Mitsubishi Electric MELSEC-Q Series

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Chapter 6 Sequence Program Used for Positioning Control

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Main Page

Safety Precautions3
Introduction16
Revisions17
Table of Contents18
Compliance with the Emc and Low Voltage Directives25
Relevant Manuals25
Terms28
Packing List29
Features of QD77GF34
Positioning Control34
Purpose and Applications of Positioning Control37
Mechanism of Positioning Control39
Overview of Positioning Control Functions40
Outline Design of Positioning System50
Communicating Signals between QD77GF and each Module51
Flow of All Processes54
Flow of System Operation54
Outline of Starting56
Outline of Stopping58
Outline for Restarting60
General Image of System62
Component List63
Applicable System65
How to Check the Function Version and SERIAL no67
Restrictions by the SERIAL No. and Version68
Performance Specifications70
List of Functions72
QD77GF Control Functions72
QD77GF Main Functions75
QD77GF Sub Functions77
QD77GF Common Functions79
Combination of QD77GF Main Functions and Sub Functions80
List of Input/Output Signals with PLC CPU82
Specifications of Input/Output Signals with PLC CPU82
Details of Input Signals (Simple Motion Module PLC CPU)83
Electrical Specifications of Input Signals86
Specifications of Interfaces with External Devices86
Signal Layout for External Input Connection Connector88
List of Input Signal Details90
Interface Internal Circuit92
External Circuit Design98
Installation, Wiring and Maintenance Procedures104
Outline of Installation, Wiring and Maintenance104
Names of each Part105
Handling Precautions108
Installation110
Precautions for Installation110
Precautions for Wiring111
Wiring111
Precautions for Wiring112
Confirming the Installation and Wiring119
Items to Confirm When Installation and Wiring Are Completed119
Disposal Instructions120
Maintenance120
Precautions for Maintenance120
Parameters and Data Required for Control122
Types of Data122
Setting Items for Positioning Parameters125
Setting Items for HPR Parameters127
Setting Items for Expansion Parameters128
Setting Items for Servo Parameters128
Setting Items for Positioning Data129
Setting Items for Block Start Data130
Setting Items for Condition Data131
Types and Roles of Monitor Data132
Types and Roles of Control Data136
Basic Parameters 1140
List of Parameters140
Basic Parameters 2146
Detailed Parameters 1147
Detailed Parameters 2158
HPR Basic Parameters170
HPR Detailed Parameters176
Expansion Parameters181
Servo Parameters183
List of Positioning Data184
List of Block Start Data200
List of Condition Data204
List of Monitor Data210
System Monitor Data210
Axis Monitor Data224
List of Control Data250
System Control Data250
Axis Control Data254
Precautions for Creating Program284
List of Devices Used287
Creating a Program298
General Configuration of Program298
Positioning Control Operation Program299
Positioning Program Examples [RJ010 Mode]303
Initialization Program335
Program Details335
Start Details Setting Program336
Start Program338
Continuous Operation Interrupt Program350
Restart Program352
Stop Program355
Configuration and Roles of QD77GF Memory360
Buffer Memory Area Configuration363
Data Transmission Process365
Outline of HPR Control378
Two Types of HPR Control378
Machine HPR381
Outline of the Machine HPR Operation381
Machine HPR Method383
HPR Method (1): Proximity Dog Method [RJ010 Mode]384
HPR Method (2): Count Method 1) [RJ010 Mode]386
HPR Method (3): Count Method 2) [RJ010 Mode]388
HPR Method (4): Data Set Method [RJ010 Mode]390
HPR Method (5): Scale Origin Signal Detection Method [RJ010 Mode]391
HPR Method (6): Driver HPR Method [Cia402 Mode]394
Fast HPR397
Outline of the Fast HPR Operation397
Outline of the HPR Setting Condition399
Selection of the HPR Setting Condition399
Outline of Major Positioning Controls402
Data Required for Major Positioning Control404
Operation Patterns of Major Positioning Controls405
Designating the Positioning Address415
Confirming the Current Value416
Control Unit "Degree" Handling418
Interpolation Control421
Setting the Positioning Data422
Relation between each Control and Positioning Data426
Setting the Positioning Data426
1-Axis Linear Control428
2-Axis Linear Interpolation Control432
3-Axis Linear Interpolation Control437
4-Axis Linear Interpolation Control443
1-Axis Fixed-Feed Control446
2-Axis Fixed-Feed Control (Interpolation)449
3-Axis Fixed-Feed Control (Interpolation)451
