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QD75M4
Mitsubishi QD75M4 User Manual
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6 - 17
MELSEC-Q
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
No.5
No.6
No.7
No.8
All a
xis ser
vo ON [Y1] p
rogram
OPR un
com
plte
?
No.29
Error reset progr
am
Yes
Abso
lute syste
m ?
No
Continued on next page
Carried out
OPR request OFF
program
External command function valid
setting program
PLC RE
ADY
signal
[Y
0] ON
program
Refer to section 6.5.1
Refer to section 6.5.1
Not carried out
OPR is...
Initiali
zation pr
ogram
Requir
ed
Requir
ed
No
Yes
Contin
ued fr
om pr
evious
pag
e
265
267
Table of Contents
Default Chapter
2
Safety Instructions
2
Revisions
5
Table of Contents
6
About Manuals
14
Conformation to the EMC Directive
14
Using this Manual
14
Component List
15
Generic Terms and Abbreviations
15
Section 1 Product Specifications and Handling
16
Chapter 1 Product Outline
19
Positioning Control
19
Features of QD75
19
Purpose and Applications of Positioning Control
22
Mechanism of Positioning Control
24
Overview of Positioning Control Functions
25
Outline Design of Positioning System
35
Communicating Signals between QD75 and each Module
36
Product Outline 1- 1 to
19
Flow of System Operation
39
Flow of All Processes
39
Outline of Starting
41
Outline of Stopping
43
Outline for Restarting
44
Chapter 2 System Configuration
47
General Image of System
47
Component List
49
Applicable System
50
How to Check the Function Version, Serial no
51
Chapter 3 Specifications and Functions
53
Performance Specifications
53
List of Functions
55
QD75 Control Functions
55
QD75 Main Functions
57
QD75 Sub Functions and Common Functions
59
Combination of QD75 Main Functions and Sub Functions
61
Specifications of Input/Output Signals with PLC CPU
63
List of Input/Output Signals with PLC CPU
63
Details of Input Signals (QD75 PLC CPU)
64
Specifications of Interfaces with External Devices
67
Electrical Specifications of Input Signals
67
Signal Layout for External Device Connection Connector
68
List of Input Signal Details
69
Interface Internal Circuit
70
Chapter 4 Installation, Wiring and Maintenance
73
Outline of Installation, Wiring and Maintenance
73
Installation, Wiring and Maintenance Procedures
73
Names of each Part
74
Handling Precautions
76
Installation
78
Precautions for Installation
79
Wiring
80
Precautions for Wiring
81
Confirming the Installation and Wiring
85
Items to Confirm When Installation and Wiring Are Completed
85
Maintenance
86
Precautions for Maintenance
86
Disposal Instructions
86
Chapter 5 Data Used for Positioning Control
89
Types of Data
89
Parameters and Data Required for Control
89
Setting Items for Positioning Parameters
91
Setting Items for OPR Parameters
93
Setting Items for Servo Parameters
94
Setting Items for Positioning Data
96
Setting Items for Block Start Data
99
Setting Items for Condition Data
100
Types and Roles of Monitor Data
101
Types and Roles of Control Data
105
List of Parameters
109
Basic Parameters 1
109
Basic Parameters 2
113
Detailed Parameters 1
115
Detailed Parameters 2
123
OPR Basic Parameters
135
OPR Detailed Parameters
141
Servo Basic Parameters
145
Servo Adjustment Parameters
151
Servo Expansion Parameters
161
Servo Expansion Parameters 2
165
List of Positioning Data
169
List of Block Start Data
185
List of Condition Data
191
List of Monitor Data
197
System Monitor Data
197
Axis Monitor Data
207
List of Control Data
225
System Control Data
225
Axis Control Data
227
Chapter 6 Sequence Program Used for
251
Precautions for Creating Program
251
List of Devices Used
254
Creating a Program
264
General Configuration of Program
264
Positioning Control Operation Program
265
Positioning Program Examples
269
Program Details
302
Initialization Program
302
Start Details Setting Program
303
Start Program
305
Continuous Operation Interrupt Program
314
Restart Program
316
Stop Program
319
Configuration and Roles of QD75 Memory
323
Buffer Memory Area Configuration
326
Data Transmission Process
329
Chapter 8 OPR Control
341
Outline of OPR Control
341
Two Types of OPR Control
341
Machine OPR
343
Outline of the Machine OPR Operation
343
Machine OPR Method
344
OPR Method (1): Near-Point Dog Method
345
OPR Method (2): Count Method 1)
347
OPR Method (3): Count Method 2)
349
OPR Method (4): Data Set Method
351
Fast OPR
352
Outline of the Fast OPR Operation
352
Outline of Major Positioning Controls
355
Chapter 9 Major Positioning Control
357
Data Required for Major Positioning Control
357
Operation Patterns of Major Positioning Controls
358
Designating the Positioning Address
368
Confirming the Current Value
369
Control Unit "Degree" Handling
371
Interpolation Control
378
Setting the Positioning Data
378
Relation between each Control and Positioning Data
378
1-Axis Linear Control
380
2-Axis Linear Interpolation Control
382
3-Axis Linear Interpolation Control
386
4-Axis Linear Interpolation Control
392
1-Axis Fixed-Feed Control
396
2-Axis Fixed-Feed Control (Interpolation)
398
3-Axis Fixed-Feed Control (Interpolation)
400
4-Axis Fixed-Feed Control (Interpolation)
404
2-Axis Circular Interpolation Control with Sub Point Designation
