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QD75P1N
Mitsubishi QD75P1N User Manual
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12 - 54
MELSEC-Q
12 CONTROL
SUB FUNCTIONS
Example
No.16
Acceleration/deceleration time change program
<Pulsate acceleration/deceleration time change
command>
<Set 2000ms for acceleration time>
<Set 0 (not change) for deceleration time>
<Acceleration/deceleration time change enable
setting>
<Write acceleration/deceleration time change
enable>
<Write acceleration/deceleration time change
disable>
551
553
Table of Contents
Default Chapter
3
Safety Precautions
3
Conditions of Use for the Product
7
Table of Contents
11
About Manuals
19
Using this Manual
19
Compliance with Emc and Low Voltage Directives
20
Generic Terms and Abbreviations
20
Component List
21
Part 1 Product Specifications and Handling
23
Chapter 1 Product Outline
26
Positioning Control
26
Features of QD75
26
Purpose and Applications of Positioning Control
29
Mechanism of Positioning Control
31
Outline Design of Positioning System
33
Communicating Signals between QD75 and each Module
36
Flow of System Operation
39
Flow of All Processes
39
Outline of Starting
42
Outline of Stopping
44
Outline of Restarting
46
Restrictions with a System Using a Stepping Motor
47
Function Additions/Modifications According to Function Version B
47
Chapter 2 System Configuration
50
General Image of System
50
Configuration List
52
Applicable System
54
How to Check the Function Version and SERIAL no
58
Chapter 3 Specifications and Functions
62
Performance Specifications
62
List of Functions
66
QD75 Control Functions
66
QD75 Main Functions
68
QD75 Sub Functions and Common Functions
70
Combination of QD75 Main Functions and Sub Functions
74
Specifications of Input/Output Signals with CPU Module
76
List of Input/Output Signals with CPU Module
76
Details of Input Signals (QD75 CPU Module)
77
Specifications of Input/Output Interfaces with External Devices
79
Electrical Specifications of Input/Output Signals
79
Signal Layout for External Device Connection Connector
83
List of Input/Output Signal Details
84
Input/Output Interface Internal Circuit
86
Chapter 4 Installation, Wiring and Maintenance of the Product
89
Outline of Installation, Wiring and Maintenance
90
Installation, Wiring and Maintenance Procedures
90
Names of each Part
91
Handling Precautions
93
Installation
95
Installation Precautions
95
Wiring
96
Wiring Precautions
96
Wiring of the Differential Driver Common Terminal
102
Checking Installation and Wiring
103
Items to Check When Installation and Wiring Are Completed
103
Maintenance
104
Maintenance Precautions
104
Disposal Precautions
104
Chapter 5 Data Used for Positioning Control
106
Types of Data
106
Parameters and Data Required for Control
106
Setting Items for Positioning Parameters
109
Setting Items for OPR Parameters
111
Setting Items for Positioning Data
112
Setting Items for Block Start Data
114
Setting Items for Condition Data
115
Types and Roles of Monitor Data
116
Types and Roles of Control Data
119
List of Parameters
122
Basic Parameters 1
122
Basic Parameters 2
128
Detailed Parameters 1
130
Detailed Parameters 2
138
OPR Basic Parameters
147
OPR Detailed Parameters
154
List of Positioning Data
158
List of Block Start Data
172
List of Condition Data
178
List of Monitor Data
184
System Monitor Data
184
Axis Monitor Data
194
List of Control Data
208
System Control Data
208
Axis Control Data
212
Chapter 6 Sequence Program Used for Positioning Control
233
Precautions for Creating Program
234
List of Devices Used
237
Creating a Program
243
General Configuration of Program
243
Positioning Control Operation Program
244
Positioning Program Examples
247
Program Details
256
Initialization Program
256
Start Details Setting Program
257
Start Program
259
Continuous Operation Interrupt Program
269
Restart Program
271
Stop Program
275
Memory Configuration and Data Process
280
Configuration and Roles of QD75 Memory
280
Buffer Memory Area Configuration
283
Data Transmission Process
284
Chapter 8 Opr Control
294
Outline of OPR Control
294
Two Types of OPR Control
294
Machine OPR
296
Outline of the Machine OPR Operation
296
Machine OPR Method
297
OPR Method (1): Near-Point Dog Method
299
OPR Method (2): Stopper Method 1)
301
OPR Method (3): Stopper Method 2)
304
OPR Method (4): Stopper Method 3)
307
OPR Method (5): Count Method1)
309
OPR Method (6): Count Method 2)
312
Fast OPR
315
Outline of the Fast OPR Operation
315
