      • 9.2.16 Speed-position switching control (INC mode)
      • 9.2.17 Speed-position switching control (ABS mode)
      • 9.2.18 Position-speed switching control
      • 9.2.19 Current value changing
      • 9.2.20 NOP instruction
      • 9.2.21 JUMP instruction
      • 9.2.22 LOOP
      • 9.2.23 LEND
  • Chapter 10 High-level Positioning Control
    • 10.1 Outline of high-level positioning control
      • 10.1.1 Data required for high-level positioning control
      • 10.1.2 "Block start data" and "condition data" configuration
    • 10.2 High-level positioning control execution procedure
    • 10.3 Setting the block start data
      • 10.3.1 Relation between various controls and block start data
      • 10.3.2 Block start (normal start)
      • 10.3.3 Condition start
      • 10.3.4 Wait start
      • 10.3.5 Simultaneous start
      • 10.3.6 Repeated start (FOR loop)
      • 10.3.7 Repeated start (FOR condition)
      • 10.3.8 Restrictions when using the NEXT start
    • 10.4 Setting the condition data
      • 10.4.1 Relation between various controls and the condition data
      • 10.4.2 Condition data setting examples
    • 10.5 Multiple axes simultaneous start control
    • 10.6 Start program for high-level positioning control
      • 10.6.1 Starting high-level positioning control
      • 10.6.2 Example of a start program for high-level positioning control
  • Chapter 11 Manual Control
    • 11.1 Outline of manual control
      • 11.1.1 Three manual control methods
    • 11.2 JOG operation
      • 11.2.1 Outline of JOG operation
      • 11.2.2 JOG operation execution procedure
      • 11.2.3 Setting the required parameters for JOG operation
      • 11.2.4 Creating start programs for JOG operation
      • 11.2.5 JOG operation example
    • 11.3 Inching operation
      • 11.3.1 Outline of inching operation
      • 11.3.2 Inching operation execution procedure
      • 11.3.3 Setting the required parameters for inching operation
      • 11.3.4 Creating a program to enable/disable the inching operation
      • 11.3.5 Inching operation example
    • 11.4 Manual pulse generator operation
      • 11.4.1 Outline of manual pulse generator operation
      • 11.4.2 Manual pulse generator operation execution procedure
      • 11.4.3 Setting the required parameters for manual pulse generator operation
      • 11.4.4 Creating a program to enable/disable the manual pulse generator operation
  • Chapter 12 Control Sub Functions
    • 12.1 Outline of sub functions
      • 12.1.1 Outline of sub functions
    • 12.2 Sub functions specifically for machine OPR
      • 12.2.1 OPR retry function
      • 12.2.2 OP shift function
    • 12.3 Functions for compensating the control
      • 12.3.1 Backlash compensation function
      • 12.3.2 Electronic gear function
      • 12.3.3 Near pass function
    • 12.4 Functions to limit the control
      • 12.4.1 Speed limit function
      • 12.4.2 Torque limit function
      • 12.4.3 Software stroke limit function
      • 12.4.4 Hardware stroke limit function
    • 12.5 Functions to change the control details
      • 12.5.1 Speed change function
      • 12.5.2 Override function
      • 12.5.3 Acceleration/deceleration time change function
      • 12.5.4 Torque change function
    • 12.6 Absolute position restoration function
    • 12.7 Other functions
      • 12.7.1 Step function
      • 12.7.2 Skip function
      • 12.7.3 M code output function
      • 12.7.4 Teaching function
      • 12.7.5 Target position change function
      • 12.7.6 Command in-position function
      • 12.7.7 Acceleration/deceleration processing function
      • 12.7.8 Pre-reading start function
      • 12.7.9 Deceleration start flag function
      • 12.7.10 Stop command processing for deceleration stop function
  • Chapter 13 Common Functions
    • 13.1 Outline of common functions
    • 13.2 Parameter initialization function
    • 13.3 Execution data backup function
    • 13.4 External I/O signal logic switching function
    • 13.5 External I/O signal monitor function
  • Chapter 14 Dedicated instructions
    • 14.1 List of dedicated instructions
    • 14.2 Interlock during dedicated instruction is executed
    • 14.3 ABRST1, ABRST2, ABRST3, ABRST4
    • 14.4 PSTRT1, PSTRT2, PSTRT3, PSTRT4
    • 14.5 TEACH1, TEACH2, TEACH3, TEACH4
    • 14.6 PFWRT
    • 14.7 PINIT
  • Chapter 15 Troubleshooting
    • 15.1 Error and warning details
    • 15.2 List of errors
    • 15.3 List of warnings
    • 15.4 LED display functions
• Appendices
  • Appendix 1 Version up of the functions
    • Appendix 1.1 Comparison of functions according to function versions
  • Appendix 2 Format sheets
    • Appendix 2.1 Positioning Module operation chart
    • Appendix 2.2 Parameter setting value entry table
    • Appendix 2.3 Positioning data setting value entry table [data No. to ]
  • Appendix 3 Positioning data (No. 1 to 600) List of buffer memory addresses
  • Appendix 4 Connection examples with servo amplifiers manufactured by MITSUBISHI Electric Corporation
    • Appendix 4.1 Connection example of QD75D[] and MR-H[]A (Differential driver)
    • Appendix 4.2 Connection example of QD75D[] and MR-J2/J2S-[]A (Differential driver)
    • Appendix 4.3 Connection example of QD75D[] and MR-C[]A (Differential driver)
  • Appendix 5 Connection examples with stepping motors manufactured by ORIENTALMOTOR Co., Ltd.
    • Appendix 5.1 Connection example of QD75P[] and VEXTA UPD (Open collector)
  • Appendix 6 Connection examples with servo amplifiers manufactured by Matsushita Electric Industrial Co., Ltd.
    • Appendix 6.1 Connection example of QD75D[] and MINAS-A series (Differential driver)
  • Appendix 7 Connection examples with servo amplifiers manufactured by SANYO DENKI Co., Ltd.
    • Appendix 7.1 Connection example of QD75D[] and PYO series (Differential driver)
  • Appendix 8 Connection examples with servo amplifiers manufactured by YASKAWA Electric Corporation
    • Appendix 8.1 Connection example of QD75D[] and ...
  • Appendix 9 Comparisons with conventional positioning modules
    • Appendix 9.1 Comparisons with A1SD71S2 model
    • Appendix 9.2 Comparisons with A1SD75P1-S3/ A1SD75P2-S3/ A1SD75P3-S3 models
  • Appendix 10 MELSEC Explanation of positioning terms
  • Appendix 11 Positioning control troubleshooting
  • Appendix 12 List of buffer memory addresses
  • Appendix 13 External dimension drawing
• INDEX
• WARRANTY