406
2-Axis Circular Interpolation Control with Center Point Designation
412
1-Axis Speed Control
420
2-Axis Speed Control
423
3-Axis Speed Control
426
4-Axis Speed Control
430
Speed-Position Switching Control (INC Mode)
435
Speed-Position Switching Control (ABS Mode)
440
Speed-Position Switching Control (ABS Mode)
443
Position-Speed Switching Control
451
Current Value Changing
458
NOP Instruction
463
JUMP Instruction
464
Loop
466
Lend
467
Outline of High-Level Positioning Control
469
Data Required for High-Level Positioning Control
470
Block Start Data" and "Condition Data" Configuration
471
High-Level Positioning Control Execution Procedure
473
Setting the Block Start Data
474
Relation between Various Controls and Block Start Data
474
Block Start (Normal Start)
475
Condition Start
477
Wait Start
478
Simultaneous Start
479
Repeated Start (for Loop)
480
Repeated Start (for Condition)
481
Restrictions When Using the NEXT Start
482
Setting the Condition Data
483
Relation between Various Controls and the Condition Data
483
Condition Data Setting Examples
486
Multiple Axes Simultaneous Start Control
487
Start Program for High-Level Positioning Control
490
Starting High-Level Positioning Control
490
Example of a Start Program for High-Level Positioning Control
491
Outline of Manual Control
495
Three Manual Control Methods
495
JOG Operation
497
Outline of JOG Operation
497
JOG Operation Execution Procedure
500
Setting the Required Parameters for JOG Operation
501
Creating Start Programs for JOG Operation
503
JOG Operation Example
506
Inching Operation
510
Outline of Inching Operation
510
Inching Operation Execution Procedure
513
Setting the Required Parameters for Inching Operation
514
Creating a Program to Enable/Disable the Inching Operation
515
Inching Operation Example
518
Manual Pulse Generator Operation
520
Outline of Manual Pulse Generator Operation
520
Manual Pulse Generator Operation Execution Procedure
524
Setting the Required Parameters for Manual Pulse Generator Operation
525
Creating a Program to Enable/Disable the Manual Pulse Generator Operation
526
Outline of Sub Functions
531
Sub Functions Specifically for Machine OPR
533
OPR Retry Function
533
OP Shift Function
537
Functions for Compensating the Control
540
Backlash Compensation Function
540
Electronic Gear Function
542
Near Pass Function
549
Functions to Limit the Control
552
Speed Limit Function
552
Torque Limit Function
554
Software Stroke Limit Function
558
Hardware Stroke Limit Function
564
Functions to Change the Control Details
566
Speed Change Function
566
Override Function
573
Acceleration/Deceleration Time Change Function
576
Torque Change Function
580
Absolute Position System
583
Other Functions
585
Step Function
585
Skip Function
590
M Code Output Function
593
Teaching Function
597
Target Position Change Function
603
Command In-Position Function
607
Acceleration/Deceleration Processing Function
610
Pre-Reading Start Function
613
Servo ON/OFF
618
Follow up Function
619
Precautions for MR-J2M-B Connection
620
Outline of Common Functions
623
Parameter Initialization Function
624
Execution Data Backup Function
626
External I/O Signal Logic Switching Function
628
External I/O Signal Monitor Function
629
List of Dedicated Instructions
631
Interlock During Dedicated Instruction Is Executed
631
Pstrt1, Pstrt2, Pstrt3, Pstrt4
632
Teach1, Teach2, Teach3, Teach4
636
Pfwrt
640
Pinit
644
Error and Warning Details
649
List of Errors
653
QD75 Detection Error
653
MR-H-BN Detection Error
681
MR-J2-B Detection Error
693
MR-J2S-B Detection Error
703
MR-J2-Jr Detection Error
713
MR-J2M-B Detection Error
723
List of Warnings
737
QD75 Detection Warning
737
MR-H-BN Detection Warning
743
MR-J2-B Detection Warning
745
MR-J2S-B Detection Warning
747
MR-J2-Jr Detection Warning
749
MR-J2M-B Detection Warning
751
LED Display Functions
753
Appendix- 1 to Appendix-112
756
Appendix 1 Functions
756
Appendix 1.1 Multiple CPU Correspond Function
756
Appendix 1.2 the Combination of Software Package for QD75 and QCPU
756
Appendix 2 Format Sheets
757
Appendix 2.1 Positioning Module Operation Chart
757
Appendix 2.2 Parameter Setting Value Entry Table
759
Appendix 2.3 Servo Parameter Setting Value Entry Table
765
Appendix 2.4 Positioning Data Setting Value Entry Table [Data No. to ]
771
Appendix 3 Positioning Data (No.1 to 600) List of Buffer Memory Addresses
772
Appendix 4 Connection with Servo Amplifiers
796
Appendix 4.1 Connection of SSCNET Cables
796
Appendix 4.2 Wiring of SSCNET Cables
798
Appendix 5 Connection with External Device Connector
802
Appendix 6 Comparisons with Conventional Positioning Modules
803
Appendix 6.1 Comparisons with QD75P Model
803
Appendix 6.2 Comparisons with A1SD75M1/A1SD75M2/ A1SD75M3 Models
804
Appendix 7 Explanation of Positioning Terms
823
Appendix 8 Positioning Control Troubleshooting
847
Appendix 9 List of Buffer Memory Addresses
853
Appendix 10 External Dimension Drawing
865
Index
866
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Mitsubishi QD75M4 Specifications
General
Brand
Mitsubishi
Model
QD75M4
Category
Controller
Language
English
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