Chapter 9 Major Positioning Control
318
Outline of Major Positioning Controls
318
Data Required for Major Positioning Control
320
Operation Patterns of Major Positioning Controls
321
Designating the Positioning Address
332
Confirming the Current Value
333
Control Unit "Degree" Handling
335
Interpolation Control
342
Setting the Positioning Data
342
Relation between each Control and Positioning Data
342
1-Axis Linear Control
344
2-Axis Linear Interpolation Control
346
3-Axis Linear Interpolation Control
350
4-Axis Linear Interpolation Control
356
1-Axis Fixed-Feed Control
360
2-Axis Fixed-Feed Control (Interpolation)
362
3-Axis Fixed-Feed Control (Interpolation)
365
4-Axis Fixed-Feed Control (Interpolation)
370
2-Axis Circular Interpolation Control with Sub Point Designation
373
2-Axis Circular Interpolation Control with Center Point Designation
379
1-Axis Speed Control
387
2-Axis Speed Control
390
3-Axis Speed Control
393
4-Axis Speed Control
397
Speed-Position Switching Control (INC Mode)
402
Speed-Position Switching Control (ABS Mode)
408
Position-Speed Switching Control
423
Current Value Changing
426
NOP Instruction
431
JUMP Instruction
432
Loop
434
Lend
435
High-Level Positioning Control
437
Outline of High-Level Positioning Control
438
Data Required for High-Level Positioning Control
439
Block Start Data" and "Condition Data" Configuration
440
High-Level Positioning Control Execution Procedure
442
Setting the Block Start Data
443
Relation between Various Controls and Block Start Data
443
Block Start (Normal Start)
444
Condition Start
446
Wait Start
447
Simultaneous Start
448
Repeated Start (for Loop)
450
Repeated Start (for Condition)
451
Restrictions When Using the NEXT Start
452
Setting the Condition Data
453
Relation between Various Controls and the Condition Data
453
Condition Data Setting Examples
456
Multiple Axes Simultaneous Start Control
457
Start Program for High-Level Positioning Control
460
Starting High-Level Positioning Control
460
Example of a Start Program for High-Level Positioning Control
461
Manual Control
465
Outline of Manual Control
466
Three Manual Control Methods
466
JOG Operation
468
Outline of JOG Operation
468
JOG Operation Execution Procedure
471
Setting the Required Parameters for JOG Operation
472
Creating Start Programs for JOG Operation
474
JOG Operation Example
477
Inching Operation
480
Outline of Inching Operation
480
Inching Operation Execution Procedure
483
Setting the Required Parameters for Inching Operation
484
Creating a Program to Enable/Disable the Inching Operation
485
Inching Operation Example
488
Manual Pulse Generator Operation
490
Outline of Manual Pulse Generator Operation
490
Manual Pulse Generator Operation Execution Procedure
494
Setting the Required Parameters for Manual Pulse Generator Operation
495
Creating a Program to Enable/Disable the Manual Pulse Generator Operation
496
Control Sub Functions
499
Outline of Sub Functions
500
Sub Functions Specifically for Machine OPR
502
OPR Retry Function
502
OP Shift Function
506
Functions for Compensating the Control
510
Backlash Compensation Function
510
Electronic Gear Function
512
Near Pass Function
518
Output Timing Selection of Near Pass Control
520
Functions to Limit the Control
524
Speed Limit Function
524
Torque Limit Function
526
Software Stroke Limit Function
530
Hardware Stroke Limit Function
536
Functions to Change the Control Details
538
Speed Change Function
538
Override Function
545
Acceleration/Deceleration Time Change Function
548
Torque Change Function
553
Target Position Change Function
555
Absolute Position Restoration Function
559
Other Functions
570
Step Function
570
Skip Function
575
M Code Output Function
578
Teaching Function
582
Command In-Position Function
589
Acceleration/Deceleration Processing Function
592
Pre-Reading Start Function
595
Deceleration Start Flag Function
600
Stop Command Processing for Deceleration Stop Function
604
Common Functions
607
Outline of Common Functions
608
Parameter Initialization Function
609
Execution Data Backup Function
611
External I/O Signal Logic Switching Function
613
External I/O Signal Monitor Function
614
Dedicated Instructions
615
List of Dedicated Instructions
616
Interlock During Dedicated Instruction Is Executed
616
4
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Mitsubishi QD75P1N Specifications
General
Brand
Mitsubishi
Model
QD75P1N
Category
Controller
Language
English
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