4-Axis Fixed-Feed Control (Interpolation)456
2-Axis Circular Interpolation Control with Sub Point Designation459
2-Axis Circular Interpolation Control with Center Point Designation465
1-Axis Speed Control473
2-Axis Speed Control476
3-Axis Speed Control480
4-Axis Speed Control484
Speed-Position Switching Control (INC Mode)489
Speed-Position Switching Control (ABS Mode)499
Position-Speed Switching Control508
Current Value Changing517
NOP Instruction522
JUMP Instruction523
Loop525
Lend527
High-Level Positioning Control 10- 1 to529
Outline of High-Level Positioning Control530
Data Required for High-Level Positioning Control531
Block Start Data" and "Condition Data" Configuration532
High-Level Positioning Control Execution Procedure534
Relation between Various Controls and Block Start Data535
Setting the Block Start Data535
Block Start (Normal Start)536
Condition Start538
Wait Start539
Simultaneous Start540
Repeated Start (for Loop)541
Repeated Start (for Condition)542
Restrictions When Using the NEXT Start543
Relation between Various Controls and the Condition Data544
Setting the Condition Data544
Condition Data Setting Examples546
Multiple Axes Simultaneous Start Control547
Start Program for High-Level Positioning Control550
Starting High-Level Positioning Control550
Example of a Start Program for High-Level Positioning Control551
Outline of Manual Control556
Three Manual Control Methods556
JOG Operation558
Outline of JOG Operation558
JOG Operation Execution Procedure561
Setting the Required Parameters for JOG Operation562
Creating Start Programs for JOG Operation564
JOG Operation Example566
Inching Operation569
Outline of Inching Operation569
Inching Operation Execution Procedure572
Setting the Required Parameters for Inching Operation573
Creating a Program to Enable/Disable the Inching Operation574
Inching Operation Example576
Manual Pulse Generator Operation578
Outline of Manual Pulse Generator Operation578
Manual Pulse Generator Operation Execution Procedure582
Setting the Required Parameters for Manual Pulse Generator Operation583
Creating a Program to Enable/Disable the Manual Pulse Generator Operation584
Outline of Speed-Torque Control588
Speed-Torque Control588
Setting the Required Parameters for Speed-Torque Control589
Setting the Required Data for Speed-Torque Control590
Operation of Speed-Torque Control591
Synchronous Control604
Control Sub Functions 13- 1 to605
Outline of Sub Functions606
HPR Retry Function [RJ010 Mode]608
Sub Functions Specifically for Machine HPR608
HP Shift Function [RJ010 Mode]612
Backlash Compensation Function615
Functions for Compensating the Control615
Electronic Gear Function617
Near Pass Function625
Functions to Limit the Control627
Speed Limit Function627
Torque Limit Function629
Software Stroke Limit Function634
Hardware Stroke Limit Function641
Forced Stop Function645
Functions to Change the Control Details648
Speed Change Function648
Override Function655
Acceleration/Deceleration Time Change Function658
Torque Change Function663
Target Position Change Function667
Absolute Position System671
Other Functions673
Step Function673
Skip Function678
M Code Output Function682
Teaching Function686
Command In-Position Function692
Acceleration/Deceleration Processing Function695
Pre-Reading Start Function698
Deceleration Start Flag Function700
Stop Command Processing for Deceleration Stop Function703
Speed Control 10 X Multiplier Setting for Degree Axis Function706
Operation Setting for Incompletion of HPR Function708
Servo ON/OFF710
Follow up Function712
Outline of Common Functions714
Parameter Initialization Function715
Execution Data Backup Function717
External Signal Selection Function719
External I/O Signal Logic Switching Function724
History Monitor Function726
Virtual Servo Amplifier Function730
Mark Detection Function733
Module Error Collection Function744
List of Dedicated Instructions746
Checking Errors Using GX Works2748
Troubleshooting751
Error and Warning Details752
List of Errors758
List of Warnings790
Appendix 1 List of Buffer Memory Addresses802
Appendix 2 Connection with Servo Amplifiers814
Appendix 3 Connection with External Device817
Appendix 3.1 Connector817
Appendix 3.2 External Input Signal Cable820
Appendix 3.3 Manual Pulse Generator (MR-HDP01)826
Appendix 4 When Using GX Works2827
Appendix 5 External Dimension Drawing828

Mitsubishi Electric MELSEC-Q Series - Page 322

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